Simple orbit determination using GPS based on a least-squares algorithm employing sequential givens rotations

A low-cost computer procedure to determine the orbit of an artificial satellite by using short arc data from an onboard GPS receiver is proposed. Pseudoranges are used as measurements to estimate the orbit via recursive least squares method. The algorithm applies orthogonal Givens rotations for solving recursive and sequential orbit determination problems. To assess the procedure, it was applied to the TOPEX/POSEIDON satellite for data batches of one orbital period (approximately two hours), and force modelling, due to the full JGM-2 gravity field model, was considered. When compared with the reference Precision Orbit Ephemeris (POE) of JPL/NASA, the results have indicated that precision better than 9 m is easily obtained, even when short batches of data are used. Copyright (c) 2007.

Determinação de órbitas com o GPS através de mínimos quadrados recursivo com rotações de Givens

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

Uso das rotações de givens modificadas como um método direto para obtenção e atualização das soluções em sistemas com acumulação seqüencial de dados

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

MSGR-based Low Latency Complex Matrix Inversion Architecture

This paper presents a matrix inversion architecture based on the novel Modified Squared Givens Rotations (MSGR) algorithm, which extends the original SGR method to complex valued data, and also corrects erroneous results in the original SGR method when zeros occur on the diagonal of the matrix either initially or during processing. The MSGR algorithm also avoids complex dividers in the matrix inversion, thus minimising the complexity of potential real-time implementations. A systolic array architecture is implemented and FPGA synthesis results indicate a high-throughput low-latency complex matrix inversion solution. © 2008 IEEE.

QR decomposition-based matrix inversion for high performance embedded MIMO receivers

Real-time matrix inversion is a key enabling technology in multiple-input multiple-output (MIMO) communications systems, such as 802.11n. To date, however, no matrix inversion implementation has been devised which supports real-time operation for these standards. In this paper, we overcome this barrier by presenting a novel matrix inversion algorithm which is ideally suited to high performance floating-point implementation. We show how the resulting architecture offers fundamentally higher performance than currently published matrix inversion approaches and we use it to create the first reported architecture capable of supporting real-time 802.11n operation. Specifically, we present a matrix inversion approach based on modified squared Givens rotations (MSGR). This is a new QR decomposition algorithm which overcomes critical limitations in other QR algorithms that prohibits their application to MIMO systems. In addition, we present a novel modification that further reduces the complexity of MSGR by almost 20%. This enables real-time implementation with negligible reduction in the accuracy of the inversion operation, or the BER of a MIMO receiver based on this.

Use of direct and iterative solvers for estimation of SNP effects in genome-wide selection

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Orbit determination using GPS including perturbations due to geopotential coefficients of high degree and order and solar radiation pressure

The main target here is to determine the orbit of an artificial satellite, using signals of the GPS constellation and least squares algorithms implemented through sequential Givens rotations as a method of estimation, with the aim of improving the performance of the orbit estimation process and, at the same time, minimizing the computational procedure cost. Geopotential perturbations up to high order and direct solar radiation pressure were taken into account. It was also considered the position of the GPS antenna on the satellite body that, lately, consists of the influence of the satellite attitude motion in the orbit determination process. An application has been done, using real data from the Topex/Poseidon satellite, whose ephemeris is available at Internet. The best accuracy obtained in position was smaller than 5 meters for short period (2 hours) and smaller than 28 meters for long period (24 hours) orbit determination. In both cases, the perturbations mentioned before were taken into consideration and the analysis occurred without selective availability on the signals measurements.

Método de inversão matricial rápido GSGR para vectoring em sistemas xDSL, com implementação em chip DSP

Este trabalho apresenta um método rápido de inversão de matrizes densas, e uma possível aplicação com métodos de Vectoring, em pré-codificação e cancelamento de crosstalk de sistemas xDSL. A família de tecnologias xDSL utiliza os pares trançados de fios de cobre telefônicos como meio físico para transmitir dados digitais. O crosstalk é a principal causa de degradação de sinais na mais nova geração de sistemas xDSL, o G.fast, e para combatê-lo são utilizadas técnicas de pré-codificação e cancelamento, chamadas de Vectoring. O método proposto, chamado de GSGR, consiste em uma abordagem diferente para o método clássico de Squared Givens Rotations (SGR), adequado a implementações em plataformas embarcadas de processamento digital de sinais. Foram realizados testes comparativos do método GSGR com métodos diretos clássicos de inversão, utilizando uma plataforma digital multicore baseada no chip TI DSP TMS320C6670 e a plataforma de software Matlab. Os resultados dos testes de inversão de matrizes usando dados reais e dados simulados mostraram que o GSGR foi superior em velocidade de execução sem apresentar perdas significativas de acurácia para a aplicação em sistemas xDSL.

