Lidar uncertainty in complex terrain development of a bias correction methodology

El autor ha trabajado como parte del equipo de investigación en mediciones de viento en el Centro Nacional de Energías Renovables (CENER), España, en cooperación con la Universidad Politécnica de Madrid y la Universidad Técnica de Dinamarca. El presente reporte recapitula el trabajo de investigación realizado durante los últimos 4.5 años en el estudio de las fuentes de error de los sistemas de medición remota de viento, basados en la tecnología lidar, enfocado al error causado por los efectos del terreno complejo. Este trabajo corresponde a una tarea del paquete de trabajo dedicado al estudio de sistemas remotos de medición de viento, perteneciente al proyecto de intestigación europeo del 7mo programa marco WAUDIT. Adicionalmente, los datos de viento reales han sido obtenidos durante las campañas de medición en terreno llano y terreno complejo, pertenecientes al también proyecto de intestigación europeo del 7mo programa marco SAFEWIND. El principal objetivo de este trabajo de investigación es determinar los efectos del terreno complejo en el error de medición de la velocidad del viento obtenida con los sistemas de medición remota lidar. Con este conocimiento, es posible proponer una metodología de corrección del error de las mediciones del lidar. Esta metodología está basada en la estimación de las variaciones del campo de viento no uniforme dentro del volumen de medición del lidar. Las variaciones promedio del campo de viento son predichas a partir de los resultados de las simulaciones computacionales de viento RANS, realizadas para el parque experimental de Alaiz. La metodología de corrección es verificada con los resultados de las simulaciones RANS y validadas con las mediciones reales adquiridas en la campaña de medición en terreno complejo. Al inicio de este reporte, el marco teórico describiendo el principio de medición de la tecnología lidar utilizada, es presentado con el fin de familiarizar al lector con los principales conceptos a utilizar a lo largo de este trabajo. Posteriormente, el estado del arte es presentado en donde se describe los avances realizados en el desarrollo de la la tecnología lidar aplicados al sector de la energía eólica. En la parte experimental de este trabajo de investigación se ha estudiado los datos adquiridos durante las dos campañas de medición realizadas. Estas campañas has sido realizadas en terreno llano y complejo, con el fin de complementar los conocimiento adquiridos en casa una de ellas y poder comparar los efectos del terreno en las mediciones de viento realizadas con sistemas remotos lidar. La primer campaña experimental se desarrollo en terreno llano, en el parque de ensayos de aerogeneradores H0vs0re, propiedad de DTU Wind Energy (anteriormente Ris0). La segunda campaña experimental se llevó a cabo en el parque de ensayos de aerogeneradores Alaiz, propiedad de CENER. Exactamente los mismos dos equipos lidar fueron utilizados en estas campañas, haciendo de estos experimentos altamente relevantes en el contexto de evaluación del recurso eólico. Un equipo lidar está basado en tecnología de onda continua, mientras que el otro está basado en tecnología de onda pulsada. La velocidad del viento fue medida, además de con los equipos lidar, con anemómetros de cazoletas, veletas y anemómetros verticales, instalados en mástiles meteorológicos. Los sensores del mástil meteorológico son considerados como las mediciones de referencia en el presente estudio. En primera instancia, se han analizado los promedios diez minútales de las medidas de viento. El objetivo es identificar las principales fuentes de error en las mediciones de los equipos lidar causadas por diferentes condiciones atmosféricas y por el flujo no uniforme de viento causado por el terreno complejo. El error del lidar ha sido estudiado como función de varias propiedades estadísticas del viento, como lo son el ángulo vertical de inclinación, la intensidad de turbulencia, la velocidad vertical, la estabilidad atmosférica y las características del terreno. El propósito es usar este conocimiento con el fin de definir criterios de filtrado de datos. Seguidamente, se propone una metodología para corregir el error del lidar causado por el campo de viento no uniforme, producido por la presencia de terreno complejo. Esta metodología está basada en el análisis matemático inicial sobre el proceso de cálculo de la velocidad de viento por los equipos lidar de onda continua. La metodología de corrección propuesta hace uso de las variaciones de viento calculadas a partir de las simulaciones RANS realizadas para el parque experimental de Alaiz. Una ventaja importante que presenta esta metodología es que las propiedades el campo de viento real, presentes en las mediciones instantáneas del lidar de onda continua, puede dar paso a análisis adicionales como parte del trabajo a futuro. Dentro del marco del proyecto, el trabajo diario se realizó en las instalaciones de CENER, con supervisión cercana