An Integrated Transmission-Media Noise Calibration Software For Deep-Space Radio Science Experiments

The thesis describes the implementation of a calibration, format-translation and data conditioning software for radiometric tracking data of deep-space spacecraft. All of the available propagation-media noise rejection techniques available as features in the code are covered in their mathematical formulations, performance and software implementations. Some techniques are retrieved from literature and current state of the art, while other algorithms have been conceived ex novo. All of the three typical deep-space refractive environments (solar plasma, ionosphere, troposphere) are dealt with by employing specific subroutines. Specific attention has been reserved to the GNSS-based tropospheric path delay calibration subroutine, since it is the most bulky module of the software suite, in terms of both the sheer number of lines of code, and development time. The software is currently in its final stage of development and once completed will serve as a pre-processing stage for orbit determination codes. Calibration of transmission-media noise sources in radiometric observables proved to be an essential operation to be performed of radiometric data in order to meet the more and more demanding error budget requirements of modern deep-space missions. A completely autonomous and all-around propagation-media calibration software is a novelty in orbit determination, although standalone codes are currently employed by ESA and NASA. The described S/W is planned to be compatible with the current standards for tropospheric noise calibration used by both these agencies like the AMC, TSAC and ESA IFMS weather data, and it natively works with the Tracking Data Message file format (TDM) adopted by CCSDS as standard aimed to promote and simplify inter-agency collaboration.

Calibration study of bivalve shells : implications for paleoenvironmental reconstruction

The accretionary shells of bivalve mollusks can provide environmental information, such as water temperature, precipitation, freshwater fluxes, primary productivity and anthropogenic activities in the form of variable growth rates and variable geochemical properties, such as stable oxygen and carbon isotopes. However, paleoenvironmental reconstructions are constrained by uncertainties about isotopic equilibrium fractionation during shell formation, which is generally acknowledged as a reasonable assumption for bivalves, but it has been disputed in several species. Furthermore, the variation in shell growth rates is accepted to rely on multiple environmental variables, such as temperature, food availability and salinity, but can differ from species to species. Therefore, it is necessary to perform species-specific calibration studies for both isotope proxies and shell growth rates before they can be used with confidence for environmental interpretations of the past. Accordingly, the principal objective of this Ph.D research is to examine the reliability of selected bivalve species, the long-lived Eurhomalea exalbida (Dillwyn), the short-lived and fast growing species Paphia undulata (Born 1778), and the freshwater mussel Margaritifera falcata (Gould 1850), as paleoenvironmental proxy archives.rnThe first part is focused on δ18Oshell and shell growth history of live-collected E. exalbida from the Falkland Islands. The most remarkable finding, however, is that E. exalbida formed its shell with an offset of -0.48‰ to -1.91‰ from the expected oxygen isotopic equilibrium with the ambient water. If this remained unnoticed, paleotemperature estimates would overestimate actual water temperatures by 2.1-8.3°C. With increasing ontogenetic age, the discrepancy between measured and reconstructed temperatures increased exponentially, irrespective of the seasonally varying shell growth rates. This study clearly demonstrates that, when the disequilibrium fractionation effect is taken into account, E. exalbida can serve as a high-resolution paleoclimate archive for the southern South America. The species therefore provides quantifiable temperature estimates, which yields new insights into long-term paleoclimate dynamics for mid to high latitudes on the southern hemisphere.rnThe stable carbon isotope of biogenic carbonates is generally considered to be useful for reconstruction of seawater dissolved inorganic carbon. The δ13Cshell composition of E. exalbida was therefore, investigated in the second part of this study. This chapter focuses on inter-annual and intra-annual variations in δ13Cshell. Environmental records in δ13Cshell are found to be strongly obscured by changes in shell growth rates, even if removing the ontogenetic decreasing trend. This suggests that δ13Cshell in E. exalbida may not be useful as an environmental proxy, but a potential tool for ecological investigations. rnIn addition to long-lived bivalve species, short-lived species that secrete their shells extremely fast, can also be useful for environmental reconstructions, especially as a high-resolution recorder. Therefore, P. undulata from Daya Bay, South China Sea was utilized in Chapter 4 to evaluate and establish a potential proxy archive for past variations of the East Asian monsoon on shorter time-scales. The δ18Oshell can provide qualitative estimates of the amount of monsoonal rain and terrestrial runoff and the δ13Cshell likely reflect the relative amount of isotopically light terrestrial carbon that reaches the ocean during the summer monsoon season. Therefore, shells of P. undulata can provide serviceable proxy archives to reconstruct the frequency of exceptional summer monsoons in the past. The relative strength of monsoon-related precipitation and associated changes in ocean salinity and the δ13C ratios of the dissolved inorganic carbon signature (δ13CDIC) can be estimated from the δ18Oshell and δ13Cshell values as well as shell growth patterns. rnIn the final part, the freshwater pearl shell M. falcata from four rivers in British Columbia, Canada was preliminarily studied concerning the lifespans and the shell growth rates. Two groups separated by the Georgia Strait can be clearly distinguished. Specimens from the western group exhibit a shorter lifespan, while the eastern group live longer. Moreover, the average lifespan seems to decrease from south to north. The computed growth equations from the eastern and western groups differ as well. The western group exhibits a lower growth rate, while bivalves from the eastern group grow faster. The land use history seems to be responsible for the differences in lifespans of the specimens from the two groups. Differences in growth rate may be induced by differences in water temperature or nutrient input also related to the land use activities.

