Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

Studies in stoichiometry with compositional data

Geochemical data that is derived from the whole or partial analysis of various geologic materialsrepresent a composition of mineralogies or solute species. Minerals are composed of structuredrelationships between cations and anions which, through atomic and molecular forces, keep the elementsbound in specific configurations. The chemical compositions of minerals have specific relationships thatare governed by these molecular controls. In the case of olivine, there is a well-defined relationshipbetween Mn-Fe-Mg with Si. Balances between the principal elements defining olivine composition andother significant constituents in the composition (Al, Ti) have been defined, resulting in a near-linearrelationship between the logarithmic relative proportion of Si versus (MgMnFe) and Mg versus (MnFe),which is typically described but poorly illustrated in the simplex.The present contribution corresponds to ongoing research, which attempts to relate stoichiometry andgeochemical data using compositional geometry. We describe here the approach by which stoichiometricrelationships based on mineralogical constraints can be accounted for in the space of simplicialcoordinates using olivines as an example. Further examples for other mineral types (plagioclases andmore complex minerals such as clays) are needed. Issues that remain to be dealt with include thereduction of a bulk chemical composition of a rock comprised of several minerals from which appropriatebalances can be used to describe the composition in a realistic mineralogical framework. The overallobjective of our research is to answer the question: In the cases where the mineralogy is unknown, arethere suitable proxies that can be substituted?Kew words: Aitchison geometry, balances, mineral composition, oxides

Clustering compositional data trajectories

Our essay aims at studying suitable statistical methods for the clustering ofcompositional data in situations where observations are constituted by trajectories ofcompositional data, that is, by sequences of composition measurements along a domain.Observed trajectories are known as “functional data” and several methods have beenproposed for their analysis.In particular, methods for clustering functional data, known as Functional ClusterAnalysis (FCA), have been applied by practitioners and scientists in many fields. To ourknowledge, FCA techniques have not been extended to cope with the problem ofclustering compositional data trajectories. In order to extend FCA techniques to theanalysis of compositional data, FCA clustering techniques have to be adapted by using asuitable compositional algebra.The present work centres on the following question: given a sample of compositionaldata trajectories, how can we formulate a segmentation procedure giving homogeneousclasses? To address this problem we follow the steps described below.First of all we adapt the well-known spline smoothing techniques in order to cope withthe smoothing of compositional data trajectories. In fact, an observed curve can bethought of as the sum of a smooth part plus some noise due to measurement errors.Spline smoothing techniques are used to isolate the smooth part of the trajectory:clustering algorithms are then applied to these smooth curves.The second step consists in building suitable metrics for measuring the dissimilaritybetween trajectories: we propose a metric that accounts for difference in both shape andlevel, and a metric accounting for differences in shape only.A simulation study is performed in order to evaluate the proposed methodologies, usingboth hierarchical and partitional clustering algorithm. The quality of the obtained resultsis assessed by means of several indices

Possible solution of some essential zero problems in compositional data analysis

One of the tantalising remaining problems in compositional data analysis lies in how to deal with data sets in which there are components which are essential zeros. By anessential zero we mean a component which is truly zero, not something recorded as zero simply because the experimental design or the measuring instrument has not been sufficiently sensitive to detect a trace of the part. Such essential zeros occur inmany compositional situations, such as household budget patterns, time budgets,palaeontological zonation studies, ecological abundance studies. Devices such as nonzero replacement and amalgamation are almost invariably ad hoc and unsuccessful insuch situations. From consideration of such examples it seems sensible to build up amodel in two stages, the first determining where the zeros will occur and the secondhow the unit available is distributed among the non-zero parts. In this paper we suggest two such models, an independent binomial conditional logistic normal model and a hierarchical dependent binomial conditional logistic normal model. The compositional data in such modelling consist of an incidence matrix and a conditional compositional matrix. Interesting statistical problems arise, such as the question of estimability of parameters, the nature of the computational process for the estimation of both the incidence and compositional parameters caused by the complexity of the subcompositional structure, the formation of meaningful hypotheses, and the devising of suitable testing methodology within a lattice of such essential zero-compositional hypotheses. The methodology is illustrated by application to both simulated and real compositional data

Statistical Analysis of Eco-Toxicologic Data of Mammals from a Polluted Area

Several eco-toxicological studies have shown that insectivorous mammals, due to theirfeeding habits, easily accumulate high amounts of pollutants in relation to other mammal species. To assess the bio-accumulation levels of toxic metals and their in°uenceon essential metals, we quantified the concentration of 19 elements (Ca, K, Fe, B, P,S, Na, Al, Zn, Ba, Rb, Sr, Cu, Mn, Hg, Cd, Mo, Cr and Pb) in bones of 105 greaterwhite-toothed shrews (Crocidura russula) from a polluted (Ebro Delta) and a control(Medas Islands) area. Since chemical contents of a bio-indicator are mainly compositional data, conventional statistical analyses currently used in eco-toxicology can givemisleading results. Therefore, to improve the interpretation of the data obtained, weused statistical techniques for compositional data analysis to define groups of metalsand to evaluate the relationships between them, from an inter-population viewpoint.Hypothesis testing on the adequate balance-coordinates allow us to confirm intuitionbased hypothesis and some previous results. The main statistical goal was to test equalmeans of balance-coordinates for the two defined populations. After checking normality,one-way ANOVA or Mann-Whitney tests were carried out for the inter-group balances

Monitoring procedures in environmental geochemistry and compositional data analysis theory

First discussion on compositional data analysis is attributable to Karl Pearson, in 1897. However, notwithstanding the recent developments on algebraic structure of the simplex, more than twenty years after Aitchison’s idea of log-transformations of closed data, scientific literature is again full of statistical treatments of this type of data by using traditional methodologies. This is particularly true in environmental geochemistry where besides the problem of the closure, the spatial structure (dependence) of the data have to be considered. In this work we propose the use of log-contrast values, obtained by asimplicial principal component analysis, as LQGLFDWRUV of given environmental conditions. The investigation of the log-constrast frequency distributions allows pointing out the statistical laws able togenerate the values and to govern their variability. The changes, if compared, for example, with the mean values of the random variables assumed as models, or other reference parameters, allow definingmonitors to be used to assess the extent of possible environmental contamination. Case study on running and ground waters from Chiavenna Valley (Northern Italy) by using Na+, K+, Ca2+, Mg2+, HCO3-, SO4 2- and Cl- concentrations will be illustrated