A comment on the article “A collinearity diagnosis of the GNSS geocenter determination” by P. Rebischung, Z. Altamimi, and T. Springer

Meindl et al. (Adv Space Res 51(7):1047–1064, 2013) showed that the geocenter z -component estimated from observations of global navigation satellite systems (GNSS) is strongly correlated to a particular parameter of the solar radiation pressure (SRP) model developed by Beutler et al. (Manuscr Geod 19:367–386, 1994). They analyzed the forces caused by SRP and the impact on the satellites’ orbits. The authors achieved their results using perturbation theory and celestial mechanics. Rebischung et al. (J Geod doi:10.1016/j.asr.2012.10.026, 2013) also deal with the geocenter determination with GNSS. The authors carried out a collinearity diagnosis of the associated parameter estimation problem. They conclude “without much exaggerating that current GNSS are insensitive to any component of geocenter motion”. They explain this inability by the high degree of collinearity of the geocenter coordinates mainly with satellite clock corrections. Based on these results and additional experiments, they state that the conclusions drawn by Meindl et al. (Adv Space Res 51(7):1047–1064, 2013) are questionable. We do not agree with these conclusions and present our arguments in this article. In the first part, we review and highlight the main characteristics of the studies performed by Meindl et al. (Adv Space Res 51(7):1047–1064, 2013) to show that the experiments are quite different from those performed by Rebischung et al. (J Geod doi:10.1016/j.asr.2012.10.026,2013) . In the second part, we show that normal equation (NEQ) systems are regular when estimating geocenter coordinates, implying that the covariance matrices associated with the NEQ systems may be used to assess the sensitivity to geocenter coordinates in a standard way. The sensitivity of GNSS to the components of the geocenter is discussed. Finally, we comment on the arguments raised by Rebischung et al. (J Geod doi:10.1016/j.asr.2012.10.026, 2013) against the results of Meindl et al. (Adv Space Res 51(7):1047–1064, 2013).

Global distributions of picophytoplankton abundance and biomass - Gridded data product (NetCDF) - Contribution to the MAREDAT World Ocean Atlas of Plankton Functional Types

The smallest marine phytoplankton, collectively termed picophytoplankton, have been routinely enumerated by flow cytometry since the late 1980s, during cruises throughout most of the world ocean. We compiled a database of 40,946 data points, with separate abundance entries for Prochlorococcus, Synechococcus and picoeukaryotes. We use average conversion factors for each of the three groups to convert the abundance data to carbon biomass. After gridding with 1° spacing, the database covers 2.4% of the ocean surface area, with the best data coverage in the North Atlantic, the South Pacific and North Indian basins. The average picophytoplankton biomass is 12 ± 22 µg C L-1 or 1.9 g C m-2. We estimate a total global picophytoplankton biomass, excluding N2-fixers, of 0.53 - 0.74 Pg C (17 - 39 % Prochlorococcus, 12 - 15 % Synechococcus and 49 - 69 % picoeukaryotes). Future efforts in this area of research should focus on reporting calibrated cell size, and collecting data in undersampled regions.

The CMCC Eddy-permitting Global Ocean Physical Reanalysis (C-GLORS v5, 1980-2014), links to NetCDF files

The CMCC Global Ocean Physical Reanalysis System (C-GLORS) is used to simulate the state of the ocean in the last decades. It consists of a variational data assimilation system (OceanVar), capable of assimilating all in-situ observations along with altimetry data, and a forecast step performed by the ocean model NEMO coupled with the LIM2 sea-ice model. KEY STRENGTHS: - Data are available for a large number of ocean parameters - An extensive validation has been conducted and is freely available - The reanalysis is performed at high resolution (1/4 degree) and spans the last 30 years KEY LIMITATIONS: - Quality may be discontinuos and depend on observation coverage - Uncertainty estimates are simply derived through verification skill scores

Global LAI uncertainty and relative uncertainty datasets derived from a Triple Collocation Error Model (TCEM)

