European Coasts of Bohemia

The Danube-Oder-Elbe Canal attracted a great deal of attention throughout the twentieth century. Its promoters, The Danube-Oder-Elbe Canal, attracted a great deal of attention throughout the twentieth century and defined it as a tool for integrating a divided Europe. Although the canal was situated almost exclusively on Czech territory, it promised to create an integrated waterway system across the Continent that would link Black Sea ports to Atlantic markets. In return, the landlocked Czechoslovakian state would have its own connections to the sea. Today, the canal is an important building block of the European Agreement on Main Inland Waterways. This book explains the crucial role that experts played in aligning national and transnational interests and infrastructure developments. It builds on recent investigations into the hidden integration of Europe as an outcome of transnational networking, system-building, and infrastructure development. The book analyzes the emergence of a transnational waterway expert network that continued to push for the development of the canal despite unfavorable political circumstances. The book shows how the experts adapted themselves to various political developments, such as the break-up of the Austrian-Hungarian Empire, the rise of the Third Reich, and integration into the Soviet Bloc, while still managing to keep the Canal project on the map. This book provides a fascinating story of the experts who confronted and contributed to different and often conflicting geopolitical visions of Europe. The canal was never completed, yet what is more remarkable is the fact that the canal remained on various agendas and attracted vast resources throughout the twentieth century

Development of a monthly to seasonal forecast framework tailored to inland waterway transport in central Europe

Traditionally, navigation-related forecasts in central Europe cover short- to medium-range lead times linked to the travel times of vessels to pass the main waterway bottlenecks leaving the loading ports. Without doubt, this aspect is still essential for navigational users, but in light of the growing political intention to use the free capacity of the inland waterway transport in Europe, additional lead time supporting strategic decisions is more and more in demand. However, no such predictions offering extended lead times of several weeks up to several months currently exist for considerable parts of the European waterway network. This paper describes the set-up of a monthly to seasonal forecasting system for the German stretches of the international waterways of the Rhine, Danube and Elbe rivers. Two competitive forecast approaches have been implemented: the dynamical set-up forces a hydrological model with post-processed outputs from ECMWF general circulation model System 4, whereas the statistical approach is based on the empirical relationship ("teleconnection") of global oceanic, climate and regional hydro-meteorological data with river flows. The performance of both forecast methods is evaluated in relation to the climatological forecast (ensemble of historical streamflow) and the well-known ensemble streamflow prediction approach (ESP, ensemble based on historical meteorology) using common performance indicators (correlation coefficient; mean absolute error, skill score; mean squared error, skill score; and continuous ranked probability, skill score) and an impact-based evaluation quantifying the potential economic gain. The following four key findings result from this study: (1) as former studies for other regions of central Europe indicate, the accuracy and/or skill of the meteorological forcing used has a larger effect than the quality of initial hydrological conditions for relevant stations along the German waterways. (2) Despite the predictive limitations on longer lead times in central Europe, this study reveals the existence of a valuable predictability of streamflow on monthly up to seasonal timescales along the Rhine, upper Danube and Elbe waterways, and the Elbe achieves the highest skill and economic value. (3) The more physically based and the statistical approach are able to improve the predictive skills and economic value compared to climatology and the ESP approach. The specific forecast skill highly depends on the forecast location, the lead time and the season. (4) Currently, the statistical approach seems to be most skilful for the three waterways investigated. The lagged relationship between the monthly and/or seasonal streamflow and the climatic and/or oceanic variables vary between 1 month (e.g. local precipitation, temperature and soil moisture) up to 6 months (e.g. sea surface temperature). Besides focusing on improving the forecast methodology, especially by combining the individual approaches, the focus is on developing useful forecast products on monthly to seasonal timescales for waterway transport and to operationalize the related forecasting service

Context Detection, Categorization and Connectivity for Advanced Adaptive Integrated Navigation