de la UPM, incluyendo una estancia de 1.5 meses en la universidad. Durante esta estancia, se definió el análisis matemático de las mediciones de viento realizadas por el equipo lidar de onda continua. Adicionalmente, los efectos del campo de viento no uniforme sobre el error de medición del lidar fueron analíticamente definidos, después de asumir algunas simplificaciones. Adicionalmente, durante la etapa inicial de este proyecto se desarrollo una importante trabajo de cooperación con DTU Wind Energy. Gracias a esto, el autor realizó una estancia de 1.5 meses en Dinamarca. Durante esta estancia, el autor realizó una visita a la campaña de medición en terreno llano con el fin de aprender los aspectos básicos del diseño de campañas de medidas experimentales, el estudio del terreno y los alrededores y familiarizarse con la instrumentación del mástil meteorológico, el sistema de adquisición y almacenamiento de datos, así como de el estudio y reporte del análisis de mediciones. ABSTRACT The present report summarizes the research work performed during last 4.5 years of investigation on the sources of lidar bias due to complex terrain. This work corresponds to one task of the remote sensing work package, belonging to the FP7 WAUDIT project. Furthermore, the field data from the wind velocity measurement campaigns of the FP7 SafeWind project have been used in this report. The main objective of this research work is to determine the terrain effects on the lidar bias in the measured wind velocity. With this knowledge, it is possible to propose a lidar bias correction methodology. This methodology is based on an estimation of the wind field variations within the lidar scan volume. The wind field variations are calculated from RANS simulations performed from the Alaiz test site. The methodology is validated against real scale measurements recorded during an eight month measurement campaign at the Alaiz test site. Firstly, the mathematical framework of the lidar sensing principle is introduced and an overview of the state of the art is presented. The experimental part includes the study of two different, but complementary experiments. The first experiment was a measurement campaign performed in flat terrain, at DTU Wind Energy H0vs0re test site, while the second experiment was performed in complex terrain at CENER Alaiz test site. Exactly the same two lidar devices, based on continuous wave and pulsed wave systems, have been used in the two consecutive measurement campaigns, making this a relevant experiment in the context of wind resource assessment. The wind velocity was sensed by the lidars and standard cup anemometry and wind vanes (installed on a met mast). The met mast sensors are considered as the reference wind velocity measurements. The first analysis of the experimental data is dedicated to identify the main sources of lidar bias present in the 10 minute average values. The purpose is to identify the bias magnitude introduced by different atmospheric conditions and by the non-uniform wind flow resultant of the terrain irregularities. The lidar bias as function of several statistical properties of the wind flow like the tilt angle, turbulence intensity, vertical velocity, atmospheric stability and the terrain characteristics have been studied. The aim of this exercise is to use this knowledge in order to define useful lidar bias data filters. Then, a methodology to correct the lidar bias caused by non-uniform wind flow is proposed, based on the initial mathematical analysis of the lidar measurements. The proposed lidar bias correction methodology has been developed focusing on the the continuous wave lidar system. In a last step, the proposed lidar bias correction methodology is validated with the data of the complex terrain measurement campaign. The methodology makes use of the wind field variations obtained from the RANS analysis. The results are presented and discussed. The advantage of this methodology is that the wind field properties at the Alaiz test site can be studied with more detail, based on the instantaneous measurements of the CW lidar. Within the project framework, the daily basis work has been done at CENER, with close guidance and support from the UPM, including an exchange period of 1.5 months. During this exchange period, the mathematical analysis of the lidar sensing of the wind velocity was defined. Furthermore, the effects of non-uniform wind fields on the lidar bias were analytically defined, after making some assumptions for the sake of simplification. Moreover, there has been an important cooperation with DTU Wind Energy, where a secondment period of 1.5 months has been done as well. During the secondment period at DTU Wind Energy, an important introductory learning has taken place. The learned aspects include the design of an experimental measurement campaign in flat terrain, the site assessment study of obstacles and terrain conditions, the data acquisition and processing, as well as the study and reporting of the measurement analysis.

