Modifying the stochastic model to mitigate GPS systematic errors in relative positioning

The GPS observables are subject to several errors. Among them, the systematic ones have great impact, because they degrade the accuracy of the accomplished positioning. These errors are those related, mainly, to GPS satellites orbits, multipath and atmospheric effects. Lately, a method has been suggested to mitigate these errors: the semiparametric model and the penalised least squares technique (PLS). In this method, the errors are modeled as functions varying smoothly in time. It is like to change the stochastic model, in which the errors functions are incorporated, the results obtained are similar to those in which the functional model is changed. As a result, the ambiguities and the station coordinates are estimated with better reliability and accuracy than the conventional least square method (CLS). In general, the solution requires a shorter data interval, minimizing costs. The method performance was analyzed in two experiments, using data from single frequency receivers. The first one was accomplished with a short baseline, where the main error was the multipath. In the second experiment, a baseline of 102 km was used. In this case, the predominant errors were due to the ionosphere and troposphere refraction. In the first experiment, using 5 minutes of data collection, the largest coordinates discrepancies in relation to the ground truth reached 1.6 cm and 3.3 cm in h coordinate for PLS and the CLS, respectively, in the second one, also using 5 minutes of data, the discrepancies were 27 cm in h for the PLS and 175 cm in h for the CLS. In these tests, it was also possible to verify a considerable improvement in the ambiguities resolution using the PLS in relation to the CLS, with a reduced data collection time interval. © Springer-Verlag Berlin Heidelberg 2007.

An effective wavelet method to detect and mitigate low-frequency multipath effects

To ensure high accuracy results from GPS relative positioning, the multipath effects have to be mitigated. Although the careful selection of antenna site and the use of especial antennas and receivers can minimize multipath, it cannot always be eliminated and frequently the residual multipath disturbance remains as the major error in GPS results. The high-frequency multipath from large delays can be attenuated by double difference (DD) denoising methods. But the low-frequency multipath from short delays is very difficult to be reduced or modeled. In this paper, it is proposed a method based on wavelet regression (WR), which can effectively detect and reduce the low-frequency multipath. The wavelet technique is firstly applied to decompose the DD residuals into the low-frequency bias and high-frequency noise components. The extracted bias components by WR are then directly applied to the DD observations to correct them from the trend. The remaining terms, largely characterized by the high-frequency measurement noise, are expected to give the best linear unbiased solutions from a least-squares (LS) adjustment. An experiment was carried out using objects placed close to the receiver antenna to cause, mainly, low-frequency multipath. The data were collected for two days to verify the multipath repeatability. The ground truth coordinates were computed with data collected in the absence of the reflector objects. The coordinates and ambiguity solution were compared with and without the multipath mitigation using WR. After mitigating the multipath, ambiguity resolution became more reliable and the coordinates were more accurate.

Reprodutibilidade de medidas antropométricas estáticas de graduandos de odontologia e de mochos odontológicos

Objective: To evaluate the intraexaminer reproducibility of static anthropometric measurements of undergraduate dental students as well as the characteristics and regulating measurements of the dental stools used by them. Methods: Forty volunteers and 6 types of dental stools were evaluated. For the anthropometric measurements the employed equipments were: an adapted office chair, aflexible measuring tape with two adapted rods, a metallic device with a 90 degree central angle, string, a 35 x 24 cm rectangular wooden board, isolating tape and crepe tape. In order to standardize the position of the adapted office chair and the volunteers' feet, the floor was marked with the isolating and crepe tapes. A string was attached to the waist of each volunteer to mark the area corresponding to the kidney region making it possible to measure the seat-renal region area. The examined anthropometric measurements were height, trunkcephalic heigh, sacral-popliteal distance (OK?), hip width, popliteal height and the seat-renal region height. The evaluated characteristics of the dental stools relative to the seat were depth, horizontal width and minimum/maximum height. The back of the dental stool was evaluated as for the minimum/ maximum height adjustment. The anthropometric and dental stool measurements were obtained by a single examiner at two moments with a 1-week interval between the evaluations. Intra-class correlation coefficient (ρ) was used to estimate the intraexaminer reproducibility. Results: Excellent reproducibility was observed for all anthropometric measurements obtained (ρ=0.99) as well as for all dental stools evaluated (ρ=0.99). Conclusion: The method used to obtain the anthropometric and dental stools measurements was reproducible and can be used reliably.

State Dependent Riccati Equation (SDRE) control method applied in cancellation of a parametric resonance in a magnetically levitated body

Here, a simplified dynamical model of a magnetically levitated body is considered. The origin of an inertial Cartesian reference frame is set at the pivot point of the pendulum on the levitated body in its static equilibrium state (ie, the gap between the magnet on the base and the magnet on the body, in this state). The governing equations of motion has been derived and the characteristic feature of the strategy is the exploitation of the nonlinear effect of the inertial force associated, with the motion of a pendulum-type vibration absorber driven, by an appropriate control torque [4]. In the present paper, we analyzed the nonlinear dynamics of problem, discussed the energy transfer between the main system and the pendulum in time, and developed State Dependent Riccati Equation (SDRE) control design to reducing the unstable oscillatory movement of the magnetically levitated body to a stable fixed point. The simulations results showed the effectiveness of the (SDRE) control design. Copyright © 2011 by ASME.

