Virtual Instruments – Functional Model, Organization and Programming Architecture

∗ Thematic Harmonisation in Electrical and Information EngineeRing in Europe,Project Nr. 10063-CP-1-2000-1-PT-ERASMUS-ETNE.

High accuracy mobile robot positioning using external large volume metrology instruments

A method of accurately controlling the position of a mobile robot using an external large volume metrology (LVM) instrument is presented in this article. By utilising an LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the laser tracker, a very simple navigation algorithm, and a low cost robot, 5mm repeatability was achieved over a volume of 30m radius. A surface digitisation scan of a wind turbine blade section was also demonstrated, illustrating possible applications of the method for manufacturing processes. Further, iGPS guidance of a small KUKA omni-directional robot has been demonstrated, and a full scale prototype system is being developed in cooperation with KUKA Robotics, UK. © 2011 Taylor & Francis.

A finite element approach to modelling the hydrological regime in horizontal subsurface flow constructed wetlands for wastewater treatment

A Finite Element Analysis (FEA) model is used to explore the relationship between clogging and hydraulics that occurs in Horizontal Subsurface Flow Treatment Wetlands (HSSF TWs) in the United Kingdom (UK). Clogging is assumed to be caused by particle transport and an existing single collector efficiency model is implemented to describe this behaviour. The flow model was validated against HSSF TW survey results obtained from the literature. The model successfully simulated the influence of overland flow on hydrodynamics, and the interaction between vertical flow through the low permeability surface layer and the horizontal flow of the saturated water table. The clogging model described the development of clogging within the system but under-predicted the extent of clogging which occurred over 15 years. This is because important clogging mechanisms were not considered by the model, such as biomass growth and vegetation establishment. The model showed the usefulness of FEA for linking hydraulic and clogging phenomenon in HSSF TWs and could be extended to include treatment processes. © 2011 Springer Science+Business Media B.V.

A pénzügyi eszközök szerepe az Európai Unió kohéziós politikájában (Cohesion policy - The role of financial instruments)

A tanulmány az Európai Unió strukturális és kohéziós alapjaiból létrehozott pénzügyi eszközök szerepét és perspektíváit elemzi. A téma aktualitását adja, hogy jelenleg zajlik a 2014–2020-as uniós költségvetési és programozási időszak előkészítése, amelynek során a pénzügyi eszközök az uniós elképzelések szerint az eddigieknél lényegesen jelentősebb szerepet játszanak majd. A szerző áttekinti a kohéziós politika keretében működő pénzügyi eszközök jelenlegi rendszerének legfőbb jellemzőit, bemutatja azokat a gyökeres változásokat, amelyek 2014-től kezdődően várhatóan jellemezni fogják a kapcsolódó szabályozási környezetet, végül pedig ismerteti a gyakorlatban működő jelentősebb programokat, amelyek referenciapontként is használhatók a programok tervezése során. _____ The paper examines the role and perspectives of financial instruments established from the structural and cohesion funds of the European Union. Hungary is one of the most significant beneficiaries of the structural and cohesion funds, therefore the interested national actors should know well the new support forms, in order to use them successfully in the next programming period. The article gives an overview about the current structure of financial instruments in the framework of the cohesion policy. The comprehensive changes of the regulatory environment expected from 2014 are also presented, and finally the major instruments in practice will be reviewed, that can serve as reference points in planning of future programmes.

Hydrological dynamics between a coastal aquifer and the adjacent estuarine system, Biscayne Bay, South Florida

Geochemical and geophysical approaches have been used to investigate the freshwater and saltwater dynamics in the coastal Biscayne Aquifer and Biscayne Bay. Stable isotopes of oxygen and hydrogen, and concentrations of Sr2+ and Ca2+ were combined in two geochemical mixing models to provide estimates of the various freshwater inputs (precipitation, canal water, and groundwater) to Biscayne Bay and the coastal canal system in South Florida. Shallow geophysical electromagnetic and direct current resistivity surveys were used to image the geometry and stratification of the saltwater mixing zone in the near coastal (less than 1km inland) Biscayne Aquifer. The combined stable isotope and trace metal models suggest a ratio of canal input-precipitation-groundwater of 38%–52%–10% in the wet season and 37%–58%–5% in the dry season with an error of 25%, where most (20%) of the error was attributed to the isotope regression model, while the remaining 5% error was attributed to the Sr2+/Ca2+ mixing model. These models suggest rainfall is the dominate source of freshwater to Biscayne Bay. For a bay-wide water budget that includes saltwater and freshwater mixing, fresh groundwater accounts for less than 2% of the total input. A similar Sr 2+/Ca2+ tracer model indicates precipitation is the dominate source in 9 out of 10 canals that discharge into Biscayne Bay. The two-component mixing model converged for 100% of the freshwater canal samples in this study with 63% of the water contributed to the canals coming from precipitation and 37% from groundwater inputs ±4%. There was a seasonal shift from 63% precipitation input in the dry season to 55% precipitation input in the wet season. The three end-member mixing model converged for only 60% of the saline canal samples possibly due to non-conservative behavior of Sr2+ and Ca2+ in saline groundwater discharging into the canal system. Electromagnetic and Direct Current resistivity surveys were successful at locating and estimating the geometry and depth of the freshwater/saltwater interface in the Biscayne Aquifer at two near coastal sites. A saltwater interface that deepened as the survey moved inland was detected with a maximum interpreted depth to the interface of 15 meters, approximately 0.33 km inland from the shoreline. ^

