Analysis of Multipath Mitigation Techniques with Land Mobile Satellite Channel Model

Multipath is undesirable for Global Navigation Satellite System (GNSS) receivers, since the reception of multipath can create a significant distortion to the shape of the correlation function leading to an error in the receivers’ position estimate. Many multipath mitigation techniques exist in the literature to deal with the multipath propagation problem in the context of GNSS. The multipath studies in the literature are often based on optimistic assumptions, for example, assuming a static two-path channel or a fading channel with a Rayleigh or a Nakagami distribution. But, in reality, there are a lot of channel modeling issues, for example, satellite-to-user geometry, variable number of paths, variable path delays and gains, Non Line-Of-Sight (NLOS) path condition, receiver movements, etc. that are kept out of consideration when analyzing the performance of these techniques. Therefore, this is of utmost importance to analyze the performance of different multipath mitigation techniques in some realistic measurement-based channel models, for example, the Land Multipath is undesirable for Global Navigation Satellite System (GNSS) receivers, since the reception of multipath can create a significant distortion to the shape of the correlation function leading to an error in the receivers’ position estimate. Many multipath mitigation techniques exist in the literature to deal with the multipath propagation problem in the context of GNSS. The multipath studies in the literature are often based on optimistic assumptions, for example, assuming a static two-path channel or a fading channel with a Rayleigh or a Nakagami distribution. But, in reality, there are a lot of channel modeling issues, for example, satellite-to-user geometry, variable number of paths, variable path delays and gains, Non Line-Of-Sight (NLOS) path condition, receiver movements, etc. that are kept out of consideration when analyzing the performance of these techniques. Therefore, this is of utmost importance to analyze the performance of different multipath mitigation techniques in some realistic measurement-based channel models, for example, the Land Mobile Satellite (LMS) channel model [1]-[4], developed at the German Aerospace Center (DLR). The DLR LMS channel model is widely used for simulating the positioning accuracy of mobile satellite navigation receivers in urban outdoor scenarios. The main objective of this paper is to present a comprehensive analysis of some of the most promising techniques with the DLR LMS channel model in varying multipath scenarios. Four multipath mitigation techniques are chosen herein for performance comparison, namely, the narrow Early-Minus-Late (nEML), the High Resolution Correlator, the C/N0-based two stage delay tracking technique, and the Reduced Search Space Maximum Likelihood (RSSML) delay estimator. The first two techniques are the most popular and traditional ones used in nowadays GNSS receivers, whereas the later two techniques are comparatively new and are advanced techniques, recently proposed by the authors. In addition, the implementation of the RSSML is optimized here for a narrow-bandwidth receiver configuration in the sense that it now requires a significantly less number of correlators and memory than its original implementation. The simulation results show that the reduced-complexity RSSML achieves the best multipath mitigation performance in moderate-to-good carrier-to-noise density ratio with the DLR LMS channel model in varying multipath scenarios

Localization of dexamethasone within dendritic core-multishell (CMS) nanoparticles and skin penetration properties studied by multi-frequency electron paramagnetic resonance (EPR) spectroscopy

The skin and especially the stratum corneum (SC) act as a barrier and protect epidermal cells and thus the whole body against xenobiotica of the external environment. Topical skin treatment requires an efficient drug delivery system (DDS). Polymer-based nanocarriers represent novel transport vehicles for dermal application of drugs. In this study dendritic core-multishell (CMS) nanoparticles were investigated as promising candidates. CMS nanoparticles were loaded with a drug (analogue) and were applied to penetration studies of skin. We determined by dual-frequency electron paramagnetic resonance (EPR) how dexamethasone (Dx) labelled with 3-carboxy-2,2,5,5-tetramethyl-1-pyrrolidinyloxy (PCA) is associated with the CMS. The micro-environment of the drug loaded to CMS nanoparticles was investigated by pulsed high-field EPR at cryogenic temperature, making use of the fact that magnetic parameters (g-, A-matrices, and spin-lattice relaxation time) represent specific probes for the micro-environment. Additionally, the rotational correlation time of spin-labelled Dx was probed by continuous wave EPR at ambient temperature, which provides independent information on the drug environment. Furthermore, the penetration depth of Dx into the stratum corneum of porcine skin after different topical applications was investigated. The location of Dx in the CMS nanoparticles is revealed and the function of CMS as penetration enhancers for topical application is shown

