Image-aided platform orientation determination with a GNSS/low-cost IMU system using robust-adaptive Kalman filter     

Wenlin Yan  Luísa Bastos  José A. Gonçalves  Américo Magalhães  Tianhe Xu 《GPS Solutions》2018,22(1):12

The availability of miniaturized sensors with enhanced capabilities, new methods for image processing, and easy access to small and low-weight airborne platforms for data acquisition, including unmanned vehicles, opens new possibilities for geodetic navigation applications and developing new developments in sensor fusion. In this context, the development of efficient methods, based on low-cost sensors, to extract precise georeferenced information from digital cameras is of utmost interest. We present a method to improve the performance of the integration of GNSS/low-cost IMU by exploiting the orientation changes retrieved from digital images. In this work, a robust-adaptive Kalman filter is also introduced to further improve the performance of the method deployed. The adaptive factor and the robust factor accomplished are determined by innovation information and the threshold value of orientation changes between consecutive images. Results from airborne tests used to assess the performance of the method are presented. The results show that using a non-metric camera, the Euler angle estimation accuracy of the GNSS/low-cost IMU integration can be improved to be close to 0.5 degree and an additional improvement, which can reach 59%, can be achieved after using the robust-adaptive Kalman filter.  相似文献   

The Colider and Roosevelt Volcanic rocks (sw amazonian craton): geochemistry and sm-nd isotope characteristics of a silicic large igneous province     

Saar de Almeida  Bruna  Geraldes  Mauro César  Sommer  Carlos Augusto  Corrales  Felipe  de Barros  Antonio João Paes 《中国地球化学学报》2021,40(6):1023-1049

The volcanic rocks of the Colíder and Roosevelt formations are extensively exposed in the south-central portion of the Amazonian Craton where effusive and pyroclastic rocks have been mapped. Both units, topped by chemical sediments and oceanic facies as rhyolite and andesite lavas, rhyodacite, and porphyritic dacite, with frequent intercalations of pyroclastic and epiclastic deposits. Whole-rock geochemistry for 55 samples of rhyolitic to andesitic composition suggests the involvement of fertile mantle-derived components with E-MORB to OIB compositions. The analyzed rocks display calc-alkaline to shoshonitic affinity consistent with generation related to an active continental margin. The whole-rock Sm-Nd isotope data from selected felsic volcanic rocks of the Colíder and Roosevelt formations yield negative initial ε_Nd values between –3 and –9, indicating the predominantly crustal nature of the parental magmas with early Archean to late Paleoproterozoic (ca. 2.5–2.0 Ga) depleted mantle model ages.

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Single-particle crushing strength under different relative humidity conditions     

Manso  João  Marcelino  João  Caldeira  Laura 《Acta Geotechnica》2021,16(3):749-761

This paper presents a fundamental study on the effect of the relative humidity on the rockfill crushing strength. This aspect plays an important role in the mechanical behaviour of rockfill, and it is known that certain characteristics of the granular materials, such as compressibility and shear strength, depend on the confining stress, which is a function of the particles crushing. An increased interest has been observed regarding the effect of the relative humidity in the mechanical behaviour of rockfill. Unfortunately, limited research has been conducted until now regarding the study of individual particle crushing. Therefore, this paper thoroughly investigated particle crushing, by performing single-particle crushing tests on rockfill particles divided into four size ranges, under different relative humidity conditions. The experimental results reveal a considerable influence of the relative humidity in the studied rockfill particles, whose strength of the particles with the greatest dimensions in saturated conditions was reduced by half. Consistent macro-mechanical evidence demonstrates that particle’s size and relative humidity conditions depict the most important factors that influence particle crushing strength.

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Limpets as prey: Lipophrys pholis choice for size     

Ana C. Silva  Ana C. Amador  Sónia Brazão  Claúdia Faria  Diana Boaventura 《Marine Ecology》2010,31(4):525-532

Patellid limpets are key species on rocky shores, structuring intertidal assemblages through their grazing. Their role as prey for fish is, however, often overlooked in studies of intertidal ecosystem functioning. The shanny Lipophrys pholis is a common predator of limpets on rocky shores in Northern Europe and, in this study, we examined the characteristics of its predation on limpets based on prey size. The limpet size range that adult L. pholis (10–12.5 cm) can eat was examined in the laboratory using Patella depressa in 0.2 cm classes, varying between 0.5 cm and 3.0 cm in maximum shell length. There was a limpet size refuge above 1.8 cm, while all smaller sizes were readily consumed by the shanny. The predator attacking behaviour was also examined and found to vary with prey size. Limpets up to 0.8 cm were crushed by the jaw‐constricting force and eaten whole, whereas larger prey were prised from the substratum and the body subsequently separated from the shell. To examine whether there was a L. pholis preference for P. depressa size, a two‐stage laboratory experiment was done using two size classes defined as small (0.7–0.8 cm maximum shell length) and large (1.5–1.6 cm maximum shell length). In the first stage, the predator was given each limpet size class separately. In the second stage, the fish was given a choice between the two classes. Lipophrys pholis was shown to have a preference for the large size class (1.5–1.6 cm). The average number of limpets consumed by the shanny was examined for the duration of one high‐tide typical of the central region of Portugal (≈ 4 h). On average, approximately five limpets (up to an eight limpet maximum) were consumed. The present study shows that L. pholis has a feeding preference based on limpet size, which suggests that the limpet population structure and intra‐ and inter‐specific interactions may be influenced by the shanny predation.  相似文献   