Rapid responses of vegetation to hydrological changes in Taylor Slough, Everglades National Park, Florida, USA

We analyzed the dynamics of freshwater marsh vegetation of Taylor Slough in eastern Everglades National Park for the 1979 to 2003 period, focusing on cover of individual plant species and on cover and composition of marsh communities in areas potentially influenced by a canal pump station (‘‘S332’’) and its successor station (‘‘S332D’’). Vegetation change analysis incorporated the hydrologic record at these sites for three intervals: pre-S332 (1961–1980), S332 (1980–1999), post-S332 (1999–2002). During S332 and post-S332 intervals, water level in Taylor Slough was affected by operations of S332 and S332D. To relate vegetation change to plot-level hydrological conditions in Taylor Slough, we developed a weighted averaging regression and calibration model (WA) using data from the marl prairies of Everglades National Park and Big Cypress National Preserve. We examined vegetation pattern along five transects. Transects 1–3 were established in 1979 south of the water delivery structures, and were influenced by their operations. Transects 4 and 5 were established in 1997, the latter west of these structures and possibly under their influence. Transect 4 was established in the northern drainage basin of Taylor Slough, beyond the likely zones of influence of S332 and S332D. The composition of all three southern transects changed similarly after 1979. Where muhly grass (Muhlenbergia capillaris var. filipes) was once dominant, sawgrass (Cladium jamaicense), replaced it, while where sawgrass initially predominated, hydric species such as spikerush (Eleocharis cellulosa Torr.) overtook it. Most of the changes in species dominance in Transects 1–3 occurred after 1992, were mostly in place by 1995–1996, and continued through 1999, indicating how rapidly vegetation in seasonal Everglades marshes can respond to hydrological modifications. During the post-S332 period, these long-term trends began reversing. In the two northern transects, total cover and dominance of both muhly grass and sawgrass increased from 1997 to 2003. Thus, during the 1990’s, vegetation composition south of S332 became more like that of long hydroperiod marshes, but afterward it partially returned to its 1979 condition, i.e., a community characteristic of less prolonged flooding. In contrast, the vegetation change along the two northern transects since 1997 showed little relationship to hydrologic status.

Hydrological Conditions Control P Loading and Aquatic Metabolism in an Oligotrophic, Subtropical Estuary

Using high-resolution measures of aquatic ecosystem metabolism and water quality, we investigated the importance of hydrological inputs of phosphorus (P) on ecosystem dynamics in the oligotrophic, P-limited coastal Everglades. Due to low nutrient status and relatively large inputs of terrestrial organic matter, we hypothesized that the ponds in this region would be strongly net heterotrophic and that pond gross primary production (GPP) and respiration (R) would be the greatest during the “dry,” euhaline estuarine season that coincides with increased P availability. Results indicated that metabolism rates were consistently associated with elevated upstream total phosphorus and salinity concentrations. Pulses in aquatic metabolism rates were coupled to the timing of P supply from groundwater upwelling as well as a potential suite of hydrobiogeochemical interactions. We provide evidence that freshwater discharge has observable impacts on aquatic ecosystem function in the oligotrophic estuaries of the Florida Everglades by controlling the availability of P to the ecosystem. Future water management decisions in South Florida must include the impact of changes in water delivery on downstream estuaries.

