Determination of the absolute accuracy of UK chamber facilities used in measuring methane emissions from livestock

Respiration chambers are one of the primary sources of data on methane emissions from livestock. This paper describes the results from a coordinated set of chamber validation experiments which establishes the absolute accuracy of the methane emission rates measured by the chambers, and for the first time provides metrological traceability to international standards, assesses the impact of both analyser and chamber response times on measurement uncertainty and establishes direct comparability between measurements made across different facilities with a wide range of chamber designs. As a result of the validation exercise the estimated combined uncertainty associated with the overall capability across all facilities reduced from 25.7% (k = 2, 95% confidence) before the validation to 2.1% (k = 2, 95% confidence) when the validation results are applied to the facilities’ data.

Modeling, optimizing and simulating robot calibration with accuracy improvement

This work describes techniques for modeling, optimizing and simulating calibration processes of robots using off-line programming. The identification of geometric parameters of the nominal kinematic model is optimized using techniques of numerical optimization of the mathematical model. The simulation of the actual robot and the measurement system is achieved by introducing random errors representing their physical behavior and its statistical repeatability. An evaluation of the corrected nominal kinematic model brings about a clear perception of the influence of distinct variables involved in the process for a suitable planning, and indicates a considerable accuracy improvement when the optimized model is compared to the non-optimized one.

GIS for cartographic accuracy analysis of settlements in the province of Madrid (AGE Tomas Lopez 1804).

Purpose: In this paper we study all settlements shown on the map of the Province of Madrid, sheet number 1 of AGE (Atlas Geográfico de España of Tomas Lopez 1804) and their correspondence with the current ones. This map is divided in to zones: Madrid and Almonacid de Zorita. Method: The steps followed in the methodology are as follow: 1. Geo-reference of maps with latitude and longitude framework. Move the historical longitude origin to the origin longitude of modern cartography. 2 Digitize of all population settlements or cities (97 on Madrid and 42 on Almonacid de Zorita), 3 Identify historic settlements or cities corresponding with current ones. 4. If the maps have the same orientation and scale, replace the coordinate transformation of historical settlements with a new one, by a translation in latitude and longitude equal to the calculated mean value of all ancient map points corresponding to the new. 5. Calculation of absolute accuracy of the two maps. 6 draw in the GIS, the settlements accuracy. Result: It was found that all AGE settlements have good correspondence with current, ie only 27 settlements lost in Madrid and 2 in Almonacid. The average accuracy is 2.3 and 5.7 km to Madrid and Almonacid de Zorita respectively. Discussion & Conclusion: The final accuracy map obtained shows that there is less error in the middle of the map. This study highlights the great work done by Tomas Lopez in performing this mapping without fieldwork. This demonstrates the great value that has been the work of Tomas Lopez in the history of cartography.

Evaluation of the GPS Accuracy of Tablets

Augmented Reality (AR) applications often require knowledge of the user’s position in some global coordinate system in order to draw the augmented content to its correct position on the screen. The most common method for coarse positioning is the Global Positioning System (GPS). One of the advantages of GPS is that GPS receivers can be found in almost every modern mobile device. This research was conducted in order to determine the accuracies of different GPS receivers. The tests included seven consumer-grade tablets, three external GPS modules and one professional-grade GPS receiver. All of the devices were tested with both static and mobile measurements. It was concluded that even the cheaper external GPS receivers were notably more accurate than the GPS receivers of the tested tablets. The absolute accuracy of the tablets is difficult to determine from the test results, since the results vary by a large margin between different measurements. The accuracy of the tested tablets in static measurements were between 0.30 meters and 13.75 meters.