Uncertainty information for global leaf area index (LAI) products is important for global modeling studies but usually difficult to systematically obtain at a global scale. Here, we present a new method that cross-validates existing global LAI products and produces consistent uncertainty information. The method is based on a triple collocation error model (TCEM) that assumes errors among LAI products are not correlated. Global monthly absolute and relative uncertainties, in 0.05° spatial resolutions, were generated for MODIS, CYCLOPES, and GLOBCARBON LAI products, with reasonable agreement in terms of spatial patterns and biome types. CYCLOPES shows the lowest absolute and relative uncertainties, followed by GLOBCARBON and MODIS. Grasses, crops, shrubs, and savannas usually have lower uncertainties than forests in association with the relatively larger forest LAI. With their densely vegetated canopies, tropical regions exhibit the highest absolute uncertainties but the lowest relative uncertainties, the latter of which tend to increase with higher latitudes. The estimated uncertainties of CYCLOPES generally meet the quality requirements (± 0.5) proposed by the Global Climate Observing System (GCOS), whereas for MODIS and GLOBCARBON only non-forest biome types have met the requirement. Nevertheless, none of the products seems to be within a relative uncertainty requirements of 20%. Further independent validation and comparative studies are expected to provide a fair assessment of uncertainties derived from TCEM. Overall, the proposed TCEM is straightforward and could be automated for the systematic processing of real time remote sensing observations to provide theoretical uncertainty information for a wider range of land products.

Atmospheric, oceanic and hydrological polar motion excitation mechanisms based on a combination of geometric and gravimetric space observations

The goal of our study is to determine accurate time series of geophysical Earth rotation excitations to learn more about global dynamic processes in the Earth system. For this purpose, we developed an adjustment model which allows to combine precise observations from space geodetic observation systems, such as Satellite Laser Ranging (SLR), Global Navigation Satellite Systems (GNSS), Very Long Baseline Interferometry (VLBI), Doppler Orbit determination and Radiopositioning Integrated on Satellite (DORIS), satellite altimetry and satellite gravimetry in order to separate geophysical excitation mechanisms of Earth rotation. Three polar motion time series are applied to derive the polar motion excitation functions (integral effect). Furthermore we use five time variable gravity field solutions from Gravity Recovery and Climate Experiment (GRACE) to determine not only the integral mass effect but also the oceanic and hydrological mass effects by applying suitable filter techniques and a land-ocean mask. For comparison the integral mass effect is also derived from degree 2 potential coefficients that are estimated from SLR observations. The oceanic mass effect is also determined from sea level anomalies observed by satellite altimetry by reducing the steric sea level anomalies derived from temperature and salinity fields of the oceans. Due to the combination of all geodetic estimated excitations the weaknesses of the individual processing strategies can be reduced and the technique-specific strengths can be accounted for. The formal errors of the adjusted geodetic solutions are smaller than the RMS differences of the geophysical model solutions. The improved excitation time series can be used to improve the geophysical modeling.

Global distributions of picoheterothrophs (Bacteria and Archaea) abundance and biomass - Gridded data product (NetCDF) - Contribution to the MAREDAT World Ocean Atlas of Plankton Functional Types

We compiled a database of bacterial abundance of 39 766 data points. After gridding with 1° spacing, the database covers 1.3% of the ocean surface. There is data covering all ocean basins and depth except the Southern Hemisphere below 350 m or from April until June. The average bacterial biomass is 3.9 ± 3.6 µg l-1 with a 20-fold decrease between the surface and the deep sea. We estimate a total ocean inventory of about 1.3 - 1029 bacteria. Using an average of published open ocean measurements for the conversion from abundance to carbon biomass of 9.1 fg cell-1, we calculate a bacterial carbon inventory of about 1.2 Pg C. The main source of uncertainty in this inventory is the conversion factor from abundance to biomass.

Arquitectura cognitiva basada en el gradiente sensorial y su aplicación a la robótica móvil