Affordance-Aware Handovers With Human Arm Mobility Constraints

Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While there are existing approaches for estimating the effectiveness of handovers, their findings are limited to users without arm mobility impairments and to specific objects. Therefore, current state-of-the-art approaches are unable to hand over novel objects to receivers with different arm mobility capacities. We propose a method that generalises handover behaviours to previously unseen objects, subject to the constraint of a user's arm mobility levels and the task context. We propose a heuristic-guided hierarchically optimised cost whose optimisation adapts object configurations for receivers with low arm mobility. This also ensures that the robot grasps consider the context of the user's upcoming task, i.e., the usage of the object. To understand preferences over handover configurations, we report on the findings of an online study, wherein we presented different handover methods, including ours, to $259$ users with different levels of arm mobility. We find that people's preferences over handover methods are correlated to their arm mobility capacities. We encapsulate these preferences in a statistical relational model (SRL) that is able to reason about the most suitable handover configuration given a receiver's arm mobility and upcoming task. Using our SRL model, we obtained an average handover accuracy of $90.8\%$ when generalising handovers to novel objects.Comment: Accepted for RA-L 202

Iron biogeochemistry across marine systems progress from the past decade

Based on an international workshop (Gothenburg, 14–16 May 2008), this review article aims to combine interdisciplinary knowledge from coastal and open ocean research on iron biogeochemistry. The major scientific findings of the past decade are structured into sections on natural and artificial iron fertilization, iron inputs into coastal and estuarine systems, colloidal iron and organic matter, and biological processes. Potential effects of global climate change, particularly ocean acidification, on iron biogeochemistry are discussed. The findings are synthesized into recommendations for future research areas

Microduplications encompassing the Sonic hedgehog limb enhancer ZRS are associated with Haas-type polysyndactyly and Laurin-Sandrow syndrome

Laurin-Sandrow syndrome (LSS) is a rare autosomal dominant disorder characterized by polysyndactyly of hands and/or feet, mirror image duplication of the feet, nasal defects, and loss of identity between fibula and tibia. The genetic basis of LSS is currently unknown. LSS shows phenotypic overlap with Haas-type polysyndactyly (HTS) regarding the digital phenotype. Here we report on five unrelated families with overlapping microduplications encompassing the Sonic hedgehog (SHH) limb enhancer ZPA regulatory sequence (ZRS) on chromosome 7q36. Clinically, the patients show polysyndactyly phenotypes and various types of lower limb malformations ranging from syndactyly to mirror image polydactyly with duplications of the fibulae. We show that larger duplications of the ZRS region (>80 kb) are associated with HTS, whereas smaller duplications (<80 kb) result in the LSS phenotype. On the basis of our data, the latter can be clearly distinguished from HTS by the presence of mirror image polysyndactyly of the feet with duplication of the fibula. Our results expand the clinical phenotype of the ZRS-associated syndromes and suggest that smaller duplications (<80 kb) are associated with a more severe phenotype. In addition, we show that these small microduplications within the ZRS region are the underlying genetic cause of Laurin-Sandrow syndrome

Molecular basis for the specification of floral organs by APETALA3 and PISTILLATA

How different organs are formed from small sets of undifferentiated precursor cells is a key question in developmental biology. To understand the molecular mechanisms underlying organ specification in plants, we studied the function of the homeotic selector genes APETALA3 (AP3) and PISTILLATA (PI), which control the formation of petals and stamens during Arabidopsis flower development. To this end, we characterized the activities of the transcription factors that AP3 and PI encode throughout flower development by using perturbation assays as well as transcript profiling and genomewide localization studies, in combination with a floral induction system that allows a stage-specific analysis of flower development by genomic technologies. We discovered considerable spatial and temporal differences in the requirement for AP3/PI activity during flower formation and show that they control different sets of genes at distinct phases of flower development. The genomewide identification of target genes revealed that AP3/PI act as bifunctional transcription factors: they activate genes involved in the control of numerous developmental processes required for organogenesis and repress key regulators of carpel formation. Our results imply considerable changes in the composition and topology of the gene network controlled by AP3/PI during the course of flower development. We discuss our results in light of a model for the mechanism underlying sex-determination in seed plants, in which AP3/PI orthologues might act as a switch between the activation of male and the repression of female development

A school-based social-marketing intervention to promote sexual health in English secondary schools: the Positive Choices pilot cluster RCT

