Accurate INS position solution during GPS outages or degraded GPS

Temporary degraded GPS (DGPS) position loss, in circumstances such as an overhead bridge, can be alleviated by an inertial navigation system (INS) that uses onboard sensors, such as yaw and speed sensors, to determine vehicle position. This paper introduces a post-processing DGPS/INS integration approach based on using the INS solution during DGPS outages or periods of low accuracy DGPS position solutions. In this approach, the INS solution initialization is performed using the DGPS solution before DGPS position solution loss, and measurements from the Inertial Measurement Unit (IMU). The final post-processed INS solution is a weighted average of the INS forward and backward solutions. This work constitutes two parts: the INS initialization methods for different degrees of freedom vehicle positioning models, and the developed weighting model necessary to combine the forward and the backward solutions. The former part is essential in obtaining acceptable INS initial states for both the stand-alone INS or any post-processing or real time INS/GPS integrated system. The latter part is based on the use of the complementary error behaviours of the backward and the forward solutions, and can be used as a survey method with acceptable position solutions accuracies. Applying the forward/backward INS combined solution method on real data shows that the resultant INS solution accuracy is 35 cm or less over a 1000 m road segment. This method is used to survey freeways interchange road segments where 50% of the surveyed distance has no DGPS solution or has a degraded DGPS solution. The average achieved accuracy over the whole freeways interchange is around 40 cm over a 23 km distance.     

Late-Quaternary changes in productivity of the Southern Ocean

Paleoceanographic records based on new proxies of export production have been constructed for the South Atlantic sector of the Southern Ocean. A radionuclide-ratio proxy of particle flux (¹⁰Be/²³⁰Th) and the accumulation rate of authigenic uranium, which responds to the flux of organic carbon to the sea bed, both indicate a dramatic increase, compared to the present, in the export production of the Subantarctic zone (approximately the region between the present-day positions of the Subtropical Convergence and the Antarctic Polar Front) during glacial periods. If the South Atlantic is representative of the entire Southern Ocean, then export production in the Southern Ocean during the Last Glacial Maximum was substantially greater than at present. Previous studies, focusing on the burial of biogenic opal, failed to recognize the glacial increase in export production of the Southern Ocean because of a strong non-linearity between accumulation rates of opal and of organic carbon.     

The onset of biological winter in the eastern Weddell Gyre (Antarctica) planktonic community

Data on hydrography, phyto- and zooplankton, obtained on a transect along the 0° meridian during the Winter Weddell Gyre Study, June 1992, revealed peculiarities of the early winter situation in the eastern Weddell Gyre. The vertical distribution and developmental stage composition of Rhincalanus gigas, Calanoides acutus, Calanus propinquus and krill, Euphausia superba larvae, were a good index for a general assessment of the seasonal condition of the plankton communities. There were five zones differing in seasonal situation: (1) The Polar Front and the southern ACC (not studied in detail), (2) The Weddell Front, (3) The Weddell Gyre interior, (4) The Maud Rise area, and (5) The Coastal Current zone. In the Weddell Front, the planktonic community resembled an autumnal situation with moderate phytoplankton biomass; the overwintering stock of copepods was not completely formed and the occurrence of calyptopes larvae of E. superba indicated that krill continued to reproduce until May. In the Weddell Gyre interior, a typical winter plankton community was found even before sea ice had formed. The specific hydrographic regime of the Maud Rise (governed by the mesoscale circulation over the seamount) support the late autumn conditions similar to the Weddell Front (but without early krill larvae). The plankton of the Coastal Current was a winter community. We conclude that in the eastern part of the Weddell Front (compared to the western part) seasonal development of both phytoplankton and herbivorous zooplankton is delayed in spring but prolonged in late autumn. Furthermore, it appears that the Weddell Sea ecosystem exhibits a much higher degree of spatial and temporal variability than thought before. This may have an impact on seasonal pattern of organic carbon transport from the pelagic realm to deeper water layers and to the sediment.     

Automated driving and autonomous functions on road vehicles

In recent years, road vehicle automation has become an important and popular topic for research and development in both academic and industrial spheres. New developments have received extensive coverage in the popular press, and it may be said that the topic has captured the public imagination. Indeed, the topic has generated interest across a wide range of academic, industry and governmental communities, well beyond vehicle engineering; these include computer science, transportation, urban planning, legal, social science and psychology. While this follows a similar surge of interest – and subsequent hiatus – of Automated Highway Systems in the 1990s, the current level of interest is substantially greater, and current expectations are high. It is common to frame the new technologies under the banner of ‘self-driving cars’ – robotic systems potentially taking over the entire role of the human driver, a capability that does not fully exist at present. However, this single vision leads one to ignore the existing range of automated systems that are both feasible and useful. Recent developments are underpinned by substantial and long-term trends in ‘computerisation’ of the automobile, with developments in sensors, actuators and control technologies to spur the new developments in both industry and academia. In this paper, we review the evolution of the intelligent vehicle and the supporting technologies with a focus on the progress and key challenges for vehicle system dynamics. A number of relevant themes around driving automation are explored in this article, with special focus on those most relevant to the underlying vehicle system dynamics. One conclusion is that increased precision is needed in sensing and controlling vehicle motions, a trend that can mimic that of the aerospace industry, and similarly benefit from increased use of redundant by-wire actuators.     

Learning from Ecosystem-Based Management in Practice

We explore how marine ecosystem–based management (EBM) is translated from theory to practice at six sites with varying ecological and institutional contexts. Based on these case studies, we report on the goals, strategies, and outcomes of each project and what we can learn from these efforts to guide future implementation and assessment. In particular, we focus on how projects dealt with the challenges of working across geographic scales and diverse governance arrangements. While we hypothesized that EBM in the United States would be distinct from EBM in developing countries due to differences in social and political factors, we found that sites faced similar challenges. Variation among sites appeared to be more closely related to the preexisting management context and the scale at which the projects began rather than to clear differences between the United States and developing country contexts. EBM project implementers were able to overcome many of these challenges by focusing on a limited number of specific objectives, starting at a small scale, pursuing adaptive management, and monitoring a diverse set of indicators. These findings are directly relevant to current and future EBM efforts in these and other places.     

Spatial and Temporal Variability in Shipping Traffic Off San Francisco,California

Shipping traffic poses a worldwide threat to many large whale species. Spatially explicit risk assessments are increasingly being used as a tool to minimize ship-strike risk. These assessments often use static representations of shipping patterns. We used Automatic Identification System data to quantify variability in cargo shipping traffic entering and exiting San Francisco Bay, which contains some of the busiest ports in the United States, at three temporal resolutions: (1) before and after implementation of the California Air Resources Board's Ocean-Going Vessels Fuel Rule, (2) among seasons, and (3) day versus night. We used the nonparametric Mood's Median test to compare median daily distance traveled because the data were not normally distributed and the variance was not homogeneous. Our analyses show that shipping traffic off San Francisco is dynamic at both interannual and daily temporal resolutions, but that traffic was fairly consistent among the seasons considered. Our analyses emphasize the importance of economic and regulatory drivers on interannual shipping traffic patterns. Shipping traffic is expected to continue to change off the U.S. West Coast and to increase globally. These changes in shipping traffic could have implications for the risk of ships striking whales and should be included in risk assessments.     

Solving Nonlinear Differential Equation Governing on the Rigid Beams on Viscoelastic Foundation by AGM

In the present paper a vibrational differential equation governing on a rigid beam on viscoelastic foundation has been investigated. The nonlinear differential equation governing on this vibrating syst...