Propagation of DEM Varying Accuracy into Terrain-Based Analysis.

Análisis de precisión en modelos digitales de elevación globales. ABSTRACT: Terrain-Based Analysis results in derived products from an input DEM and these products are needed to perform various analyses. To efficiently use these products in decision-making, their accuracies must be estimated systematically. This paper proposes a procedure to assess the accuracy of these derived products, by calculating the accuracy of the slope dataset and its significance, taking as an input the accuracy of the DEM. Based on the output of previously published research on modeling the relative accuracy of a DEM, specifically ASTER and SRTM DEMs with Lebanon coverage as the area of study, analysis have showed that ASTER has a low significance in the majority of the area where only 2% of the modeled terrain has 50% or more significance. On the other hand, SRTM showed a better significance, where 37% of the modeled terrain has 50% or more significance. Statistical analysis deduced that the accuracy of the slope dataset, calculated on a cell-by-cell basis, is highly correlated to the accuracy of the input DEM. However, this correlation becomes lower between the slope accuracy and the slope significance, whereas it becomes much higher between the modeled slope and the slope significance.

Collision avoidance maneuver optimization

The paper presents a high accuracy fully analytical formulation to compute the miss distance and collision probability of two approaching objects following an impulsive collision avoidance maneuver. The formulation hinges on a linear relation between the applied impulse and the objects relative motion in the b-plane, which allows to formulate the maneuver optimization problem as an eigenvalue problem. The optimization criterion consists of minimizing the maneuver cost in terms of delta-V magnitude in order to either maximize collision miss distance or to minimize Gaussian collision probability. The algorithm, whose accuracy is verified in representative mission scenarios, can be employed for collision avoidance maneuver planning with reduced computational cost when compared to fully numerical algorithms.

