High altitude stereo visual odometry

Stereo visual odometry has received little investigation in high altitude applications due to the generally poor performance of rigid stereo rigs at extremely small baseline-to-depth ratios. Without additional sensing, metric scale is considered lost and odometry is seen as effective only for monocular perspectives. This paper presents a novel modification to stereo based visual odometry that allows accurate, metric pose estimation from high altitudes, even in the presence of poor calibration and without additional sensor inputs. By relaxing the (typically fixed) stereo transform during bundle adjustment and reducing the dependence on the fixed geometry for triangulation, metrically scaled visual odometry can be obtained in situations where high altitude and structural deformation from vibration would cause traditional algorithms to fail. This is achieved through the use of a novel constrained bundle adjustment routine and accurately scaled pose initializer. We present visual odometry results demonstrating the technique on a short-baseline stereo pair inside a fixed-wing UAV flying at significant height (~30-100m).

Optical properties and CCN activity of aerosols in a high-altitude Himalayan environment: Results from RAWEX-GVAX

The seasonality and mutual dependence of aerosol optical properties and cloud condensation nuclei (CCN) activity under varying meteorological conditions at the high-altitude Nainital site (2km) in the Indo-Gangetic Plains were examined using nearly year-round measurements (June 2011 to March 2012) at the Atmospheric Radiation Measurement mobile facility as part of the Regional Aerosol Warming Experiment-Ganges Valley Aerosol Experiment of the Indian Space Research Organization and the U.S. Department of Energy. The results from collocated measurements provided enhanced aerosol scattering and absorption coefficients, CCN concentrations, and total condensation nuclei concentrations during the dry autumn and winter months. The CCN concentration (at a supersaturation of 0.46) was higher during the periods of high aerosol absorption (single scattering albedo (SSA)<0.80) than during the periods of high aerosol scattering (SSA>0.85), indicating that the aerosol composition seasonally changes and influences the CCN activity. The monthly mean CCN activation ratio (at a supersaturation of 0.46) was highest (>0.7) in late autumn (November); this finding is attributed to the contribution of biomass-burning aerosols to CCN formation at high supersaturation conditions.

Life-history strategies of pike in a high-altitude loch in Scotland

Pike, Esox lucius, are present in Loch Callater at their highest altitude and most extreme habitat in the British Isles, with subarctic winter conditions and extended winter ice-cover. The response of pike in this environment is slower growth, due to a shorter growing season and the low availability of forage fish, giving the poorest reported length-at-age for pike in the British Isles. All pike were mature or had spawned in the same year, with gravid ovaries in April and normal recovering ovaries in June-July. As in other lochs with few prey fishes, the larger pike ate small items such as invertebrates.

High Altitude Adaptation and Phylogenetic Analysis of Tibetan Horse Based on the Mitochondrial Genome

研究测定了西藏那曲(4,500 m)、云南中甸(3,300 m)、云南德钦(3,300 m)地区3匹藏马线粒体全基因组序列.3个地区的藏马线粒体基因组全长以及结构均与韩国济州岛的马类似,但比瑞典马线粒体基因组短.藏马基因组在DNA序列上的两两相似性达99.3%.通过对线粒体蛋白编码区的分析发现,NADH6基因的蛋白序列在三匹藏马中均表现快速进化的现象.这表明NADH6基因在藏马高原适应进化过程中扮演着重要角色.此外,利用7匹藏马的D-loop区域序列以及与其亲缘关系较近的马的序列首次构建的藏马的系统发育树显示,那曲藏马与中甸、德钦藏马属于不同的分支,且存在较大的遗传多样性,表明藏马可能为多地区起源.

Vibration of a high-altitude tethered balloon with application to climate engineering

A balloon tethered at an altitude of 20 km could deliver a particulate cloud leading to global cooling. Tethering a balloon at this altitude poses significant problems with respect to vibration and stability, especially in regions of high wind. No-one has ever proposed, yet alone launched, a balloon at an altitude of 20 km tethered to the ground. Owing to wind, the tether needs to be 23 km in length and is to be fixed to a ship at sea or on land in equatorial regions. Whilst the balloon at 20 km is subject to relatively modest wind conditions, at jet stream altitudes (10km) the tether will experience much higher wind loadings, not only because of the high wind speeds of up to 300 km / hr but also because of the high air density. A tether of circular cross section in these high winds will be subject to horizontal and downward drag forces that would bring the aerostat down. For this reason it is advantageous to consider a self-aligning tether of an aerodynamic cross section whereby it is possible to reduce the drag substantially. One disadvantage of a non-circular tether is the possibility of flutter and galloping instabilities. It is reasonably straightforward to model these phenomena for short lengths of aerofoil, but the situation becomes more complex for a 20 km tensioned tether with large deflection and curvature, variable wind speed, variable air density and variable tension. Analysis using models of infinite length are used to establish the stability at a local scale where the tension, aerodynamic and geometric properties are considered constant. Dispersion curve analysis is useful here. But for dynamics on a long-wavelength scale (several km) then a full non-linear analysis is required. This non-linear model can be used to establish the local values of tension appropriate for the dispersion analysis. This keynote presentation will give some insight into these issues.

Quantification of the benefits of a streamlined tether for a high-altitude-tethered balloon

A high-altitude tethered balloon (HATB) reaching a height of 20 km has numerous applications including communications, meteorological monitoring, surveillance and, for the current paper, geoengineering. The HATB configuration consists of a 20 km tether rising up from the ground through the troposphere, where the wind-regime can be turbulent and include high-wind velocities due to the jet-stream, up into the more stable stratosphere where the tether would be attached to a spherical balloon. This paper evaluates wind-excited vibration of a HATB and will investigate the advantages of using a streamlined instead of a circular tether profile. Streamlining the tether reduces drag but introduces stability problems and complicates the numerical modelling. Consequently, prior to a thorough investigation of the stability issues due to fluid-structure interaction, a 3D nonlinear lumped-mass HATB model is used to quantify the benefit of a streamlined tether. The benefit is quantified by comparing the system specifications - such as balloon size and the tension in the tether - required to meet certain design requirements driven by the Stratospheric Particle Injection for Climate Engineering (SPICE) project. The SPICE project is investigating the feasibility of climate engineering using a HATB.

Anti-hypotensive treatment and endothelin blockade synergistically antagonize exercise fatigue in rats under simulated high altitude.

Rapid ascent to high altitude causes illness and fatigue, and there is a demand for effective acute treatments to alleviate such effects. We hypothesized that increased oxygen delivery to the tissue using a combination of a hypertensive agent and an endothelin receptor A antagonist drugs would limit exercise-induced fatigue at simulated high altitude. Our data showed that the combination of 0.1 mg/kg ambrisentan with either 20 mg/kg ephedrine or 10 mg/kg methylphenidate significantly improved exercise duration in rats at simulated altitude of 4,267 m, whereas the individual compounds did not. In normoxic, anesthetized rats, ephedrine alone and in combination with ambrisentan increased heart rate, peripheral blood flow, carotid and pulmonary arterial pressures, breathing rate, and vastus lateralis muscle oxygenation, but under inspired hypoxia, only the combination treatment significantly enhanced muscle oxygenation. Our results suggest that sympathomimetic agents combined with endothelin-A receptor blockers offset altitude-induced fatigue in rats by synergistically increasing the delivery rate of oxygen to hypoxic muscle by concomitantly augmenting perfusion pressure and improving capillary conductance in the skeletal muscle. Our findings might therefore serve as a basis to develop an effective treatment to prevent high-altitude illness and fatigue in humans.