Context is the environment that a navigation system operates in and the behaviour of its host vehicle or user. The type and quality of signals and environmental features available for positioning varies with the environment. For example, GNSS provides high-quality positioning in open environments, low-quality positioning in dense urban environments and no solution at all deep indoors. The behaviour of the host vehicle (or pedestrian) is also important. For example, pedestrian, car and train navigation all require different map-matching techniques, different motion constraints to limit inertial navigation error growth, and different dynamic models in a navigation filter [1]. A navigation system design should therefore be matched to its context. However, the context can change, particularly for devices, such as smartphones, which move between indoor and outdoor environments and can be stationary, on a pedestrian, or in a vehicle. For best performance, a navigation system should therefore be able to detect its operating context and adapt accordingly; this is context-adaptive positioning [1]. Previous work on context-adaptive navigation and positioning has focused on individual subsystems. For example, there has been substantial research into determining the motion type and sensor location for pedestrian dead reckoning using step detection [2-4]. Researchers have also begun to investigate context-adaptive (or cognitive) GNSS [5-7]. However, this paper considers context adaptation across an integrated navigation system as a whole. The paper addresses three aspects of context-adaptive integrated navigation: context detection, context categorization and context connectivity. It presents experimental results showing how GNSS C/N0 measurements, frequency-domain MEMS inertial sensor measurements and Wi-Fi signal availability could be used to detect both the environmental and behavioural contexts. It then looks at how context information could be shared across the different components of an integrated navigation system. Finally, the concept of context connectivity is introduced to improve the reliability of context detection. GNSS C/N0 measurement distributions, obtained using a smartphone, and Wi-Fi reception data collected over a range of indoor, urban and open environments will be compared to identify suitable features from which the environmental context may be derived. In an open environment, strong GNSS signals will be received from all directions. In an urban environment, fewer strong signals will be received and only from certain directions. Inside a building, nearly all GNSS signals will be much weaker than outside. Wi-Fi signals essentially vary with the environment in the opposite way to GNSS. Indoors, more access points (APs) can be received at higher signal strengths and there is greater variation in RSS. In urban environments, large numbers of APs can still be received, but at lower signal strengths [6]. Finally, in open environments, few APs, if any, will be received. Behavioural context is studied using an IMU. Although an Xsens MEMS IMU is used in this study, smartphone inertial sensors are also suitable. Pedestrian, car and train data has been collected under a range of different motion types and will be compared to identify context-dependent features. Early indications are that, as well as detecting motion, it is also possible to distinguish nominally-stationary IMUs that are placed in a car, on a person or on a table from the frequency spectra of the sensor measurements. The exchange of context information between subsystems in an integrated navigation system requires agreement on the definitions of those contexts. As different subsystems are often supplied by different organisations, it is desirable to standardize the context definitions across the whole navigation and positioning community. This paper therefore proposes a framework upon which a “context dictionary” could be constructed. Environmental and behavioural contexts are categorized separately and a hierarchy of attributes is proposed to enable some subsystems to work with highly specific context categories and others to work with broader categories. Finally, the concept of context connectivity is introduced. This is analogous to the road link connectivity used in map matching [8]. As context detection involves the matching of measurement data to stored context profiles, there will always be occurrences of false or ambiguous context identification. However, these may be minimized by using the fact that it is only practical to transition directly between certain pairs of contexts. For example, it is not normally possible to move directly from an airborne to an indoor environment as an aircraft must land first. Thus, the air and land contexts are connected, as are the land and indoor contexts, but the air and indoor contexts are not. Thus, by only permitting contexts that are connected to the previous context, false and ambiguous context detection is reduced. Robustness may be further enhanced by considering location-dependent connectivity. For example, people normally board and leave trains at stations and fixed-wing aircraft typically require an airstrip to take off and land. / References [1] Groves, P. D., Principles of GNSS, inertial, and multi-sensor integrated navigation systems, Second Edition, Artech House, 2013. [2] Park, C. G., et al., “Adaptive Step Length Estimation with Awareness of Sensor Equipped Location for PNS,” Proc. ION GNSS 2007. [3] Frank, K., et al., “Reliable Real-Time Recognition of Motion Related Human Activities Using MEMS Inertial Sensors,” Proc. ION GNSS 2010. [4] Pei, L., et al., “Using Motion-Awareness for the 3D Indoor Personal Navigation on a Smartphone,” Proc. ION GNSS 2011. [5] Lin, T., C. O’Driscoll, and G. Lachapelle, “Development of a Context-Aware Vector-Based High-Sensitivity GNSS Software Receiver,” Proc. ION ITM 2011. [6] Shafiee, M., K., O’Keefe, and G. Lachapelle, “Context-aware Adaptive Extended Kalman Filtering Using Wi-Fi Signals for GPS Navigation,” Proc. ION GNSS 2011. [7] Shivaramaiah, N. C., and A. G. Dempster, “Cognitive GNSS Receiver Design: Concept and Challenges,” Proc. ION GNSS 2011. [8] Quddus, M. A., High Integrity Map Matching Algorithms for Advanced Transport Telematics Applications, PhD Thesis, Imperial College London, 2006

A novel approach of collision assessment for coastal radar surveillance

For coastal radar surveillance, this paper proposes a data-driven approach to estimate a blip’s collision probability preliminarily based on two factors: the probability of it being a moving vessel and the collision potential of its position. The first factor can be determined by a Directed Acyclic Graph (DAG), whose nodes represent the blip’s characteristics, including the velocity, direction and size. Additionally, the structure and conditional probability tables of the DAG can be learned from verified samples. Subsequently, the obstacles in a waterway can be described as collision potential fields using an Artificial Potential Field model, and the corresponding coefficients can be trained in accordance with the historical vessel distribution. Then, the other factor, the positional collision potential of any position is obtained through overlapping all the collision potential fields. For simplicity, moving speeds of obstacles are considered in this research. Eventually, the two factors are characterised as two pieces of evidence, and the collision probability of a blip is estimated by combining them with Dempster’s rule. Through ranking blips on collision probabilities, those that pose high threat to safety can be picked up in advance to remind supervisors. Particularly, a good agreement between the proposed approach and the manual work was found in a preliminary test

Ship-bank interaction induced by irregular bank geometries

The forces and moments induced by the vicinity of banks on a sailing vessel are known as bank effects.An extensive set of model tests have been carried out in a towing tank to investigate bank effects inducedby irregular bank geometries. Tests along sloped surface-piercing as well as submerged banks are carriedout. A mathematical model (for the longitudinal force, sway force, yaw moment and sinkage) found onthese tests is formulated. This model copes with the geometry of the banks tested and not tested bankgeometries. This paper emphasises on the mathematical model and on two parameters of thismathematical model: The distance between ship and bank d2b and the equivalent blockage meq such that the properties of an irregular bank geometry are taken into account