Testing goGPS low-cost RTK positioning with a web-based track log management system

Location-based online collaborative platforms are proving to be an effective and widely adopted solution for geospatial data collection, update and sharing. Popular collaborative projects like OpenStreetMap, Wikimapia and other services that collect and publish user-generated geographic contents have been fostered by the increasing availability of location-aware palmtop devices. These instruments include GPS-enabled mobile phones and low-cost GPS receivers, which are employed for quick field surveys at both professional and non-professional levels. Nevertheless, data collected with such devices are often not accurate enough to avoid heavy user intervention before using or sharing them. Providing tools for collecting and sharing accuracy-enhanced positioning data to a wide and diverse user base requires to integrate modern web technologies and online services with advanced satellite positioning techniques. A web-based prototype system for enhancing GPS tracks quality and managing track logs and points of interest (POI), originally developed using standard GPS devices, was tested by using goGPS software to apply kinematic relative positioning (RTK) with low-cost single-frequency receivers. The workflow consists of acquiring raw GPS measurements from the user receiver and from a network of permanent GPS stations, processing them by RTK positioning within goGPS Kalman filter algorithm, sending the accurate positioning data to the web-based system, performing further quality enhancements if needed, logging the data and displaying them. The whole system can work either in real-time or post-processing, the latter providing a solution to collect and publish enhanced location data without necessarily requiring mobile Internet connection on the field. Tests were performed in open areas and variously dense urban environments, comparing different indices for quality-based filtering. Results are promising and suggest that the integration of web technologies with advanced geodetic techniques applied to low-cost instruments can be an effective solution to collect, update and share accurate location data on collaborative platforms

High-precision GPS survey of Via Appia: Archaeoastronomy-related aspects

Via Appia was built by the Romans around 312 BCE to connect Rome with Capua during the Samnite wars. The road is an astonishing engineering masterpiece. In particular, the segment which runs from Collepardo to Terracina – 61 km long – is renowned for being virtually straight; however this “straightness” was never investigated quantitatively. As a consequence, the techniques used by the ancient surveyors and their scope – whether it was only practical, or also symbolic – remain obscure. We report here a high-precision GPS survey of the road, performed with a u-blox receiver and further checked with a dual frequency receiver. We give a detailed analysis of the methods used and of the errors, which are shown to be less than 6’. To our knowledge it is the first time that such a long ancient manufactured structure has been surveyed with such a high accuracy. The results lead us to conclude that astronomy was certainly used in the construction of the road and in that of the associated grid, oriented to the setting of the star Castor and to the cardinal points respectively

Friction by Shear Deformations in Multilayer Graphene

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The synovial surface of the articular cartilage

The articular cartilage has been the subject of a huge amount of research carried out with a wide array of different techniques. Most of the existing morphological and ultrastructural data on the this tissue, however, were obtained either by light microscopy or by transmission electron microscopy. Both techniques rely on thin sections and neither allows a direct, face-on visualization of the free cartilage surface (synovial surface), which is the only portion subject to frictional as well as compressive forces. In the present research, high resolution visualization by scanning electron microscopy and by atomic force microscopy revealed that the collagen fibrils of the articular surface are exclusively represented by thin, uniform, parallel fibrils evocative of the heterotypic type IX-type II fibrils reported by other authors, immersed in an abundant matrix of glycoconjugates, in part regularly arranged in phase with the D-period of collagen. Electrophoresis of fluorophore-labeled saccharides confirmed that the superficial and the deeper layers are quite different in their glycoconjugate content as well, the deeper ones containing more sulfated, more acidic small proteoglycans bound to thicker, more heterogenous collagen fibrils. The differences found between the synovial surface and the deeper layers are consistent with the different mechanical stresses they must withstand

The combined cartilage growth – calcification patterns in the wing-fins of Rajidae (Chondrichthyes): A divergent model from endochondral ossification of tetrapods