A simple method based on HR-CS FAAS for multi-element determination of Cu, Fe, Mn and Zn in medicinal plants

A simple method to determine Cu, Fe, Mn and Zn in single aliquots of medicinal plants by HR-CS FAAS is proposed. The main lines for Cu, Mn and Zn, and the alternate line measured at the wing of the main line for Fe at 248.327 nm allowed calibration within the 0.025 - 2.0 mg L-1 Cu, 1.0 - 20.0 mg L-1 Fe, 0.05 - 2.0 mg L-1 Mn, 0.025 - 0.75 mg L-1 Zn ranges. Nineteen medicinal plants and two certified plant reference materials were analyzed. Results were in agreement at a 95% confidence level (paired t-test) with reference values. Limits of detection were 0.12 μg L-1 Cu, 330 μg L-1 Fe, 1.42 μg L-1 Mn and 8.12 μg L-1 Zn. Relative standard deviations (n=12) were ≤ 3% for all analytes. Recoveries in the 89 - 105% (Cu), 95 - 108% (Fe), 94 - 107% (Mn), and 93 - 110% (Zn) ranges were obtained.

Preparation and photoluminescence characteristics of In(OH) 3:xTb3+ obtained by Microwave-Assisted Hydrothermal method

Crystalline terbium-doped indium hydroxide structures were prepared by a rapid and efficient Microwave-Assisted Hydrothermal (MAH) method. Nanostructures were obtained at a low temperature. FE-SEM images confirm that these samples are composed of 3D nanostructures. XRD, optical diffuse reflectance and photoluminescence (PL) measurements were used to characterize the products. Emission spectra of terbium-doped indium hydroxide (In(OH)3:xTb 3+) samples under excitation (350.7 nm) presented broad band emission referent to the indium hydroxide matrix and 5D4 → 7F6, 5D4 → 7F 5, 5D4 → 7F4, and 5D4 → 7F3 terbium transitions at 495, 550, 590 and 627 nm, respectively. Relative intensities of the Tb 3+ emissions increased as the concentration of this ion increased from 0, 1, 2, 4 and 8 mol%, of Tb3+, but the luminescence is drastically quenched for the In(OH)3 matrix. © 2012 Elsevier B.V. All rights reserved.

Relative growth and reproduction in Achelous spinicarpus (Crustacea: Portunidae) on the south-eastern continental shelf of Brazil

This investigation aimed to study the relative growth, morphological sexual maturity and fecundity of the swimming crab Achelous spinicarpus in a tropical region, on the south-eastern continental shelf of Brazil (25°S). Biometry of all specimens was conducted, including measurements of the cephalothorax, cheliped, abdomen and gonopods. Relative growth was described based on the equation for allometry (y = axb), and size at sexual maturity was determined from inflections in relations involving the cheliped, gonopods (males), and abdomen (females), as dependent variables, related to the cephalothorax width (independent variable). Fecundity was estimated by the gravimetric method. The relations of the length of the chelar propodus and carpal spine to the carapace width without the lateral spines (CW) showed positive allometry in both sexes, with a significant variation in the constant 'b' for males between the developmental stages (juvenile and adult) and the size at maturity estimated at 37 mm CW. In females, the abdomen was most appropriate for the estimate of morphological maturity, which occurred at a smaller size (32 mm CW), with a change in the growth pattern between the stages, passing from isometric (juveniles) to positive allometric (adults). The gonopods also showed different growth rates between developmental stages, in synchrony with the variables of the cheliped. Mean fecundity for the species was 53,984 eggs, with a positive correlation between the number of eggs exteriorized and the size of the female; the equations allowed interconversion between these variables, due to the adjustment of the power function (r2 ≥ 86%). © 2012 Marine Biological Association of the United Kingdom.

Assessment of branch outage contingencies using the continuation method

This paper provides a contribution to the contingency analysis of electric power systems under steady state conditions. An alternative methodology is presented for static contingency analyses that only use continuation methods and thus provides an accurate determination of the loading margin. Rather than starting from the base case operating point, the proposed continuation power flow obtains the post-contingency loading margins starting from the maximum loading and using a bus voltage magnitude as a parameter. The branch selected for the contingency evaluation is parameterised using a scaling factor, which allows its gradual removal and assures the continuation power flow convergence for the cases where the method would diverge for the complete transmission line or transformer removal. The applicability and effectiveness of the proposed methodology have been investigated on IEEE test systems (14, 57 and 118 buses) and compared with the continuation power flow, which obtains the post-contingency loading margin starting from the base case solution. In general, for most of the analysed contingencies, few iterations are necessary to determine the post-contingency maximum loading point. Thus, a significant reduction in the global number of iterations is achieved. Therefore, the proposed methodology can be used as an alternative technique to verify and even to obtain the list of critical contingencies supplied by the electric power systems security analysis function. © 2013 Elsevier Ltd. All rights reserved.