Cognitive risk perception system for obstacle avoidance in outdoor mUAV missions

La robótica ha evolucionado exponencialmente en las últimas décadas, permitiendo a los sistemas actuales realizar tareas sumamente complejas con gran precisión, fiabilidad y velocidad. Sin embargo, este desarrollo ha estado asociado a un mayor grado de especialización y particularización de las tecnologías implicadas, siendo estas muy eficientes en situaciones concretas y controladas, pero incapaces en entornos cambiantes, dinámicos y desestructurados. Por eso, el desarrollo de la robótica debe pasar por dotar a los sistemas de capacidad de adaptación a las circunstancias, de entendedimiento sobre los cambios observados y de flexibilidad a la hora de interactuar con el entorno. Estas son las caracteristicas propias de la interacción del ser humano con su entorno, las que le permiten sobrevivir y las que pueden proporcionar a un sistema inteligencia y capacidad suficientes para desenvolverse en un entorno real de forma autónoma e independiente. Esta adaptabilidad es especialmente importante en el manejo de riesgos e incetidumbres, puesto que es el mecanismo que permite contextualizar y evaluar las amenazas para proporcionar una respuesta adecuada. Así, por ejemplo, cuando una persona se mueve e interactua con su entorno, no evalúa los obstáculos en función de su posición, velocidad o dinámica (como hacen los sistemas robóticos tradicionales), sino mediante la estimación del riesgo potencial que estos elementos suponen para la persona. Esta evaluación se consigue combinando dos procesos psicofísicos del ser humano: por un lado, la percepción humana analiza los elementos relevantes del entorno, tratando de entender su naturaleza a partir de patrones de comportamiento, propiedades asociadas u otros rasgos distintivos. Por otro lado, como segundo nivel de evaluación, el entendimiento de esta naturaleza permite al ser humano conocer/estimar la relación de los elementos con él mismo, así como sus implicaciones en cuanto a nivel de riesgo se refiere. El establecimiento de estas relaciones semánticas -llamado cognición- es la única forma de definir el nivel de riesgo de manera absoluta y de generar una respuesta adecuada al mismo. No necesariamente proporcional, sino coherente con el riesgo al que se enfrenta. La investigación que presenta esta tesis describe el trabajo realizado para trasladar esta metodología de análisis y funcionamiento a la robótica. Este se ha centrado especialmente en la nevegación de los robots aéreos, diseñando e implementado procedimientos de inspiración humana para garantizar la seguridad de la misma. Para ello se han estudiado y evaluado los mecanismos de percepción, cognición y reacción humanas en relación al manejo de riesgos. También se ha analizado como los estímulos son capturados, procesados y transformados por condicionantes psicológicos, sociológicos y antropológicos de los seres humanos. Finalmente, también se ha analizado como estos factores motivan y descandenan las reacciones humanas frente a los peligros. Como resultado de este estudio, todos estos procesos, comportamientos y condicionantes de la conducta humana se han reproducido en un framework que se ha estructurado basadandose en factores análogos. Este emplea el conocimiento obtenido experimentalmente en forma de algoritmos, técnicas y estrategias, emulando el comportamiento humano en las mismas circunstancias. Diseñado, implementeado y validado tanto en simulación como con datos reales, este framework propone una manera innovadora -tanto en metodología como en procedimiento- de entender y reaccionar frente a las amenazas potenciales de una misión robótica. ABSTRACT Robotics has undergone a great revolution in the last decades. Nowadays this technology is able to perform really complex tasks with a high degree of accuracy and speed, however this is only true in precisely defined situations with fully controlled variables. Since the real world is dynamic, changing and unstructured, flexible and non context-dependent systems are required. The ability to understand situations, acknowledge changes and balance reactions is required by robots to successfully interact with their surroundings in a fully autonomous fashion. In fact, it is those very processes that define human interactions with the environment. Social relationships, driving or risk/incertitude management... in all these activities and systems, context understanding and adaptability are what allow human beings to survive: contrarily to the traditional robotics, people do not evaluate obstacles according to their position but according to the potential risk their presence imply. In this sense, human perception looks for information which goes beyond location, speed and dynamics (the usual data used in traditional obstacle avoidance systems). Specific features in the behaviour of a particular element allows the understanding of that element’s nature and therefore the comprehension of the risk posed by it. This process defines the second main difference between traditional obstacle avoidance systems and human behaviour: the ability to understand a situation/scenario allows to get to know the implications of the elements and their relationship with the observer. Establishing these semantic relationships -named cognition- is the only way to estimate the actual danger level of an element. Furthermore, only the application of this knowledge allows the generation of coherent, suitable and adjusted responses to deal with any risk faced. The research presented in this thesis summarizes the work done towards translating these human cognitive/reasoning procedures to the field of robotics. More specifically, the work done has been focused on employing human-based methodologies to enable aerial robots to navigate safely. To this effect, human perception, cognition and reaction processes concerning risk management have been experimentally studied; as well as the acquisition and processing of stimuli. How psychological, sociological and anthropological factors modify, balance and give shape to those stimuli has been researched. And finally, the way in which these factors motivate the human behaviour according to different mindsets and priorities has been established. This associative workflow has been reproduced by establishing an equivalent structure and defining similar factors and sources. Besides, all the knowledge obtained experimentally has been applied in the form of algorithms, techniques and strategies which emulate the analogous human behaviours. As a result, a framework capable of understanding and reacting in response to stimuli has been implemented and validated.

Inactivating one hippocampus impairs avoidance of a stable room-defined place during dissociation of arena cues from room cues by rotation of the arena

Unilateral intrahippocampal injections of tetrodotoxin were used to temporarily inactivate one hippocampus during specific phases of training in an active allothetic place avoidance task. The rat was required to use landmarks in the room to avoid a room-defined sector of a slowly rotating circular arena. The continuous rotation dissociated room cues from arena cues and moved the arena surface through a part of the room in which foot-shock was delivered. The rat had to move away from the shock zone to prevent being transported there by the rotation. Unilateral hippocampal inactivations profoundly impaired acquisition and retrieval of the allothetic place avoidance. Posttraining unilateral hippocampal inactivation also impaired performance in subsequent sessions. This allothetic place avoidance task seems more sensitive to hippocampal disruption than the standard water maze task because the same unilateral hippocampal inactivation does not impair performance of the variable-start, fixed hidden goal task after procedural training. The results suggest that the hippocampus not only encodes allothetic relationships amongst landmarks, it also organizes perceived allothetic stimuli into systems of mutually stable coordinates. The latter function apparently requires greater hippocampal integrity.