The relationship between cartilage growth – mineralization patterns were studied in adult Rajidae with X-ray morphology/morphometry, undecalcified resin-embedded, heat-deproteinated histology and scanning electron microscopy. Morphometry of the wing-fins, nine central rays of the youngest and oldest specimens documented a significant decrement of radials mean length between inner, middle and outer zones, but without a regular progression along the ray. This suggests that single radial length growth is regulated in such a way to align inter-radial joints parallel to the wing metapterygia curvature. Trans-illumination and heat-deproteination techniques showed polygonal and cylindrical morphotypes of tesserae, whose aligned pattern ranged from mono-columnar, bi-columnar, and multi-columnar up to the crustal-like layout. Histology of tessellated cartilage allowed to identify of zones of the incoming mineral deposition characterized by enhanced duplication rate of chondrocytes with the formation of isogenic groups, whose morphology and topography suggested a relationship with the impending formation of the radials calcified column. The morphotype and layout of radial tesserae were related to mechanical demands (stiffening) and the size/mass of the radial cartilage body. The cartilage calcification pattern of the batoids model shares several morphological features with tetrapods' endochondral ossification, that is, (chondrocytes' high duplication rate, alignment in rows, increased volume of chondrocyte lacunae), but without the typical geometry of the metaphyseal growth plates

Fin systems comparative anatomy in model Batoidea Raja asterias and Torpedo marmorata: Insights and relatioships between musculo-skeletal layout, locomotion and morphology

The macroscopic and microscopic morphology of the appendicular skeleton was studied in the two species Raja asterias (order Rajiformes) and Torpedo marmorata (Order Torpediniformes), comparing the organization and structural layout of pectoral, pelvic, and tail fin systems. The shape, surface area and portance of the T. marmorata pectoral fin system (hydrodynamic lift) were conditioned by the presence of the two electric organs in the disk central part, which reduced the pectoral fin surface area, suggesting a lower efficiency of the "flapping effectors" than those of R. asterias. Otherwise, radials' rays alignment, morphology and calcification pattern showed in both species the same structural layout characterized in the fin medial zone by stiffly paired columns of calcified tiles in the perpendicular plane to the flat batoid body, then revolving and in the horizontal plane to continue as separate mono-columnar rays in the fin lateral zone with a morphology suggesting fin stiffness variance between medial/lateral zone. Pelvic fins morphology was alike in the two species, however with different calcified tiles patterns of the 1st compound radial and pterygia in respect to the fin-rays articulating perpendicularly to the latter, whose tile rows lay-out was also different from that of the pectoral fins radials. The T. marmorata tail-caudal fin showed a muscular and connective scaffold capable of a significant oscillatory forward thrust. On the contrary, the R. asterias dorsal tail fins were stiffened by a scaffold of radials-like calcified segments. Histomorphology, heat-deproteination technique and morphometry provided new data on the wing-fins structural layout which can be correlated to the mechanics of the Batoid swimming behavior and suggested a cartilage-calcification process combining interstitial cartilage growth (as that of all vertebrates anlagen) and a mineral deposition with accretion of individual centers (the tiles). The resulting layout showed scattered zones of un-mineralized matrix within the calcified mass and a less compact texture of the matrix calcified fibers suggesting a possible way of fluid diffusion throughout the mineralized tissue. These observations could explain the survival of the embedded chondrocytes in absence of a canalicular system as that of the cortical bone

Studio della quota di volo mediante GNSS, altimetro radar e barometro per rilievi di spettroscopia gamma da velivolo

Lo studio della distribuzione dei radionuclidi terrestri (238U, 232Th e 40K) realizzato mediante tecniche di spettroscopia gamma da velivolo è influenzato dalla quota a cui il rivelatore si trova rispetto al suolo. Un'incertezza del 10% a 100 m di altezza origina un errore nella stima del segnale gamma del 208Tl, appartenente alla catena di decadimenti del 232Th, dell’ordine del 7%. L'impiego di una nuova classe di spettrometri montati a bordo di UAV (Unmanned Aerial Vehicle) per raffinate misure in contesti ostili o remoti rende necessaria un'accurata stima in real time della quota di volo. Il Radgyro è un velivolo dedicato a survey multiparametrici, capace di trasportare strumentazione pari ad un payload massimo di 120 kg, tra cui quattro spettrometri gamma NaI(Tl). Una stazione inerziale con ricevitore integrato GNSS (Global Navigation Satellite System) restituisce l'assetto del velivolo con una frequenza massima di 400 Hz. Il velivolo è dotato di un network di tre ricevitori GNSS posizionati alle estremità della carena del velivolo. Un altimetro radar a 24 GHz rileva la quota con una frequenza di 60 Hz. La misura di pressione e temperatura consente di ricavare la quota barometrica a 2 Hz. Con l'obiettivo di studiare le incertezze associate alle misure della quota di volo acquisite dagli altimetri in relazione ai dati GNSS, sono stati realizzati tre voli sul mare in un range di altezze comprese tra 31 m e 249 m, per un totale di 4702 secondi di volo effettivo. Al termine dello studio è possibile concludere che l'errore complessivo delle abbondanze di K, U e Th aumenta di 7.7%, 0.5% e 2.7% rispettivamente, a causa delle incertezze della quota di volo