Characterisation and calibration of optical counters for airborne particulate matter

Gli aerosol, sospensione colloidale in aria di particelle solide o liquide, sono parte integrante dell’atmosfera. Essi interagiscono con la radiazione solare influenzando il clima (effetto primario e secondario) e la visibilità atmosferica. Gli aerosol hanno effetti sulla salute umana con patologie degli apparati cardiovascolare e circolatorio. La presente tesi affronta alcuni aspetti critici dei contatori ottici di particelle (OPC), utilizzati per caratterizzare l’aerosol ambientale. Gli OPC si basano sullo scattering luminoso per fornire la concentrazione in numero e la distribuzione dimensionale degli aerosol in tempo reale. Gli obiettivi di questa tesi sono: 1)caratterizzare e migliorare le prestazioni di un OPC di nuova concezione (CompactOPC N1, Alphasense; in seguito COPC) rispetto a un OPC standard commerciale (Grimm 1.108; in seguito GRM); 2)realizzare un banco di prova per la calibrazione di un OPC utilizzato in camere bianche e ambienti sanitari (Laser Particle Sensor 3715-00, Kanomax; in seguito LPS). Per questa attività ha mostrato interesse un’azienda locale (Pollution Clean Air Systems S.p.A.; Budrio, BO). Le prove sperimentali sono state effettuate con aerosol indoor e con particelle monodisperse di latex polistirene (PSL) di dimensioni differenti campionando in parallelo con i diversi OPC e su filtro per osservazioni al microscopio elettronico a scansione (SEM). In questo modo si è ottenuto un valore assoluto di riferimento per la concentrazione di aerosol. I risultati ottenuti indicano un buon accordo tra le concentrazioni di particelle fornite dal GRM e quelle ottenute al SEM. Il lavoro ha inoltre permesso di migliorare le prestazioni del COPC modificando la versione di base. Inoltre, è stata effettuata la calibrazione del LPS tramite il banco di prova realizzato nella tesi. Il lavoro sperimentale è stato svolto presso il Laboratorio di Aerosol e Fisica delle Nubi dell’Istituto di Scienze dell’Atmosfera e del Clima (ISAC) del Consiglio Nazionale delle Ricerche (CNR) a Bologna.