Phytochrome D Acts in the Shade-Avoidance Syndrome in Arabidopsis by Controlling Elongation Growth and Flowering Time1

Shade avoidance in higher plants is regulated by the action of multiple phytochrome (phy) species that detect changes in the red/far-red ratio (R/FR) of incident light and initiate a redirection of growth and an acceleration of flowering. The phyB mutant of Arabidopsis is constitutively elongated and early flowering and displays attenuated responses to both reduced R/FR and end-of-day far-red light, conditions that induce strong shade-avoidance reactions in wild-type plants. This indicates that phyB plays an important role in the control of shade avoidance. In Arabidopsis phyB and phyD are the products of a recently duplicated gene and share approximately 80% identity. We investigated the role played by phyD in shade avoidance by analyzing the responses of phyD-deficient mutants. Compared with the monogenic phyB mutant, the phyB-phyD double mutant flowers early and has a smaller leaf area, phenotypes that are characteristic of shade avoidance. Furthermore, compared with the monogenic phyB mutant, the phyB-phyD double mutant shows a more attenuated response to a reduced R/FR for these responses. Compared with the phyA-phyB double mutant, the phyA-phyB-phyD triple mutant has elongated petioles and displays an enhanced elongation of internodes in response to end-of-day far-red light. These characteristics indicate that phyD acts in the shade-avoidance syndrome by controlling flowering time and leaf area and that phyC and/or phyE also play a role.

Chloroplast-Avoidance Response Induced by High-Fluence Blue Light in Prothallial Cells of the Fern Adiantum capillus-veneris as Analyzed by Microbeam Irradiation1

Chloroplast movement was induced by partial cell illumination using a high-fluence blue microbeam in light-grown and dark-adapted prothallial cells of the fern Adiantum capillus-veneris. Chloroplasts inside the illuminated area moved out (high-fluence response [HFR]), whereas those outside moved toward the irradiated area (low-fluence response [LFR]), although they stopped moving when they reached the border. These results indicate that both HFR and LFR signals are generated by high-fluence blue light of the same area, and that an LFR signal can be transferred long-distance from the beam spot, although an HFR signal cannot. The lifetime of the HFR signal was calculated from the traces of chloroplast movement induced by a brief pulse from a high-fluence blue microbeam to be about 6 min. This is very short compared with that of the LFR (30–40 min; T. Kagawa, M. Wada [1994] J Plant Res 107: 389–398). These data indicate that the signal transduction pathways of the HFR and the LFR must be distinct.

Vestibular navigation directed by the slope of terrain.

Slope of terrain is an important orienting gradient affecting the goal-directed locomotion of animals. Its significance was assessed in experiment 1 by training rats to find in darkness a feeder on the top of a low cone (80-cm base, 0- to 4-cm high). A computerized infrared tracking system monitoring the rat's position in darkness showed that the path length on the cone surface was inversely proportional to cone height. A device allowing continuous generation of slope-guided locomotion was used in experiment 2. This device consists of a 1-m arena, the floor of which can be supported at a point corresponding to the position of one of three equidistant feeders located 17 cm from its center. The arena is inclined by the locomotion of the rat to a plane passing through the elevated (2- or 4-cm) feeder, the rat's center of gravity, and a point at the edge of the arena resting on the floor. The multitude of such planes generated by the rat's locomotion forms the surface of a virtual cone, the top of which is formed by the feeder. Additional path (difference between distance traveled and shortest distance of the animal from the goal at the onset of inclination) is inversely related to the incline of the arena and is a sensitive measure of performance in this type of vestibular navigation.

Spontaneous avoidance behavior in Drosophila null for calmodulin expression.

The regulatory protein calmodulin is a major mediator of calcium-induced changes in cellular activity. To analyze the roles of calmodulin in an intact animal, we have generated a calmodulin null mutation in Drosophila melanogaster. Maternal calmodulin supports calmodulin null individuals throughout embryogenesis, but they die within 2 days of hatching as first instar larvae. We have detected two pronounced behavioral abnormalities specific to the loss of calmodulin in these larvae. Swinging of the head and anterior body, which occurs in the presence of food, is three times more frequent in the null animals. More strikingly, most locomotion in calmodulin null larvae is spontaneous backward movement. This is in marked contrast to the wild-type situation where backward locomotion is seen only as a stimulus-elicited avoidance response. Our finding of spontaneous avoidance behavior has striking similarities to the enhanced avoidance responses produced by some calmodulin mutations in Paramecium. Thus our results suggest evolutionary conservation of a role for calmodulin in membrane excitability and linked behavioral responses.

Memory enhancement by intrahippocampal, intraamygdala, or intraentorhinal infusion of platelet-activating factor measured in an inhibitory avoidance task.

