The Influence of Geological Process on Interpreting Ediacaran Fossils in the Catalina Formation, Bonavista Peninsula, Newfoundland

Understanding the nature of the earliest complex fossils has presented many challenges over the past century since Billings first described Ediacaran fossils from Newfoundland in 1872. Previous studies have documented abundant Ediacaran fossils in the Bonavista Peninsula of Newfoundland. This thesis focuses on the H14 surface north of Catalina, which contains a nearly monospecific assemblage that includes hundreds of specimens of the rangeomorph, Fractofusus andersoni. Three factors need to be considered when trying to interpret these organisms. The first of these three factors is structural deformation. The area has undergone deformation during the formation of the Appalachian orogenic belt. This has distorted both fossil shape and orientation, requiring retrodeformation to restore the shapes and relationships of fossils to their original form. Two additional taphonomic factors influencing fossil visibility are: partly or completely ash covered fossils and the removal of fossil impressions from the bedding plane by modern weathering. These processes hinder acceptance of some previously published interpretations.

Axis Mapping: The Estimation of Surface Orientations and its Applications in Vehicle Localization and Structural Geology

The map representation of an environment should be selected based on its intended application. For example, a geometrically accurate map describing the Euclidean space of an environment is not necessarily the best choice if only a small subset its features are required. One possible subset is the orientations of the flat surfaces in the environment, represented by a special parameterization of normal vectors called axes. Devoid of positional information, the entries of an axis map form a non-injective relationship with the flat surfaces in the environment, which results in physically distinct flat surfaces being represented by a single axis. This drastically reduces the complexity of the map, but retains important information about the environment that can be used in meaningful applications in both two and three dimensions. This thesis presents axis mapping, which is an algorithm that accurately and automatically estimates an axis map of an environment based on sensor measurements collected by a mobile platform. Furthermore, two major applications of axis maps are developed and implemented. First, the LiDAR compass is a heading estimation algorithm that compares measurements of axes with an axis map of the environment. Pairing the LiDAR compass with simple translation measurements forms the basis for an accurate two-dimensional localization algorithm. It is shown that this algorithm eliminates the growth of heading error in both indoor and outdoor environments, resulting in accurate localization over long distances. Second, in the context of geotechnical engineering, a three-dimensional axis map is called a stereonet, which is used as a tool to examine the strength and stability of a rock face. Axis mapping provides a novel approach to create accurate stereonets safely, rapidly, and inexpensively compared to established methods. The non-injective property of axis maps is leveraged to probabilistically describe the relationships between non-sequential measurements of the rock face. The automatic estimation of stereonets was tested in three separate outdoor environments. It is shown that axis mapping can accurately estimate stereonets while improving safety, requiring significantly less time and effort, and lowering costs compared to traditional and current state-of-the-art approaches.