Studio e implementazione di tecniche di Hand Eye Calibration di un Braccio Robotico

La tesi indaga il problema di calibrazione Hand Eye, ovvero la trasformazione geometrica fra i diversi sistemi di riferimento della camera e dell'attuatore del robot, presentando il problema ed analizzando le varie soluzioni proposte in letteratura. Viene infine presentata una implementazione realizzata in collaborazione con l'azienda SpecialVideo, implementata utilizzando l'algoritmo proposto da Konstantinos Daniilidis, il quale propone una formulazione del problema sfruttando l'utilizzo di quaternioni duali, risolvendo simultaneamente la parte rotatoria e traslatoria della trasformazione. Si conclude il lavoro con una analisi dell'efficacia del metodo implementato su dati simulati e proponendo eventuali estensioni, allo scopo di poter riutilizzare in futuro il lavoro svolto nel software aziendale, con dati reali e con diversi tipi di telecamere, principalmente camere lineari o laser.

A Fully Automatic Calibration Framework for Navigated Ultrasound Imaging

Navigated ultrasound (US) imaging is used for the intra-operative acquisition of 3D image data during imageguided surgery. The presented approach includes the design of a compact and easy to use US calibration device and its integration into a software application for navigated liver surgery. User interaction during the calibration process is minimized through automatic detection of the calibration process followed by automatic image segmentation, calculation of the calibration transform and validation of the obtained result. This leads to a fast, interaction-free and fully automatic calibration procedure enabling intra-operative

Calibration of River Gauge at Afdeyu Research Station, Eritrea: A study conducted by MOA NARI and SLM

Afdeyu Station is one of the few river gauging stations in the highlands of Eritrea where daily measurements are taken. As a result of damages, the station was refurbished, and the cross section of the gauge was changed to have better control of minimal runoff. The gauge therefore had to be re-calibrated. This publication documents this process and also provides the new calibration curve, based on extensive field work carried out in the rainy season 2009

Development of Dynamic Constraint Models for a Model Based Transient Calibration Process

Model based calibration has gained popularity in recent years as a method to optimize increasingly complex engine systems. However virtually all model based techniques are applied to steady state calibration. Transient calibration is by and large an emerging technology. An important piece of any transient calibration process is the ability to constrain the optimizer to treat the problem as a dynamic one and not as a quasi-static process. The optimized air-handling parameters corresponding to any instant of time must be achievable in a transient sense; this in turn depends on the trajectory of the same parameters over previous time instances. In this work dynamic constraint models have been proposed to translate commanded to actually achieved air-handling parameters. These models enable the optimization to be realistic in a transient sense. The air handling system has been treated as a linear second order system with PD control. Parameters for this second order system have been extracted from real transient data. The model has been shown to be the best choice relative to a list of appropriate candidates such as neural networks and first order models. The selected second order model was used in conjunction with transient emission models to predict emissions over the FTP cycle. It has been shown that emission predictions based on air-handing parameters predicted by the dynamic constraint model do not differ significantly from corresponding emissions based on measured air-handling parameters.

Development of a model-based transient calibration process for diesel engine electronic control module tables – Part 1: data requirements, processing, and analysis

This is the first part of a study investigating a model-based transient calibration process for diesel engines. The motivation is to populate hundreds of parameters (which can be calibrated) in a methodical and optimum manner by using model-based optimization in conjunction with the manual process so that, relative to the manual process used by itself, a significant improvement in transient emissions and fuel consumption and a sizable reduction in calibration time and test cell requirements is achieved. Empirical transient modelling and optimization has been addressed in the second part of this work, while the required data for model training and generalization are the focus of the current work. Transient and steady-state data from a turbocharged multicylinder diesel engine have been examined from a model training perspective. A single-cylinder engine with external air-handling has been used to expand the steady-state data to encompass transient parameter space. Based on comparative model performance and differences in the non-parametric space, primarily driven by a high engine difference between exhaust and intake manifold pressures (ΔP) during transients, it has been recommended that transient emission models should be trained with transient training data. It has been shown that electronic control module (ECM) estimates of transient charge flow and the exhaust gas recirculation (EGR) fraction cannot be accurate at the high engine ΔP frequently encountered during transient operation, and that such estimates do not account for cylinder-to-cylinder variation. The effects of high engine ΔP must therefore be incorporated empirically by using transient data generated from a spectrum of transient calibrations. Specific recommendations on how to choose such calibrations, how many data to acquire, and how to specify transient segments for data acquisition have been made. Methods to process transient data to account for transport delays and sensor lags have been developed. The processed data have then been visualized using statistical means to understand transient emission formation. Two modes of transient opacity formation have been observed and described. The first mode is driven by high engine ΔP and low fresh air flowrates, while the second mode is driven by high engine ΔP and high EGR flowrates. The EGR fraction is inaccurately estimated at both modes, while EGR distribution has been shown to be present but unaccounted for by the ECM. The two modes and associated phenomena are essential to understanding why transient emission models are calibration dependent and furthermore how to choose training data that will result in good model generalization.