Luminescence dating of Pleistocene alluvial sediments affected by the Alhama de Murcia fault (eastern Betics,Spain) – a comparison between OSL,IRSL and post‐IR IRSL ages     

Reza Sohbati  Andrew S. Murray  Jan‐Pieter Buylaert  Maria Ortuño  Pedro P. Cunha  Eulàlia Masana 《Boreas: An International Journal of Quaternary Research》2012,41(2):250-262

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The infrared dielectric properties of maghemite, γ-Fe2O3, from reflectance measurement on pressed powders     

Carlos Pecharromán  T. González-Carreño  Juan E. Iglesias 《Physics and Chemistry of Minerals》1995,22(1):21-29

The infrared complex permittivity functions of three varieties of maghemite, γ-Fe₂O₃, having different degrees of vacancy ordering, have been determined from their IR reflectance spectra, measured at near to normal incidence on pressed powder pellets. The optical constants therefrom obtained have been verified by using them in the simulation of the corresponding absorption spectra for KBr-diluted pellets, and these are in excellent agreement with the experimental spectra. All calculations are based on a procedure for the estimation of the effective dielectric function of a mixture, which incorporates percolation features, recently developed by the authors.  相似文献   

Modelling the spatial and temporal distribution of rainfall intensity at local scale   总被引：1，自引：0，他引：1  

A. Redaño  J. Lorente 《Theoretical and Applied Climatology》1993,47(1):25-32

Summary Accurate estimates of rainfall intensity distribution with high temporal and spatial resolution are necessary in most urban hydrological studies, such as planning, simulation or control of sewer networks. Traditionally, these data are obtained from intensity-duration-frequency (IDF) curves at sites with long rainfall intensity time-series, however, little attention is given to the spatial features of precipitation. In this paper, a mathematical model of a local scale storm that takes account of the spatial variability of rainfall and rain-cell movement is proposed. The model has been calibrated with a dense network of raingauges and a long rainfall intensity timeseries (60 years) and its parameters have been calculated for convective storms of return periods up to 15 years with their most frequently-observed rain-cell velocities (1 to 4 m/s).This work has been supported by the DGICYT, Project NAT91-0596.With 6 Figures  相似文献   

Nutrient mediated stress on the marine communities of a coastal lagoon (Puerto Galera, Philippines)     

M. L. San Diego-McGlone  C. L. Villanoy  P. M. Alio 《Marine pollution bulletin》1995,31(4-12):355-366

Puerto Galera Bay is a coastal lagoon with a variety of marine habitats and high species diversity. It is an area in the Phillippines where the growing influence of human activities is affecting the quality of its marine resources. This study examined the distribution and behaviour of nutrients and the physical hydrography of Puerto Galera Bay and determined how its physico-chemical nature affected the condition of biotic components in the bay. The relative importance of the nitrogen and phosphorus signals were used as indicators to implicate the influence of sewage and run-off into the bay. A nutrient pool accumulated in the bay as a result of low flushing rates. The interaction of hydrodynamic forcing with the biota have implications on the phytoplankton production and coral communities in the area.  相似文献   

Solution of random structural system subject to nonstationary excitation: transforming the equation with random coefficients to one with deterministic coefficients and random initial conditions     

H. U. Kylüo luS. R. K. NielsenA. . akmak 《Soil Dynamics and Earthquake Engineering》1995,14(4)

This paper deals with the lower order (first four) nonstationary statistical moments of the response of linear systems with random stiffness and random damping properties subject to random nonstationary excitation modeled as white noise multiplied by an envelope function. The method of analysis is based on a Markov approach using stochastic differential equations (SDE). The linear SDE with random coefficients subject to random excitation with deterministic initial conditions are transformed to an equivalent nonlinear SDE with deterministic coefficients and random initial conditions subject to random excitation. In this procedure, new SDE with random initial conditions, deterministic coefficients and zero forcing functions are introduced to represent the random variables. The joint statistical moments of the response are determined by considering an augmented dynamic system with state variables made up of the displacement and velocity vectors and the random variables of the structural system. The zero time-lag joint statistical moment equations for the augmented state vector are derived from the Itô differential formula. The statistical moment equations are ordinary nonlinear differential equations where hierarchy of moments appear. The hierarchy is closed by the cumulant neglect closure method applied at the fourth order statistical moment level. General formulation is given for multi-degree-of-freedom (MDOF) systems and the performance of the method in problems with nonstationary excitations and large variabilities is illustrated for a single-degree-of-freedom (SDOF) oscillator.  相似文献   

Kriging of water levels in the Souss aquifer,Morocco   总被引：2，自引：0，他引：2  

Mohamed Aboufirassi  Miguel A. Mariño 《Mathematical Geosciences》1983,15(4):537-551

Universal kriging is applied to water table data from the Souss aquifer in central Morocco. The procedure accounts for the spatial variability of the phenomenon to be mapped. With the use of measured elevations of the water table, an experimental variogram is constructed that characterizes the spatial variability of the measured water levels. Spherical and Gaussian variogram models are alternatively used to fit the experimental variogram. The models are used to develop contour maps of water table elevations and corresponding estimation variances. The estimation variances express the reliability of the kriged water table elevation maps. Universal kriging also provides a contour map of the expected elevation of the water table (drift). The differences between the expected and measured water table elevations are called residuals from the drift. Residuals from the drift are compared with residuals obtained by more traditional least-squares analysis.  相似文献