Use of GPS for Photogrammetry, HR-342, 1993

Five test flights were conducted to study the use of Global Positioning System (GPS) in Photogrammetry, three in Iowa, one each in California and Texas. These tests show that GPS can be used to establish ground control by the static method and to determine camera location by the kinematic method. In block triangulation, six GPS controls are required and additional elevation control along the centerline is also required in strip triangulation. The camera location determined by aerial triangulation depends on the scale of the photography. The 1:3000 scale photography showed that the absolute accuracy of the camera location by GPS is better than five centimeters. The 1:40000 scale photography showed that the relative accuracy of the camera location by GPS is about one millimeter. In a strip triangulation elevation control is required in addition to the camera location by GPS. However, for block triangulation camera location by GPS is sufficient. Pre-targeting of pass and tie points gives the best results in both block and strip triangulation. In normal mapping for earth work computations the use of 1:6000 scale photography with GPS control instead of 1:3000 scale is recommended. It is recommended that research be done in the use of GPS for navigation in aerial photographic missions. It is highly recommended that research be done in the use of GPS to determine tip and tilt of the aerial camera, that is required in stereoplotting.

Experimental validation of a 3-D vision-based measurement system applied to robot calibration

One of the problems that slows the development of off-line programming is the low static and dynamic positioning accuracy of robots. Robot calibration improves the positioning accuracy and can also be used as a diagnostic tool in robot production and maintenance. A large number of robot measurement systems are now available commercially. Yet, there is a dearth of systems that are portable, accurate and low cost. In this work a measurement system that can fill this gap in local calibration is presented. The measurement system consists of a single CCD camera mounted on the robot tool flange with a wide angle lens, and uses space resection models to measure the end-effector pose relative to a world coordinate system, considering radial distortions. Scale factors and image center are obtained with innovative techniques, making use of a multiview approach. The target plate consists of a grid of white dots impressed on a black photographic paper, and mounted on the sides of a 90-degree angle plate. Results show that the achieved average accuracy varies from 0.2mm to 0.4mm, at distances from the target from 600mm to 1000mm respectively, with different camera orientations.

Evaluación del nivel de seguridad ocupacional en laboratorios universitarios de ingeniería en Bogotá

Antecedentes: Los laboratorios estudiantiles ofrecen riesgos para los estudiantes, la normatividad específica vigente no es de carácter obligatorio y en Bogotá aproximadamente hay 387 laboratorios. Objetivo: Evaluar el nivel de seguridad referente a salud, higiene y seguridad industrial en las prácticas que se desarrollan en los laboratorios de pregrado de Ingeniería en universidades de Bogotá. Métodos: Estudio descriptivo con un muestreo estratificado por conglomerado en ocho (8) universidades de la ciudad de Bogotá, con una confiabilidad del 95% y una precisión absoluta del 6% para una proporción máxima esperada; para evaluar los laboratorios se utilizó el Cuestionario de seguridad para laboratorios de secundaria (NTP 921) del Instituto Nacional de Seguridad e Higiene del Trabajo de España Resultados: Se evaluaron 166 laboratorios de 8 universidades de Bogotá, 65 de los laboratorios evaluados presentaron un riesgo bajo de los aspectos evaluados. Los aspectos con un porcentaje mayor o igual al 80% de cumplimiento de condiciones fueron aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación. Los ítems con un porcentaje menor del 60% de cumplimiento son los siguientes: sistemas de alarma contra incendios o emergencias; mantenimiento preventivo de la red eléctrica del laboratorio, capacitaciones anuales sobre seguridad en los laboratorios. aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación. Se realizó una prueba de asociación entre el tipo de laboratorio y cada ítem de las condiciones de seguridad del laboratorio. Los laboratorios que cumplen con un mayor número de condiciones de seguridad fueron los laboratorios químicos, el aspecto que obtuvo un porcentaje bajo de cumplimiento fue protección personal (40%); los aspectos que se cumplieron son aspectos generales del laboratorio, trabajo de los alumnos, manipulación de material, manipulación del producto, protección contra Incendios, eliminación de residuos, seguridad eléctrica y formación.