Intern underperformance is detected more frequently in emergency medicine rotations

Objective: To determine the frequency and nature of intern underperformance as documented on in-training assessment forms. Methods: A retrospective review of intern assessment forms from a 2 year period (2009–2010) was conducted at a tertiary referral hospital in Brisbane, Queensland. The frequency of interns assessed as ‘requiring substantial assistance’ and/or ‘requires further development’ on mid- or end-of-term assessment forms was determined. Forms were analysed by the clinical rotation, time of year and domain(s) of clinical practice in which underperformance was documented. Results: During 2009 and 2010 the overall documented incidence of intern underperformance was 2.4% (95% CI 1.5–3.9%). Clinical rotation in emergency medicine detected significantly more underperformance compared with other rotations (P < 0.01). Interns predominantly had difficulty with ‘clinical judgment and decision-making skills’, ‘time management skills’ and ‘teamwork and colleagues’ (62.5%, 55% and 32.5% of underperforming assessments, respectively). Time of the year did not affect frequency of underperformance. A proportion of 13.4% (95% CI 9.2–19.0%) of interns working at the institution over the study period received at least one assessment in which underperformance was documented. Seventy-six per cent of those interns who had underperformance identified by mid-term assessment successfully completed the term following remediation. Conclusion: The prevalence of underperformance among interns is low, although higher than previously suggested. Emergency medicine detects relatively more interns in difficulty than other rotations.

A Jacobian-Based Algorithm for Planning Attitude Maneuvers Using Forward and Reverse Rotations

Algorithms for planning quasistatic attitude maneuvers based on the Jacobian of the forward kinematic mapping of fully-reversed (FR) sequences of rotations are proposed in this paper. An FR sequence of rotations is a series of finite rotations that consists of initial rotations about the axes of a body-fixed coordinate frame and subsequent rotations that undo these initial rotations. Unlike the Jacobian of conventional systems such as a robot manipulator, the Jacobian of the system manipulated through FR rotations is a null matrix at the identity, which leads to a total breakdown of the traditional Jacobian formulation. Therefore, the Jacobian algorithm is reformulated and implemented so as to synthesize an FR sequence for a desired rotational displacement. The Jacobian-based algorithm presented in this paper identifies particular six-rotation FR sequences that synthesize desired orientations. We developed the single-step and the multiple-step Jacobian methods to accomplish a given task using six-rotation FR sequences. The single-step Jacobian method identifies a specific FR sequence for a given desired orientation and the multiple-step Jacobian algorithm synthesizes physically feasible FR rotations on an optimal path. A comparison with existing algorithms verifies the fast convergence ability of the Jacobian-based algorithm. Unlike closed-form solutions to the inverse kinematics problem, the Jacobian-based algorithm determines the most efficient FR sequence that yields a desired rotational displacement through a simple and inexpensive numerical calculation. The procedure presented here is useful for those motion planning problems wherein the Jacobian is singular or null.

Long-term response of corn to limited irrigation and crop rotations

Dwindling water supplies for irrigation are prompting alternative management choices by irrigators. Limited irrigation, where less water is applied than full crop demand, may be a viable approach. Application of limited irrigation to corn was examined in this research. Corn was grown in crop rotations with dryland, limited irrigation, or full irrigation management from 1985 to 1999. Crop rotations included corn following corn (continuous corn), corn following wheat, followed by soybean (wheat-corn-soybean), and corn following soybean (corn-soybean). Full irrigation was managed to meet crop evapotranspiration requirements (ETc). Limited irrigation was managed with a seasonal target of no more than 150 mm applied. Precipitation patterns influenced the outcomes of measured parameters. Dryland yields had the most variation, while fully irrigated yields varied the least. Limited irrigation yields were 80% to 90%> of fully irrigated yields, but the limited irrigation plots received about half the applied water. Grain yields were significantly different among irrigation treatments. Yields were not significantly different among rotation treatments for all years and water treatments. For soil water parameters, more statistical differences were detected among the water management treatments than among the crop rotation treatments. Economic projections of these management practices showed that full irrigation produced the most income if water was available. Limited irrigation increased income significantly from dryland management.