A Hydrological Budget (2002–2008) for a Large Subtropical Wetland Ecosystem Indicates Marine Groundwater Discharge Accompanies Diminished Freshwater Flow

Water budget parameters are estimated for Shark River Slough (SRS), the main drainage within Everglades National Park (ENP) from 2002 to 2008. Inputs to the water budget include surface water inflows and precipitation while outputs consist of evapotranspiration, discharge to the Gulf of Mexico and seepage losses due to municipal wellfield extraction. The daily change in volume of SRS is equated to the difference between input and outputs yielding a residual term consisting of component errors and net groundwater exchange. Results predict significant net groundwater discharge to the SRS peaking in June and positively correlated with surface water salinity at the mangrove ecotone, lagging by 1 month. Precipitation, the largest input to the SRS, is offset by ET (the largest output); thereby highlighting the importance of increasing fresh water inflows into ENP for maintaining conditions in terrestrial, estuarine, and marine ecosystems of South Florida.

Possible climate change impacts on the hydrological and vegetative character of Everglades National Park, Florida

The increasing threat of global climate change is predicted to have immense influences on ecosystems worldwide, but could be particularly severe to vulnerable wetland environments such as the Everglades. This work investigates the impact global climate change could have on the hydrologic and vegetative makeup of Everglades National Park (ENP) under forecasted emissions scenarios. Using a simple stochastic model of aboveground water levels driven by a fluctuating rainfall input, we link across ENP a location's mean depth and percent time of inundation to the predicted changes in precipitation from climate change. Changes in the hydrologic makeup of ENP are then related to changes in vegetation community composition through the use of relationships developed between two publically available datasets. Results show that under increasing emissions scenarios mean annual precipitation was forecasted to decrease across ENP leading to a marked hydrologic change across the region. Namely, areas were predicted to be shallower in average depth of standing water and inundated less of the time. These hydrologic changes in turn lead to a shift in ENP's vegetative makeup, with xeric vegetative communities becoming more numerous and hydric vegetative communities becoming scarcer. Noticeably, the most widespread of vegetative communities, sawgrass, decreases in abundance under increasing emissions scenarios. These results are an important indicator of the effects climate change may have on the Everglades region and raise important management implications for those seeking to restore this area to its historical hydrologic and vegetative condition.

Hydrological drivers of wetland vegetation community distribution within Everglades National Park, Florida

The influence of hydrological dynamics on vegetation distribution and the structuring of wetland environments is of growing interest as wetlands are modified by human action and the increasing threat from climate change. Hydrological properties have long been considered a driving force in structuring wetland communities. We link hydrological dynamics with vegetation distribution across Everglades National Park (ENP) using two publicly available datasets to study the probability structure of the frequency, duration, and depth of inundation events along with their relationship to vegetation distribution. This study is among the first to show hydrologic structuring of vegetation communities at wide spatial and temporal scales, as results indicate that the percentage of time a location is inundated and its mean depth are the principal structuring variables to which individual communities respond. For example, sawgrass, the most abundant vegetation type within the ENP, is found across a wide range of time inundated percentages and mean depths. Meanwhile, other communities like pine savanna or red mangrove scrub are more restricted in their distribution and found disproportionately at particular depths and inundations. These results, along with the probabilistic structure of hydropatterns, potentially allow for the evaluation of climate change impacts on wetland vegetation community structure and distribution.

Survival and growth responses of eight Everglades tree species along an experimental hydrological gradient on two tree island types

Questions: How are the early survival and growth of seedlings of Everglades tree species planted in an experimental setting on artificial tree islands affected by hydrology and substrate type? What are the implications of these responses for broader tree island restoration efforts? Location: Loxahatchee Impoundment Landscape Assessment (LILA), Boynton Beach, Florida, USA. Methods: An experiment was designed to test hydrological and substrate effects on seedling growth and survivorship. Two islands – a peat and a limestone-core island representing two major types found in the Everglades – were constructed in four macrocosms. A mixture of eight tree species was planted on each island in March of 2006 and 2007. Survival and height growth of seedlings planted in 2006 were assessed periodically during the next two and a half years. Results: Survival and growth improved with increasing elevation on both tree island substrate types. Seedlings' survival and growth responses along a moisture gradient matched species distributions along natural hydrological gradients in the Everglades. The effect of substrate on seedling performance showed higher survival of most species on the limestone tree islands, and faster growth on their peat-based counterparts. Conclusions: The present results could have profound implications for restoration of forests on existing landforms and artificial creation of tree islands. Knowledge of species tolerance to flooding and responses to different edaphic conditions present in wetlands is important in selecting suitable species to plant on restored tree islands

Integrated sensitivity analysis, calibration, and uncertainty propagation analysis approaches for supporting hydrological modeling