The Geostationary Earth Radiation Budget Project

This paper reports on a new satellite sensor, the Geostationary Earth Radiation Budget (GERB) experiment. GERB is designed to make the first measurements of the Earth's radiation budget from geostationary orbit. Measurements at high absolute accuracy of the reflected sunlight from the Earth, and the thermal radiation emitted by the Earth are made every 15 min, with a spatial resolution at the subsatellite point of 44.6 km (north–south) by 39.3 km (east–west). With knowledge of the incoming solar constant, this gives the primary forcing and response components of the top-of-atmosphere radiation. The first GERB instrument is an instrument of opportunity on Meteosat-8, a new spin-stabilized spacecraft platform also carrying the Spinning Enhanced Visible and Infrared (SEVIRI) sensor, which is currently positioned over the equator at 3.5°W. This overview of the project includes a description of the instrument design and its preflight and in-flight calibration. An evaluation of the instrument performance after its first year in orbit, including comparisons with data from the Clouds and the Earth's Radiant Energy System (CERES) satellite sensors and with output from numerical models, are also presented. After a brief summary of the data processing system and data products, some of the scientific studies that are being undertaken using these early data are described. This marks the beginning of a decade or more of observations from GERB, as subsequent models will fly on each of the four Meteosat Second Generation satellites.

A multi-instrument comparison of integrated water vapour measurements at a high latitude site

We compare measurements of integrated water vapour (IWV) over a subarctic site (Kiruna, Northern Sweden) from five different sensors and retrieval methods: Radiosondes, Global Positioning System (GPS), ground-based Fourier-transform infrared (FTIR) spectrometer, ground-based microwave radiometer, and satellite-based microwave radiometer (AMSU-B). Additionally, we compare also to ERA-Interim model reanalysis data. GPS-based IWV data have the highest temporal coverage and resolution and are chosen as reference data set. All datasets agree reasonably well, but the ground-based microwave instrument only if the data are cloud-filtered. We also address two issues that are general for such intercomparison studies, the impact of different lower altitude limits for the IWV integration, and the impact of representativeness error. We develop methods for correcting for the former, and estimating the random error contribution of the latter. A literature survey reveals that reported systematic differences between different techniques are study-dependent and show no overall consistent pattern. Further improving the absolute accuracy of IWV measurements and providing climate-quality time series therefore remain challenging problems.

Digital surface model, hillshade and Lambertian reflectance model of the rock glaciers Oelgrube and Aeusseres Hochebenkar (Oetztal Alps, Tyrol, Austria)

With full-waveform (FWF) lidar systems becoming increasingly available from different commercial manufacturers, the possibility for extracting physical parameters of the scanned surfaces in an area-wide sense, as addendum to their geometric representation, has risen as well. The mentioned FWF systems digitize the temporal profiles of the transmitted laser pulse and of its backscattered echoes, allowing for a reliable determination of the target distance to the instrument and of physical target quantities by means of radiometric calibration, one of such quantities being the diffuse Lambertian reflectance. The delineation of glaciers is a time-consuming task, commonly performed manually by experts and involving field trips as well as image interpretation of orthophotos, digital terrain models and shaded reliefs. In this study, the diffuse Lambertian reflectance was compared to the glacier outlines mapped by experts. We start the presentation with the workflow for analysis of FWF data, their direct georeferencing and the calculation of the diffuse Lambertian reflectance by radiometric calibration; this workflow is illustrated for a large FWF lidar campaign in the Ötztal Alps (Tyrol, Austria), operated with an Optech ALTM 3100 system. The geometric performance of the presented procedure was evaluated by means of a relative and an absolute accuracy assessment using strip differences and orthophotos, resp. The diffuse Lambertian reflectance was evaluated at two rock glaciers within the mentioned lidar campaign. This feature showed good performance for the delineation of the rock glacier boundaries, especially at their lower parts.

Continuous density log of icecore BER11C95_25

A 181 m long ice core was drilled at 79° 36' 51'' S, 45° 43' 28'' W, near the summit of Berkner Island, Antarctica 886 m a.s.l.). Berkner Island is located within the Filchner and Ronne Ice Shelves, and the ice near the summit shows little lateral flow. The density of the ice core was measured every 3 mm along ist length, using attenuation of a gamma-ray beam, which gave an absolute accuracy of 2%. As expected, there is a general density increase with depth, the maximum densities of > 900 kg/m**3 being reached just above 100 m depth. Comparison with electrical conductivity method (ECM) shows density variations with the same wavelength as annual signals, which can be seen in the ECM log (higher acidity during summer). In the shallowest part of the core, the density of winter layers is higher than that of summer layers, a relationship which is reversed at greater depth. We assume that the densification rates for the two types of firn are different. Similar density phenomena were observed on ice cores from Greenland, showing that such phenomena are not a local effect.