El objetivo de esta tesis es el desarrollo de un sistema completo de navegación, aprendizaje y planificación para un robot móvil. Dentro de los innumerables problemas que este gran objetivo plantea, hemos dedicado especial atención al problema del conocimiento autónomo del mundo. Nuestra mayor preocupación ha sido la de establecer mecanismos que permitan, a partir de información sensorial cruda, el desarrollo incremental de un modelo topológico del entorno en el que se mueve el robot. Estos mecanismos se apoyan invariablemente en un nuevo concepto propuesto en esta tesis: el gradiente sensorial. El gradiente sensorial es un dispositivo matemático que funciona como un detector de sucesos interesantes para el sistema. Una vez detectado uno de estos sucesos, el robot puede identificar su situación en un mapa topológico y actuar en consecuencia. Hemos denominado a estas situaciones especiales lugares sensorialmente relevantes, ya que (a) captan la atención del sistema y (b) pueden ser identificadas utilizando la información sensorial. Para explotar convenientemente los modelos construidos, hemos desarrollado un algoritmo capaz de elaborar planes internalizados, estableciendo una red de sugerencias en los lugares sensorialmente relevantes, de modo que el robot encuentra en estos puntos una dirección recomendada de navegación. Finalmente, hemos implementado un sistema de navegación robusto con habilidades para interpretar y adecuar los planes internalizados a las circunstancias concretas del momento. Nuestro sistema de navegación está basado en la teoría de campos de potencial artificial, a la que hemos incorporado la posibilidad de añadir cargas ficticias como ayuda a la evitación de mínimos locales. Como aportación adicional de esta tesis al campo genérico de la ciencia cognitiva, todos estos elementos se integran en una arquitectura centrada en la memoria, lo que pretende resaltar la importancia de ésta en los procesos cognitivos de los seres vivos y aporta un giro conceptual al punto de vista tradicional, centrado en los procesos. The general objective of this thesis is the development of a global navigation system endowed with planning and learning features for a mobile robot. Within this general objective we have devoted a special effort to the autonomous learning problem. Our main concern has been to establish the necessary mechanisms for the incremental development of a topological model of the robot’s environment using the sensory information. These mechanisms are based on a new concept proposed in the thesis: the sensory gradient. The sensory gradient is a mathematical device which works like a detector of “interesting” environment’s events. Once a particular event has been detected the robot can identify its situation in the topological map and to react accordingly. We have called these special situations relevant sensory places because (a) they capture the system’s attention and (b) they can be identified using the sensory information. To conveniently exploit the built-in models we have developed an algorithm able to make internalized plans, establishing a suggestion network in the sensory relevant places in such way that the robot can find at those places a recommended navigation direction. It has been also developed a robust navigation system able to navigate by means of interpreting and adapting the internalized plans to the concrete circumstances at each instant, i.e. a reactive navigation system. This reactive system is based on the artificial potential field approach with the additional feature introduced in the thesis of what we call fictitious charges as an aid to avoid local minima. As a general contribution of the thesis to the cognitive science field all the above described elements are integrated in a memory-based architecture, emphasizing the important role played by the memory in the cognitive processes of living beings and giving a conceptual turn in the usual process-based approach.

Integrated program debugging, verification, and optimization using abstract interpretation (and the Ciao system preprocessor)

The technique of Abstract Interpretation has allowed the development of very sophisticated global program analyses which are at the same time provably correct and practical. We present in a tutorial fashion a novel program development framework which uses abstract interpretation as a fundamental tool. The framework uses modular, incremental abstract interpretation to obtain information about the program. This information is used to validate programs, to detect bugs with respect to partial specifications written using assertions (in the program itself and/or in system libraries), to generate and simplify run-time tests, and to perform high-level program transformations such as multiple abstract specialization, parallelization, and resource usage control, all in a provably correct way. In the case of validation and debugging, the assertions can refer to a variety of program points such as procedure entry, procedure exit, points within procedures, or global computations. The system can reason with much richer information than, for example, traditional types. This includes data structure shape (including pointer sharing), bounds on data structure sizes, and other operational variable instantiation properties, as well as procedure-level properties such as determinacy, termination, nonfailure, and bounds on resource consumption (time or space cost). CiaoPP, the preprocessor of the Ciao multi-paradigm programming system, which implements the described functionality, will be used to illustrate the fundamental ideas.

Program development using abstract interpretation (and the ciao system preprocessor)

The technique of Abstract Interpretation has allowed the development of very sophisticated global program analyses which are at the same time provably correct and practical. We present in a tutorial fashion a novel program development framework which uses abstract interpretation as a fundamental tool. The framework uses modular, incremental abstract interpretation to obtain information about the program. This information is used to validate programs, to detect bugs with respect to partial specifications written using assertions (in the program itself and/or in system librarles), to genérate and simplify run-time tests, and to perform high-level program transformations such as múltiple abstract specialization, parallelization, and resource usage control, all in a provably correct way. In the case of validation and debugging, the assertions can refer to a variety of program points such as procedure entry, procedure exit, points within procedures, or global computations. The system can reason with much richer information than, for example, traditional types. This includes data structure shape (including pointer sharing), bounds on data structure sizes, and other operational variable instantiation properties, as well as procedure-level properties such as determinacy, termination, non-failure, and bounds on resource consumption (time or space cost). CiaoPP, the preprocessor of the Ciao multi-paradigm programming system, which implements the described functionality, will be used to illustrate the fundamental ideas.