Development of a model-based transient calibration process for diesel engine electronic control module tables – Part 2: modelling and optimization

This is the second part of a study investigating a model-based transient calibration process for diesel engines. The first part addressed the data requirements and data processing required for empirical transient emission and torque models. The current work focuses on modelling and optimization. The unexpected result of this investigation is that when trained on transient data, simple regression models perform better than more powerful methods such as neural networks or localized regression. This result has been attributed to extrapolation over data that have estimated rather than measured transient air-handling parameters. The challenges of detecting and preventing extrapolation using statistical methods that work well with steady-state data have been explained. The concept of constraining the distribution of statistical leverage relative to the distribution of the starting solution to prevent extrapolation during the optimization process has been proposed and demonstrated. Separate from the issue of extrapolation is preventing the search from being quasi-static. Second-order linear dynamic constraint models have been proposed to prevent the search from returning solutions that are feasible if each point were run at steady state, but which are unrealistic in a transient sense. Dynamic constraint models translate commanded parameters to actually achieved parameters that then feed into the transient emission and torque models. Combined model inaccuracies have been used to adjust the optimized solutions. To frame the optimization problem within reasonable dimensionality, the coefficients of commanded surfaces that approximate engine tables are adjusted during search iterations, each of which involves simulating the entire transient cycle. The resulting strategy, different from the corresponding manual calibration strategy and resulting in lower emissions and efficiency, is intended to improve rather than replace the manual calibration process.

Influence of time point of calibration on accuracy of continuous glucose monitoring in individuals with type 1 diabetes

Abstract Background and Aims: Data on the influence of calibration on accuracy of continuous glucose monitoring (CGM) are scarce. The aim of the present study was to investigate whether the time point of calibration has an influence on sensor accuracy and whether this effect differs according to glycemic level. Subjects and Methods: Two CGM sensors were inserted simultaneously in the abdomen on either side of 20 individuals with type 1 diabetes. One sensor was calibrated predominantly using preprandial glucose (calibration(PRE)). The other sensor was calibrated predominantly using postprandial glucose (calibration(POST)). At minimum three additional glucose values per day were obtained for analysis of accuracy. Sensor readings were divided into four categories according to the glycemic range of the reference values (low, ≤4 mmol/L; euglycemic, 4.1-7 mmol/L; hyperglycemic I, 7.1-14 mmol/L; and hyperglycemic II, >14 mmol/L). Results: The overall mean±SEM absolute relative difference (MARD) between capillary reference values and sensor readings was 18.3±0.8% for calibration(PRE) and 21.9±1.2% for calibration(POST) (P<0.001). MARD according to glycemic range was 47.4±6.5% (low), 17.4±1.3% (euglycemic), 15.0±0.8% (hyperglycemic I), and 17.7±1.9% (hyperglycemic II) for calibration(PRE) and 67.5±9.5% (low), 24.2±1.8% (euglycemic), 15.5±0.9% (hyperglycemic I), and 15.3±1.9% (hyperglycemic II) for calibration(POST). In the low and euglycemic ranges MARD was significantly lower in calibration(PRE) compared with calibration(POST) (P=0.007 and P<0.001, respectively). Conclusions: Sensor calibration predominantly based on preprandial glucose resulted in a significantly higher overall sensor accuracy compared with a predominantly postprandial calibration. The difference was most pronounced in the hypo- and euglycemic reference range, whereas both calibration patterns were comparable in the hyperglycemic range.