Background: The UK still has the highest rate of teenage births in western Europe. Teenagers are also the age group most likely to experience unplanned pregnancy, with around half of conceptions in those aged < 18 years ending in abortion. After controlling for prior disadvantage, teenage parenthood is associated with adverse medical and social outcomes for mothers and children, and increases health inequalities. This study evaluates Positive Choices (a new intervention for secondary schools in England) and study methods to assess the value of a Phase III trial. Objectives: To optimise and feasibility-test Positive Choices and then conduct a pilot trial in the south of England assessing whether or not progression to Phase III would be justified in terms of prespecified criteria. Design: Intervention optimisation and feasibility testing; pilot randomised controlled trial. Setting: The south of England: optimisation and feasibility-testing in one secondary school; pilot cluster trial in six other secondary schools (four intervention, two control) varying by local deprivation and educational attainment. Participants: School students in year 8 at baseline, and school staff. Interventions: Schools were randomised (1 : 2) to control or intervention. The intervention comprised staff training, needs survey, school health promotion council, year 9 curriculum, student-led social marketing, parent information and review of school/local sexual health services. Main outcome measures: The prespecified criteria for progression to Phase III concerned intervention fidelity of delivery and acceptability; successful randomisation and school retention; survey response rates; and feasible linkage to routine administrative data on pregnancies. The primary health outcome of births was assessed using routine data on births and abortions, and various self-reported secondary sexual health outcomes. Data sources: The data sources were routine data on births and abortions, baseline and follow-up student surveys, interviews, audio-recordings, observations and logbooks. Results: The intervention was optimised and feasible in the first secondary school, meeting the fidelity targets other than those for curriculum delivery and criteria for progress to the pilot trial. In the pilot trial, randomisation and school retention were successful. Student response rates in the intervention group and control group were 868 (89.4%) and 298 (84.2%), respectively, at baseline, and 863 (89.0%) and 296 (82.0%), respectively, at follow-up. The target of achieving ≥ 70% fidelity of implementation of essential elements in three schools was achieved. Coverage of relationships and sex education topics was much higher in intervention schools than in control schools. The intervention was acceptable to 80% of students. Interviews with staff indicated strong acceptability. Data linkage was feasible, but there were no exact matches for births or abortions in our cohort. Measures performed well. Poor test–retest reliability on some sexual behaviour measures reflected that this was a cohort of developing adolescents. Qualitative research confirmed the appropriateness of the intervention and theory of change, but suggested some refinements. Limitations: The optimisation school underwent repeated changes in leadership, which undermined its participation. Moderator analyses were not conducted as these would be very underpowered. Conclusion: Our findings suggest that this intervention has met prespecified criteria for progression to a Phase III trial. Future work: Declining prevalence of teenage pregnancy suggests that the primary outcome in a full trial could be replaced by a more comprehensive measure of sexual health. Any future Phase III trial should have a longer lead-in from randomisation to intervention commencement

Controls on Dissolved Cobalt in Surface Waters of the Sargasso Sea: Comparisons with Iron and Aluminum

Dissolved cobalt (dCo), iron (dFe) and aluminum (dAl) were determined in water column samples along a meridional transect (∼31°N to 24°N) south of Bermuda in June 2008. A general north-to-south increase in surface concentrations of dFe (0.3-1.6 nM) and dAl (14-42 nM) was observed, suggesting that aerosol deposition is a significant source of dFe and dAl, whereas no clear trend was observed. for near-surface dCo concentrations. Shipboard aerosol samples indicate fractional solubility values of 8-100% for aerosol Co, which are significantly higher than corresponding estimates of the solubility of aerosol Fe (0.44-45%). Hydrographic observations and analysis of time series rain samples from Bermuda indicate that wet deposition accounts for most (\u3e80%) of the total aeolian flux of Co, and hence a significant proportion of the atmospheric input of dCo to our study region. Our aerosol data imply that the atmospheric input of dCo to the Sargasso Sea is modest, although this flux may be more significant in late summer. The water column dCo profiles reveal a vertical distribution that predominantly reflects nutrient-type behavior, vs. scavenged-type behavior for dAl, and a hybrid of nutrient- and scavenged-type behavior for dFe. Mesoscale eddies also appear to impact on the vertical distribution of dCo. The effects of biological removal of dCo from the upper water column were apparent as pronounced sub-surface min. (21 ± 4 pM dCo), coincident with maxima in Prochlorococcus abundance. These observations imply that Prochlorococcus plays a major role in removing dCo from the euphotic zone, and that the availability of dCo may regulate Prochlorococcus growth in the Sargasso Sea

Diurnal variability in alkaline phosphatase activity and the potential role of zooplankton

Daily light–dark cycles drive the circadian rhythm of many ocean processes including photosynthesis, gene expression, and zooplankton diel vertical migration (DVM). In phosphate deplete surface ocean regions, microbes produce metalloenzymes, such as alkaline phosphatases (AP), to access dissolved organic phosphorus. Here, we provide novel evidence of diurnal variation in AP activity (APA) in the subtropical North Atlantic using two independent datasets, with APA being two‐ to three‐fold higher at night. We demonstrate that zooplankton are a source of AP and postulate that zooplankton DVM is a source of enhanced AP in the surface waters at night, with reduction or degradation of AP during the day. Our results challenge the current assumption that APA is linear over a 24‐h period. While future ocean scenarios predict intensification and expansion of oceanic phosphate limitation, our findings indicate a role for zooplankton in regenerating phosphate that is currently missing in conceptual and numerical models