Estimation of subsurface porosities and thermal conductivities of polygonal tundra by coupled inversion of electrical resistivity, temperature, and moisture content data

Studies indicate greenhouse gas emissions following permafrost thaw will amplify current rates of atmospheric warming, a process referred to as the permafrost carbon feedback. However, large uncertainties exist regarding the timing and magnitude of the permafrost carbon feedback, in part due to uncertainties associated with subsurface permafrost parameterization and structure. Development of robust parameter estimation methods for permafrost-rich soils is becoming urgent under accelerated warming of the Arctic. Improved parameterization of the subsurface properties in land system models would lead to improved predictions and a reduction of modeling uncertainty. In this work we set the groundwork for future parameter estimation (PE) studies by developing and evaluating a joint PE algorithm that estimates soil porosities and thermal conductivities from time series of soil temperature and moisture measurements and discrete in-time electrical resistivity measurements. The algorithm utilizes the Model-Independent Parameter Estimation and Uncertainty Analysis toolbox and coupled hydrological-thermal-geophysical modeling. We test the PE algorithm against synthetic data, providing a proof of concept for the approach. We use specified subsurface porosities and thermal conductivities and coupled models to set up a synthetic state, perturb the parameters, and then verify that our PE method is able to recover the parameters and synthetic state. To evaluate the accuracy and robustness of the approach we perform multiple tests for a perturbed set of initial starting parameter combinations. In addition, we varied types and quantities of data to better understand the optimal dataset needed to improve the PE method. The results of the PE tests suggest that using multiple types of data improve the overall robustness of the method. Our numerical experiments indicate that special care needs to be taken during the field experiment setup so that (1) the vertical distance between adjacent measurement sensors allows the signal variability in space to be resolved and (2) the longer time interval between resistivity snapshots allows signal variability in time to be resolved

Scaling and balancing carbon dioxide fluxes in a heterogeneous tundra ecosystem of the Lena River Delta

The current assessments of the carbon turnover in the Arctic tundra are subject to large uncertainties. This problem can (inter alia) be ascribed to both the general shortage of flux data from the vast and sparsely inhabited Arctic region, as well as the typically high spatiotemporal variability of carbon fluxes in tundra ecosystems. Addressing these challenges, carbon dioxide fluxes on an active flood plain situated in the Siberian Lena River Delta were studied during two growing seasons with the eddy covariance method. The footprint exhibited a heterogeneous surface, which generated mixed flux signals that could be partitioned in such a way that both respiratory loss and photosynthetic gain were obtained for each of two vegetation classes. This downscaling of the observed fluxes revealed a differing seasonality in the net uptake of bushes (−0.89 µmol m−2 s−1) and sedges (−0.38 µmol mm−2 s−1) in 2014. That discrepancy, which was concealed in the net signal, resulted from a comparatively warm spring in conjunction with an early snowmelt and a varying canopy structure. Thus, the representativeness of footprints may adversely be affected in response to prolonged unusual weather conditions. In 2015, when air temperatures on average corresponded to climatological means, both vegetation-class-specific flux rates were of similar magnitude (−0.69 µmol m−2 s−1). A comprehensive set of measures (e.g. phenocam) corroborated the reliability of the partitioned fluxes and hence confirmed the utility of flux decomposition for enhanced flux data analysis. This scrutiny encompassed insights into both the phenological dynamic of individual vegetation classes and their respective functional flux to flux driver relationships with the aid of ecophysiologically interpretable parameters. For comparison with other sites, the decomposed fluxes were employed in a vegetation class area-weighted upscaling that was based on a classified high-resolution orthomosaic of the flood plain. In this way, robust budgets that take the heterogeneous surface characteristics into account were estimated. In relation to the average sink strength of various Arctic flux sites, the flood plain constitutes a distinctly stronger carbon dioxide sink. Roughly 42 % of this net uptake, however, was on average offset by methane emissions lowering the sink strength for greenhouse gases. With growing concern about rising greenhouse gas emissions in high-latitude regions, providing robust carbon budgets from tundra ecosystems is critical in view of accelerating permafrost thaw, which can impact the global climate for centuries

Topological transformations of speckles

Deterministic control of coherent random light is highly important for information transmission through complex media. However, only a few simple speckle transformations can be achieved through diffusers without prior characterization. As recently shown, spiral wavefront modulation of the impinging beam allows permuting intensity maxima and intrinsic $\pm 1$-charged optical vortices. Here, we study this cyclic-group algebra when combining spiral phase transforms of charge $n$, with $D_3$- and $D_4$-point-group symmetry star-like amplitude modulations. This combination allows statistical strengthening of permutations and controlling the period to be 3 and 4, respectively. Phase saddle-points are shown to complete the cycle. These results offer new tools to manipulate critical points in speckles.Comment: 14 pages, 10 figures, 4 table

A surgical system for automatic registration, stiffness mapping and dynamic image overlay

In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality. Such a system has the potential to quickly reveal the location and shape of tumors and visually overlay that information to reduce the cognitive overload of the surgeon. We believe that our approach is one of the first to incorporate state-of-the-art methods in registration, force sensing and tumor localization into a unified surgical system. First, the preoperative model is registered to the intra-operative scene using a Bingham distribution-based filtering approach. An active level set estimation is then used to find the location and the shape of the tumors. We use a recently developed miniature force sensor to perform the palpation. The estimated stiffness map is then dynamically overlaid onto the registered preoperative model of the organ. We demonstrate the efficacy of our system by performing experiments on phantom prostate models with embedded stiff inclusions.Comment: International Symposium on Medical Robotics (ISMR 2018

Navigation without localisation: reliable teach and repeat based on the convergence theorem

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit localisation. Rather than that, a mobile robot which repeats a previously taught path can simply `replay' the learned velocities, while using its camera information only to correct its heading relative to the intended path. To support our claim, we establish a position error model of a robot, which traverses a taught path by only correcting its heading. Then, we outline a mathematical proof which shows that this position error does not diverge over time. Based on the insights from the model, we present a simple monocular teach-and-repeat navigation method. The method is computationally efficient, it does not require camera calibration, and it can learn and autonomously traverse arbitrarily-shaped paths. In a series of experiments, we demonstrate that the method can reliably guide mobile robots in realistic indoor and outdoor conditions, and can cope with imperfect odometry, landmark deficiency, illumination variations and naturally-occurring environment changes. Furthermore, we provide the navigation system and the datasets gathered at http://www.github.com/gestom/stroll_bearnav.Comment: The paper will be presented at IROS 2018 in Madri

The nonconforming virtual element method for eigenvalue problems

We analyse the nonconforming Virtual Element Method (VEM) for the approximation of elliptic eigenvalue problems. The nonconforming VEM allow to treat in the same formulation the two- and three-dimensional case.We present two possible formulations of the discrete problem, derived respectively by the nonstabilized and stabilized approximation of the L^2-inner product, and we study the convergence properties of the corresponding discrete eigenvalue problem. The proposed schemes provide a correct approximation of the spectrum, in particular we prove optimal-order error estimates for the eigenfunctions and the usual double order of convergence of the eigenvalues. Finally we show a large set of numerical tests supporting the theoretical results, including a comparison with the conforming Virtual Element choice