Solução rápida das ambigüidades GPS para aplicações no posicionamento relativo de linhas de base curtas

Pós-graduação em Ciências Cartográficas - FCT

Utilização da lógica difusa na caracterização de áreas favoráveis à disposição de resíduos sólidos no município de Americana (SP)

Pós-graduação em Geociências e Meio Ambiente - IGCE

Uranium-lead dating method at the Pará-Iso isotope geology laboratory, UFPA, Belém – Brazil

ABSTRACT: Analytical procedures for U-Pb isotope dilution analyses at the Pará-Iso isotope geology laboratory of the Federal University of Pará (UFPA) are described in detail. The procedures are applied to zircon, titanite, rutile, apatite, columbite-tantalite and whole rock. Reagent preparation and chemical processing are done in clean-room conditions. Samples are dissolved using Teflon™ microcapsules in steel jacket Teflon™ Parr Instrument™ bomb or Teflon™ screw cap containers. U and Pb are separated using anion exchange AG 1x8 resin columns. Typical blanks for mineral sample amounts of 0.01 to 1.0 mg are less than 1 pg U and 20-30 pg Pb. Isotope analysis of the U and Pb from the same filament are carried out using a Finnigan MAT 262 mass-spectrometer in static and dynamic modes. The current analytical level is demonstrated on analyses of international standard zircon 91500 with three different ²³⁵U-²⁰⁵Pb and ²³⁵U-²⁰⁸Pb isotope tracers and whole rock standards. Results of analyses of two zircon samples are also presented.

Evaluation via multivariate techniques of scale factor variability in the rietveld method applied to quantitative phase analysis with X ray powder diffraction

ABSTRACT: The present work uses multivariate statistical analysis as a form of establishing the main sources of error in the Quantitative Phase Analysis (QPA) using the Rietveld method. The quantitative determination of crystalline phases using x ray powder diffraction is a complex measurement process whose results are influenced by several factors. Ternary mixtures of Al2O3, MgO and NiO were prepared under controlled conditions and the diffractions were obtained using the Bragg-Brentano geometric arrangement. It was possible to establish four sources of critical variations: the experimental absorption and the scale factor of NiO, which is the phase with the greatest linear absorption coefficient of the ternary mixture; the instrumental characteristics represented by mechanical errors of the goniometer and sample displacement; the other two phases (Al2O3 and MgO); and the temperature and relative humidity of the air in the laboratory. The error sources excessively impair the QPA with the Rietveld method. Therefore it becomes necessary to control them during the measurement procedure.

Inversion method for obtaining electrical parameters for soil in the rural region in Brazil

This paper presents an inversion methodology through weighted least squares to obtain the electrical parameters for the soil of a typical mid-western region in Brazil using the model based in the formalism of the parabolic equations to calculate the electric field intensity received. To validate this methodology, the results of the radio signal measurement campaign conducted in six radial routes leaving the city of Brasilia, Federal District, where the transmitter was located, were used. The measurements were compared to computer simulations and, thus, the optimal values for the electric conductivity and relative permittivity for the soil of the region could be estimated. Finally, a quantitative analysis of these parameters was performed with the values found in the literature, which demonstrated the effectiveness of the proposed methodology.

The relative growth and sexual maturity of the freshwater crab Dilocarcinus pagei (Brachyura, Trichodactylidae) in the northwestern region of the state of São Paulo

The aim of the present study was to determine the size at sexual maturity in the freshwater crab Dilocarcinus pagei Stimpson, 1861, from a population located in Mendonça, state of São Paulo, Brazil. The crabs were sampled monthly (July 2005 to June 2007), at Barra Mansa reservoir. The specimens were captured manually or in sieves passed through the aquatic vegetation. The crabs were captured and separated by sex based on morphology of the pleon and on the number of pleopods. The following dimensions were measured: carapace width (CW); carapace length (CL); propodus length (PL); and abdomen width (AW). The morphological analysis of the gonads was used to identify and categorize individuals according to their stage of development. The morphological maturity was estimated based on the analysis of relative growth based on the allometric equation y = ax b. The gonadal maturity was based on the morphology of the gonads by the method CW50 which indicates the size at which 50% of the individuals in the population showed gonads morphologically mature to reproduction. The biometric relationships that best demonstrated the different patterns of growth for the juvenile and adult stages were CW vs. PL for males and CW vs. AW for females (p<0.001). Based on these relationships, the estimated value to morphological sexual maturity was 21.5 mm (CW) in males and 19.7 mm (CW) in females. The determination of the size at sexual maturity and the adjustment of the data based on the logistic curve (CW50) resulted in a size of 38.2 mm for males and 39.4 mm for females (CW). Based on the data obtained for sexual maturity for D. pagei, we can estimate a minimum size for capture of 40 mm (CW). This minimum size allows at least half of the population to reproduce and retains the juveniles and a portion of the adults in the population.

HYGROSCOPIC PROPERTIES OF ORANGE PULP AND PEEL

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)