Density of 9 sediment cores from the Weddell Sea

The wet bulk density is one of the most important parameters of the physical and geological properties of marine sediments. The density is connected directly with sedimentation history and a few sedirnent properties. Knowledge of the fine scale density-depth structure is the base for many model calculations, for both sedimentological and palaeoclimatic research. A density measurement system was designed and built at the Alfred Wegener Institute in Bremerhaven for measuring the wet buk density of sediment cores with high resolution in a non-destructive way. The density is deterrnined by measuring the absorption of Gamma-rays in the sediment. This principle has been used since the 50's in materials research and in the geosciences. In the present case, Cs137 is used as the radioactive source and the intensity is measured by a detector system (scintillator and photomultiplier). Density values are obtainable in both longitudinal core sections and planar cross-sections (the latter are a function of the axial rotation angle). Special studies on inhomogenity can be applied with core rotation. Detection of ice rafted debris (IRD) is made possible with this option. The processes that run the density measurement system are computer controlled. Besides the absorption measurement the core diameter at every measurement point is determined with a potentiometric system. The data values taken are stored on a personal computer. Before starting routine measurements on the sediment cores, a few experiments conceming the statistical aspects of the gamma-ray signal and its accuracy were carried out. These experiments led to such things as the optimum operational parameters. A high spatial resolution in the mm-range is possible with the 4mm-thin gamma-ray measurements. Within five seconds the wet bulk density can be deterrnined with an absolute accuracy of 1%. A comparison between data measured with the new system and conventional measurements on core samples after core splitting shows an agreement within +I- 5% for most of the values. For this thesis, density determinations were carried out on ten sediment cores. A few sediment characteristics are obtainable from using just the standard measurement results without core rotation. In addition to differentes and steps in the absolute density range, variations in the "frequency" of the density-depth structure can be detected due to the close spatial measurement interval and high resolution. Examples from measurements with small (9°) and great (90°) angle increments show that abrupt and smooth transitional changes of sedirnent layers as well as ice rafted debris of several dimensions can be detected and distiflguished clearly. After the presentation of the wet bulk density results, a comparison with data from other investigations was made. Measurements of the electrical resistivity correlated very well with the density data because both parameters are closely related to the porosity of the sedirnent. Additionally, results from measurements of the magnetic susceptibility and from ultra-sonic wave velocity investigations were considered for a integrative interpretation. The correlation of these both parameters and wet bulk density data is strongly dependent on the local (environmental) conditions. Finally, the densities were compared with recordings from sediment-echographic soundings and an X-ray computer tomography analysis. The individual results of all investigations were then finally combined into an accurate picture of the core. Problems of ambiguity, which exist when just one Parameter is determined alone, can be reduced more or less according to the number of parameters and sedimentary characteristics measured. The important role of the density data among other parameters of such an integrated interpretation is evident. Evidence of this role include the high resolution of the measurement, the excellent accuracy and the key position within methods and parameters concerning marine sediments.

GIS analysis for the study of rural depopulation: the Kingdom of Valencia (Tomas Lopez 1789)