The successful performance of a hydrological model is usually challenged by the quality of the sensitivity analysis, calibration and uncertainty analysis carried out in the modeling exercise and subsequent simulation results. This is especially important under changing climatic conditions where there are more uncertainties associated with climate models and downscaling processes that increase the complexities of the hydrological modeling system. In response to these challenges and to improve the performance of the hydrological models under changing climatic conditions, this research proposed five new methods for supporting hydrological modeling. First, a design of experiment aided sensitivity analysis and parameterization (DOE-SAP) method was proposed to investigate the significant parameters and provide more reliable sensitivity analysis for improving parameterization during hydrological modeling. The better calibration results along with the advanced sensitivity analysis for significant parameters and their interactions were achieved in the case study. Second, a comprehensive uncertainty evaluation scheme was developed to evaluate three uncertainty analysis methods, the sequential uncertainty fitting version 2 (SUFI-2), generalized likelihood uncertainty estimation (GLUE) and Parameter solution (ParaSol) methods. The results showed that the SUFI-2 performed better than the other two methods based on calibration and uncertainty analysis results. The proposed evaluation scheme demonstrated that it is capable of selecting the most suitable uncertainty method for case studies. Third, a novel sequential multi-criteria based calibration and uncertainty analysis (SMC-CUA) method was proposed to improve the efficiency of calibration and uncertainty analysis and control the phenomenon of equifinality. The results showed that the SMC-CUA method was able to provide better uncertainty analysis results with high computational efficiency compared to the SUFI-2 and GLUE methods and control parameter uncertainty and the equifinality effect without sacrificing simulation performance. Fourth, an innovative response based statistical evaluation method (RESEM) was proposed for estimating the uncertainty propagated effects and providing long-term prediction for hydrological responses under changing climatic conditions. By using RESEM, the uncertainty propagated from statistical downscaling to hydrological modeling can be evaluated. Fifth, an integrated simulation-based evaluation system for uncertainty propagation analysis (ISES-UPA) was proposed for investigating the effects and contributions of different uncertainty components to the total propagated uncertainty from statistical downscaling. Using ISES-UPA, the uncertainty from statistical downscaling, uncertainty from hydrological modeling, and the total uncertainty from two uncertainty sources can be compared and quantified. The feasibility of all the methods has been tested using hypothetical and real-world case studies. The proposed methods can also be integrated as a hydrological modeling system to better support hydrological studies under changing climatic conditions. The results from the proposed integrated hydrological modeling system can be used as scientific references for decision makers to reduce the potential risk of damages caused by extreme events for long-term water resource management and planning.

Hydrological and sedimentological investigation of Radok Lake, Amery Oasis, East Antarctica

Radok Lake in Amery Oasis, East Antarctica, has a water depth of ca. 360 m, making it the deepest non-subglacial lake in Antarctica. Limnological analyses revealed that the lake had, despite a 3 m thick ice cover, a completely mixed water column during austral summer 2001/2002. High oxygen contents, low ion concentrations, and lack of planktonic diatoms throughout the water column indicate that Radok Lake is ultra-oligotrophic today.The late glacial and postglacial lake history is documented in a succession of glacial, glaciolimnic, and limnic sediments at different locations in the lake basin. The sediments record regional differences and past changes in allochthonous sediment supply and lake productivity. However, the lack of age control on these changes, due to extensive sediment redeposition and the lack of applicable dating methods, excluded Radok Lake sediments for advanced paleoenvironmental reconstructions.

Evaluación del rendimiento de un planificador de tareas sobre una plataforma heterogénea ARM+DSP de Texas Instruments

El presente trabajo estudia la viabilidad a la hora de aplicar un modelo de programación basado en la extracción de paralelismo a nivel de tareas sobre distintas arquitecturas heterogéneas basadas en un procesador multinúcleo de propósito general acelerado con uno o más aceleradores hardware. Se ha implementado una aplicación completa cuyo objetivo es la detección de bordes en una imagen (implementando el Algoritmo de Canny), y se ha evaluado en detalle su rendimiento sobre distintos tipos de arquitecturas, incluyendo CPUs multinúcleo de última generación, sistemas multi-GPU y una arquitectura objetivo basada en procesadores ARM Cortex-A15 acelerados mediante un DSP C66x de la compañía Texas Instruments. Los resultados experimentales demuestran la viabilidad de este tipo de implementación también para arquitecturas heterogéneas novedosas como esta última, e ilustran la facilidad de programación que introduce este tipo de modelos de programación sobre arquitecturas de propósito específico.