Ultrastructural localization of tyrosine hydroxylase in human peripheral blood mononuclear cells: effect of stimulation with phytohaemagglutinin

Using immunocytochemistry coupled to fluorescence and electron microscopy, we investigated the expression and ultrastructural localization of tyrosine hydroxylase (TH, EC 1.14.16.2), the rate-limiting enzyme in the biosynthesis of catecholamines, in human peripheral blood mononuclear cells (PBMCs), with PC12 cells as positive controls. In unstimulated PBMCs, TH-specific immunoreactivity was localized to the plasma membrane. However, after stimulation with the polyclonal mitogen phytohaemagglutinin (PHA), TH immunoreactivity was almost completely localized to electron-dense cytoplasmic granules, which resembled those found in PC12. TH-positive granules, however, were larger (300-500 nm) than in PC12 cells (100-200 nm). Flow cytometry analysis of TH expression showed about 46-50% positive cells in unstimulated PBMCs and in PHA-stimulated PBMCs in the G0/G1 phase of the cell cycle, but more than 80% positive cells in PHA-stimulated PBMCs in the S+G2/M phase. In agreement with previous observations, PHA stimulation also induced de novo expression of TH mRNA as well as increased intracellular catecholamine content, suggesting the occurrence of TH upregulation at the level of both gene expression and enzyme activity. The ultrastructural localization of TH in human PBMCs seems therefore regulated by cell stimulation and related to the functional activity of the enzyme

Comparison between RGB and RGB-D cameras for supporting low-cost GNSS urban navigation

A pure GNSS navigation is often unreliable in urban areas because of the presence of obstructions, thus preventing a correct reception of the satellite signal. The bridging between GNSS outages, as well as the vehicle attitude reconstruction, can be recovered by using complementary information, such as visual data acquired by RGB-D or RGB cameras. In this work, the possibility of integrating low-cost GNSS and visual data by means of an extended Kalman filter has been investigated. The focus is on the comparison between the use of RGB-D or RGB cameras. In particular, a Microsoft Kinect device (second generation) and a mirrorless Canon EOS M RGB camera have been compared. The former is an interesting RGB-D camera because of its low-cost, easiness of use and raw data accessibility. The latter has been selected for the high-quality of the acquired images and for the possibility of mounting fixed focal length lenses with a lower weight and cost with respect to a reflex camera. The designed extended Kalman filter takes as input the GNSS-only trajectory and the relative orientation between subsequent pairs of images. Depending on the visual data acquisition system, the filter is different because RGB-D cameras acquire both RGB and depth data, allowing to solve the scale problem, which is instead typical of image-only solutions. The two systems and filtering approaches were assessed by ad-hoc experimental tests, showing that the use of a Kinect device for supporting a u-blox low-cost receiver led to a trajectory with a decimeter accuracy, that is 15% better than the one obtained when using the Canon EOS M camera

Non-stationary covariance function modelling in 2D least-squares collocation

Standard least-squares collocation (LSC) assumes 2D stationarity and 3D isotropy, and relies on a covariance function to account for spatial dependence in the ob-served data. However, the assumption that the spatial dependence is constant through-out the region of interest may sometimes be violated. Assuming a stationary covariance structure can result in over-smoothing of, e.g., the gravity field in mountains and under-smoothing in great plains. We introduce the kernel convolution method from spatial statistics for non-stationary covariance structures, and demonstrate its advantage fordealing with non-stationarity in geodetic data. We then compared stationary and non-stationary covariance functions in 2D LSC to the empirical example of gravity anomaly interpolation near the Darling Fault, Western Australia, where the field is anisotropic and non-stationary. The results with non-stationary covariance functions are better than standard LSC in terms of formal errors and cross-validation against data not used in the interpolation, demonstrating that the use of non-stationary covariance functions can improve upon standard (stationary) LSC