Soil properties and crop yields in a dryland Vertisol sown with cotton-based crop rotations

Information on the effects of growing cotton (Gossypium hirsutum L.)-based crop rotations on soil quality of dryland Vertisols is sparse. The objective of this study was to quantify the effects of growing cereal and leguminous crops in rotation with dryland cotton on physical and chemical properties of a grey Vertisol near Warra, SE Queensland, Australia. The experimental treatments, selected after consultations with local cotton growers, were continuous cotton (T1), cotton-sorghum (Sorghum bicolor (L.) Moench.) (T2), cotton-wheat (Triticum aestivum L.) double cropped (T3), cotton-chickpea (Cicer arietinum L.) double cropped followed by wheat (T4) and cotton-wheat (T5). From 1993 to 1996 land preparation was by chisel ploughing to about 0.2 m followed by two to four cultivations with a Gyral tyne cultivator. Thereafter all crops were sown with zero tillage except for cultivation with a chisel plough to about 0.07-0.1 m after cotton picking to control heliothis moth pupae. Soil was sampled from 1996 to 2004 and physical (air-filled porosity of oven-dried soil, an indicator of soil compaction; plastic limit; linear shrinkage; dispersion index) and chemical (pH in 0.01 M CaCl2, organic carbon, exchangeable Ca, Mg, K and Na contents) properties measured. Crop rotation affected soil properties only with respect to exchangeable Na content and air-filled porosity. In the surface 0.15 m during 2000 and 2001 lowest air-filled porosity occurred with T1 (average of 34.6 m3/100 m3) and the highest with T3 (average of 38.9 m3/100 m3). Air-filled porosity decreased in the same depth between 1997 and 1998 from 45.0 to 36.1 m3/100 m3, presumably due to smearing and compaction caused by shallow cultivation in wet soil. In the subsoil, T1 and T2 frequently had lower air-filled porosity values in comparison with T3, T4 and T5, particularly during the early stages of the experiment, although values under T1 increased subsequently. In general, compaction was less under rotations which included a wheat crop (T3, T4, T5). For example, average air-filled porosity (in m3/100 m3) in the 0.15-0.30 m depth from 1996 to 1999 was 19.8 with both T1 and T2, and 21.2 with T3, 21.1 with T4 and 21.5 with T5. From 2000 to 2004, average air-filled porosity (in m3/100 m3) in the same depth was 21.3 with T1, 19.0 with T2, 19.8 with T3, 20.0 with T4 and 20.5 with T5. The rotation which included chickpea (T4) resulted in the lowest exchangeable Na content, although differences among rotations were small. Where only a cereal crop with a fibrous root system was sown in rotation with cotton (T2, T3, T5) linear shrinkage in the 0.45-0.60 m depth was lower than in rotations, which included tap-rooted crops such as chickpea (T4) or continuous cotton (T1). Dispersion index and organic carbon decreased, and plastic limit increased with time. Soil organic carbon stocks decreased at a rate of 1.2 Mg/ha/year. Lowest average cotton lint yield occurred with T2 (0.54 Mg/ha) and highest wheat yield with T3 (2.8 Mg/ha). Rotations which include a wheat crop are more likely to result in better soil structure and cotton lint yield than cotton-sorghum or continuous cotton.

A case study on the use of legume crop rotations in sugarcane

Growing legume fallow crops has proven to be an important factor in reducing the yield decline effect in sugarcane production. Legumes can also provide a direct economic benefit to sugarcane farmers by providing a source of nitrogen. Further, in some instances, income can flow from the sale, of grain or seed. The following case study provides an insight into the changes made by Russell Young, a sugarcane farmer situated in the Rita Island area of the Burdekin district. The case study focuses on the economics of the old farming system versus a new farming system. The old farming system is based on the conventional farming practices previously used by the Young family in 2002 compared to the 2006 farming system which involves a reduction in tillage practices and use of a Soybean rotational crop for seed production. A whole-of-farm was used to assess the impact of the new farming system on farm profitability. A whole-of-farm economic analysis looks at the impact of a change in farming practice across the whole business, rather than focusing on one single component. This case study is specific to an individual grower’s situation and is not representative of all situations. When evaluating a farming system change, it is important to have a detailed plan.