One of the more aspects that have shaped the landscape is the human impact. The human impact has the clearest indicator of the density of settlements in a particular geographic region. In this paper we study all settlements shown on the map of the Kingdom of Valencia, Spain Geographic Atlas (AGE) of Tomas Lopez (1788), and their correspondence with the current ones. To meet this goal we have developed a specific methodology, the systematic study of all existing settlements in historical cartography. This will determine which have disappeared and which have been renamed. The material used has been the historical cartography of Tomas Lopez, part of the AGE (1789), the Kingdom of Valencia (1789), sheets numbers (78, 79, 80 and 81); Current mapping of the provinces of Alicante, Valencia, Castellon, Teruel, Tattagona and Cuenca; As main software ArcGis V.9.3. The steps followed in the methodology are as follows: 1. Check the scale of the maps. Analyze the possible use of a spherical earth model. 2. Geo-reference of maps with latitude and longitude framework. Move the historical longitude origin to the origin longitude of modern cartography. 3 Digitize of all population settlements or cities. 4 Identify historic settlements or cities corresponding with current ones. 5. If the maps have the same orientation and scale, replace the coordinate transformation of historical settlements with a new one, by a translation in latitude and longitude equal to the calculated mean value of all ancient map points corresponding to the new. 6. Calculation of absolute accuracy of the two maps, i.e. the linear distance between the points of both maps. 7 draw in the GIS, the settlements without correspondence, in the current coordinates, and with a circle of mean error of the sheet, in order to locate their current location. If there are actual settlements exist within this circle, they are candidates to be the searched settlements. We analyzed more than 2000 settlements represented in the Atlas of Tomas Lopez of the Kingdom of Valencia (1789), of which almost 14.5% have no correspondence with the existing settlements. The rural landscape evolution of the Valencia, oldest kingdom of Valencia, one can say that can be severely affected by the anthropization suffered in the period from 1789 to the present, since 70% of existing settlements actually have appeared after Tomas Lopez¿s cartography, dated on 1789

Experimental comparison of dynamic tracking performance of iGPS and laser tracker

External metrology systems are increasingly being integrated with traditional industrial articulated robots, especially in the aerospace industries, to improve their absolute accuracy for precision operations such as drilling, machining and jigless assembly. While currently most of the metrology assisted robotics control systems are limited in their position update rate, such that the robot has to be stopped in order to receive a metrology coordinate update, some recent efforts are addressed toward controlling robots using real-time metrology data. The indoor GPS is one of the metrology systems that may be used to provide real-time 6DOF data to a robot controller. Even if there is a noteworthy literature dealing with the evaluation of iGPS performance, there is, however, a lack of literature on how well the iGPS performs under dynamic conditions. This paper presents an experimental evaluation of the dynamic measurement performance of the iGPS, tracking the trajectories of an industrial robot. The same experiment is also repeated using a laser tracker. Besides the experiment results presented, this paper also proposes a novel method for dynamic repeatability comparisons of tracking instruments. © 2011 Springer-Verlag London Limited.

Parameter optimization for noise and vibration reduction associated with position and speed sensorless control of permanent magnet machines at low speed

With the advantages and popularity of Permanent Magnet (PM) motors due to their high power density, there is an increasing incentive to use them in variety of applications including electric actuation. These applications have strict noise emission standards. The generation of audible noise and associated vibration modes are characteristics of all electric motors, it is especially problematic in low speed sensorless control rotary actuation applications using high frequency voltage injection technique. This dissertation is aimed at solving the problem of optimizing the sensorless control algorithm for low noise and vibration while achieving at least 12 bit absolute accuracy for speed and position control. The low speed sensorless algorithm is simulated using an improved Phase Variable Model, developed and implemented in a hardware-in-the-loop prototyping environment. Two experimental testbeds were developed and built to test and verify the algorithm in real time.^ A neural network based modeling approach was used to predict the audible noise due to the high frequency injected carrier signal. This model was created based on noise measurements in an especially built chamber. The developed noise model is then integrated into the high frequency based sensorless control scheme so that appropriate tradeoffs and mitigation techniques can be devised. This will improve the position estimation and control performance while keeping the noise below a certain level. Genetic algorithms were used for including the noise optimization parameters into the developed control algorithm.^ A novel wavelet based filtering approach was proposed in this dissertation for the sensorless control algorithm at low speed. This novel filter was capable of extracting the position information at low values of injection voltage where conventional filters fail. This filtering approach can be used in practice to reduce the injected voltage in sensorless control algorithm resulting in significant reduction of noise and vibration.^ Online optimization of sensorless position estimation algorithm was performed to reduce vibration and to improve the position estimation performance. The results obtained are important and represent original contributions that can be helpful in choosing optimal parameters for sensorless control algorithm in many practical applications.^