Platelet-activating factor (PAF; 1-O-alkyl-2-acetyl-sn-glycero-3-phosphocholine), which is thought to be a retrograde messenger in long-term potentiation (LTP), enhances glutamate release and LTP through an action on presynaptic nerve endings. The PAF antagonist BN 52021 blocks CA1 LTP in hippocampal slices, and, when infused into rat dorsal hippocampus pre- or posttraining, blocks retention of inhibitory avoidance. Here we report that memory is affected by pre- or posttraining infusion of the PAF analog 1-O-hexadecyl-2-N-methylcarbamoyl-sn-glycerol-3-phosphocholine (mc-PAF) into either rat dorsal hippocampus, amygdala, or entorhinal cortex. Male Wistar rats were implanted bilaterally with cannulae in these brain regions. After recovery from surgery, the animals were trained in step-down inhibitory avoidance or in a spatial habituation task and tested for retention 24 h later. mc-PAF (1.0 microgram per side) enhanced retention test performance of the two tasks when infused into the hippocampus before training without altering training session performance. In addition, mc-PAF enhanced retention test performance of the avoidance task when infused into (i) the hippocampus 0 but not 60 min after training; (ii) the amygdala immediately after training; and (iii) the entorhinal cortex 100 but not 0 or 300 min after training. In confirmation of previous findings, BN 52021 (0.5 microgram per side) was found to be amnestic for the avoidance task when infused into the hippocampus or the amygdala immediately but not 30 or more minutes after training or into the entorhinal cortex 100 but not 0 or 300 min after training. These findings support the hypothesis that memory involves PAF-regulated events, possibly LTP, generated at the time of training in hippocampus and amygdala and 100 min later in the entorhinal cortex.

Bathymetric Terrain Model of the Puerto Rico Trench and the Northeastern Caribbean Region for Marine Geological Investigations

Multibeam bathymetric data collected in the Puerto Rico Trench and northeastern Caribbean region are compiled into a seamless bathymetric terrain model for broad-scale geological investigations of the trench system. These data, collected during eight separate surveys between 2002 and 2013 and covering almost 180,000 square kilometers, are published here in large-format map sheet and digital spatial data. This report describes the common multibeam data collection and processing methods used to produce the bathymetric terrain model and corresponding data-source polygon. Details documenting the complete provenance of the data are provided in the metadata in the Data Catalog section.

Climate and Terrain Characteristics Linked to Mud Ejection Occurrence in the Canadian High Arctic

Pressurised slurries of fine-grained sediment expelled from the base of the active layer have been observed in recent years in the High Arctic. Such mud ejections, however, are poorly understood in terms of how exactly climate and landscape factors determine when and where they occur. Mud ejections at the Cape Bounty Arctic Watershed Observatory, Melville Island, Nunavut, were systematically mapped in 2012 and 2013, and this was combined with observations of mud ejection activity and climatic measurements carried out since 2003. The mud ejections occur late in the melt season during warm years and closely following major rainfall events. High-resolution satellite imagery demonstrates that mud ejections are associated with polar semi-desert vegetative settings, flat or low-sloping terrain and south-facing slopes. The localised occurrence of mud ejections appears to be related to differential soil moisture retention.

Terrain Controls and Landscape-Scale Susceptibility Modelling of Active-Layer Detachments, Sabine Peninsula, Melville Island, Nunavut

Modelling the susceptibility of permafrost slopes to disturbance can identify areas at risk to future disturbance and result in safer infrastructure and resource development in the Arctic. In this study, we use terrain attributes derived from a digital elevation model, an inventory of permafrost slope disturbances known as active-layer detachments (ALDs) and generalised additive modelling to produce a map of permafrost slope disturbance susceptibility for an area on northern Melville Island, in the Canadian High Arctic. By examining terrain variables and their relative importance, we identified factors important for initiating slope disturbance. The model was calibrated and validated using 70 and 30 per cent of a data-set of 760 mapped ALDs, including disturbed and randomised undisturbed samples. The generalised additive model calibrated and validated very well, with areas under the receiver operating characteristic curve of 0.89 and 0.81, respectively, demonstrating its effectiveness at predicting disturbed and undisturbed samples. ALDs were most likely to occur below the marine limit on slope angles between 3 and 10° and in areas with low values of potential incoming solar radiation (north-facing slopes).