TnrA, a transcription factor required for global nitrogen regulation in Bacillus subtilis.

Expression of the Bacillus subtilis nrgAB operon is derepressed during nitrogen-limited growth. We have identified a gene, tnrA, that is required for the activation of nrgAB expression under these growth conditions. Analysis of the DNA sequence of the tnrA gene revealed that it encodes a protein with sequence similarity to GlnR, the repressor of the B. subtilis glutamine synthetase operon. The tnrA mutant has a pleiotropic phenotype. Compared with wild-type cells, the tnrA mutant is impaired in its ability to utilize allantoin, gamma-aminobutyrate, isoleucine, nitrate, urea, and valine as nitrogen sources. During nitrogen-limited growth, transcription of the nrgAB, nasB, gabP, and ure genes is significantly reduced in the tnrA mutant compared with the levels seen in wild-type cells. In contrast, the level of glnRA expression is 4-fold higher in the, tnrA mutant than in wild-type cells during nitrogen restriction. The phenotype of the tnrA mutant indicates that a global nitrogen regulatory system is present in B. subtilis and that this system is distinct from the Ntr regulatory system found in enteric bacteria.

Tecniche GPS/INS per l'anilisi dinamica di un ciclomotore

Nel seguente elaborato si espone l’utilizzo del sistema GPS/INS per la valutazione del moto di un ciclomotore. Tale sistema è composto da sensori GPS ( Global Navigation System ) per la misurazione della posizione, e da sensori INS ( Inertial Navigation System) per la misurazione dell’accelerazione e delle velocità angolari rispetto a tre assi coordinati. Chiaramente le misure di accelerazioni e di velocità angolari da parte dei sensori, presentano dei minimi errori, che però si ripercuotono sul posizionamento finale. Per limitare questo fenomeno e rendere la misura di velocità e posizione utilizzabile, un filtro di Kalman viene impiegato per correggere il risultato dell'integrazione usando le misurazioni del GPS. Il connubio tra il sistema INS e il sistema GPS è molto efficacie anche quando si ha una assenza di ricezione satellitare o perdita parziale dei satelliti (cycle slip). Infine è stato utilizzato uno smartphone sfruttando i sensori in esso presenti : accelerometri, giroscopi, GPS, per analizzare la dinamica di un ciclomotore, concentrandosi sull’assetto in particolar modo l’angolo di rollio. Tale prova è stata affrontata non tanto per validare il sistema GPS/INS, ma per provare una soluzione comoda e di basso costo per analizzare il moto di un ciclomotore.

Global compilation of chlorophyll fluorescence profiles from several data bases, and from published and unpublished individual sources

The present data set includes 268,127 vertical in situ fluorescence profiles obtained from several available online databases and from published and unpublished individual sources. Metadata about each profiles are given in the file provided here in further details. The majority of profiles comes from the National Oceanographic Data Center (NODC) and the fluorescence profiles acquired by Bio-Argo floats available on the Oceanographic Autonomous Observations (OAO) platform (63.7% and 12.5% respectively). Different modes of acquisition were used to collect the data presented in this study: (1) CTD profiles are acquired using a fluorometer mounted on a CTD-rosette; (2) OSD (Ocean Station Data) profiles are derived from water samples and are defined as low resolution profiles; (3) the UOR (Undulating Oceanographic Recorder) profiles are acquired by a equipped with a fluorometer and towed by a research vessel; (4) PA profiles are acquired by autonomous platforms (here profiling floats or elephant seals equipped with a fluorometer). Data acquired from gliders are not included in the compilation.

A system of general signals for night and day whereby merchant vessels may communicate at a distance by means of the common colours of the ship, and with four lanterns by night, without going out of their course.

Mode of access: Internet.

Global economics governance in the post-crisis world

The Great Crisis has made it clear once again that avoiding the derailment of globalization of trade and finance and the protecting the globe from fragmentation call for enhanced global cooperation and an efficient, flexible and coherent system of global governance. Three interconnected levels (national, regional, and global) comprise the system of global governance. This paper is dealing with some of the main issues of global economic governance in the post-crisis world. It reveals that the turbulence and the distress of the world of the early 21st century have deeper roots and broader sources than the crisis. Global governance therefore has to respond much broader set of challenges in comprehensive framework and long term perspective.