Calibration of double stripe 3D laser scanner systems using planarity and orthogonality constraints

In this study, 3D scanning systems that utilize a pair of laser stripes are studied. Three types of scanning systems are implemented to scan environments, rough surfaces of near planar objects and small 3D objects. These scanners make use of double laser stripes to minimize the undesired effect of occlusions. Calibration of these scanning systems is crucially important for the alignment of 3D points which are reconstructed from different stripes. In this paper, the main focus is on the calibration problem, following a treatment on the pre-processing of stripe projections using dynamic programming and localization of 2D image points with sub-pixel accuracy. The 3D points corresponding to laser stripes are used in an optimization procedure that imposes geometrical constraints such as coplanarities and orthogonalities. It is shown that, calibration procedure proposed here, significantly improves the alignment of 3D points scanned using two laser stripes

Global Assessment of the SMAP Level-4 Surface and Root-Zone Soil Moisture Product Using Assimilation Diagnostics

The Soil Moisture Active Passive (SMAP) mission Level-4 Soil Moisture (L4_SM) product provides 3-hourly, 9-km resolution, global estimates of surface (0-5 cm) and root-zone (0-100 cm) soil moisture and related land surface variables from 31 March 2015 to present with ~2.5-day latency. The ensemble-based L4_SM algorithm assimilates SMAP brightness temperature (Tb) observations into the Catchment land surface model. This study describes the spatially distributed L4_SM analysis and assesses the observation-minus-forecast (O-F) Tb residuals and the soil moisture and temperature analysis increments. Owing to the climatological rescaling of the Tb observations prior to assimilation, the analysis is essentially unbiased, with global mean values of ~0.37 K for the O-F Tb residuals and practically zero for the soil moisture and temperature increments. There are, however, modest regional (absolute) biases in the O-F residuals (under ~3 K), the soil moisture increments (under ~0.01 cu.m/cu.m), and the surface soil temperature increments (under ~1 K). Typical instantaneous values are ~6 K for O-F residuals, ~0.01 (~0.003) cu.m/cu.m for surface (root-zone) soil moisture increments, and ~0.6 K for surface soil temperature increments. The O-F diagnostics indicate that the actual errors in the system are overestimated in deserts and densely vegetated regions and underestimated in agricultural regions and transition zones between dry and wet climates. The O-F auto-correlations suggest that the SMAP observations are used efficiently in western North America, the Sahel, and Australia, but not in many forested regions and the high northern latitudes. A case study in Australia demonstrates that assimilating SMAP observations successfully corrects short-term errors in the L4_SM rainfall forcing

Evaluation of biospheric components in earth system models using modern and palaeo-observations: The state-of-the-art

PublishedJournal ArticleEarth system models (ESMs) are increasing in complexity by incorporating more processes than their predecessors, making them potentially important tools for studying the evolution of climate and associated biogeochemical cycles. However, their coupled behaviour has only recently been examined in any detail, and has yielded a very wide range of outcomes. For example, coupled climate-carbon cycle models that represent land-use change simulate total land carbon stores at 2100 that vary by as much as 600 Pg C, given the same emissions scenario. This large uncertainty is associated with differences in how key processes are simulated in different models, and illustrates the necessity of determining which models are most realistic using rigorous methods of model evaluation. Here we assess the state-of-the-art in evaluation of ESMs, with a particular emphasis on the simulation of the carbon cycle and associated biospheric processes. We examine some of the new advances and remaining uncertainties relating to (i) modern and palaeodata and (ii) metrics for evaluation. We note that the practice of averaging results from many models is unreliable and no substitute for proper evaluation of individual models. We discuss a range of strategies, such as the inclusion of pre-calibration, combined process-and system-level evaluation, and the use of emergent constraints, that can contribute to the development of more robust evaluation schemes. An increasingly data-rich environment offers more opportunities for model evaluation, but also presents a challenge. Improved knowledge of data uncertainties is still necessary to move the field of ESM evaluation away from a "beauty contest" towards the development of useful constraints on model outcomes. © 2013 Author(s).This paper emerged from the GREENCYCLESII mini-conference “Evaluation of Earth system models using modern and palaeo-observations” held at Clare College, Cambridge, UK, in September 2012. We would like to thank the Marie Curie FP7 Research and Training Network GREENCYCLESII for providing funding which made this meeting possible. Research leading to these results has received funding from the European Community’s Seventh Framework Programme (FP7 2007–2013) under grant agreement no. 238366. The work of C. D. Jones was supported by the Joint DECC/Defra Met Office Hadley Centre Climate Programme (GA01101). N. R. Edwards acknowledges support from FP7 grant no. 265170 (ERMITAGE). N. Vázquez Riveiros acknowledges support from the AXA Research Fund and the Newton Trust

The Effects of an Improved Dynamic Vegetation Phenology Representation in a Global Land Surface Model

Evapotranspiration (ET) is a major driver of the interaction between the land surface and the atmosphere through its component mechanisms, including plant transpiration (T) and soil evaporation. To accurately capture land-atmosphere interactions in global Earth System Models, it is thus critical that the underlying land surface models accurately model both the land hydrology as well as the dynamic response of vegetation to environmental drivers. In an effort to introduce a more realistic vegetation representation, the NASA Catchment land surface model, which is part of the Goddard Earth Observing System (GEOS), has previously been merged with the carbon and nitrogen physics modules of the Community Land Model version 4, resulting in the new Catchment-CN model. Catchment-CN has inherited the advanced treatment of land surface hydrology of Catchment, but is additionally able to dynamically model the response of vegetation to environmental drivers, in contrast to the fixed vegetation climatology that was prescribed in Catchment. Recently, the parameterization of Catchment-CN vegetation has been augmented to better account for variability of vegetation responses to external forcings within existing plant functional types, and vegetation parameters have been calibrated against Moderate Resolution Imaging Spectrometer observations of the fraction of absorbed photosynthetically radiation. These efforts have led to a significant reduction in the RMSE of modeled photosynthetic activity with respect to observations.This presentation investigates the effect of the improved vegetation representation on the partitioning of ET within Catchment-CN. Specifically, we compare global maps of the T:ET ratio across different temporal scales in (1) the original Catchment model, (2) the original Catchment-CN model, and (3) the augmented and calibrated Catchment-CN model. The modeled T and ET estimates are compared against a comprehensive set of ground observations from various field studies, as well as independent global T:ET estimates from different ET algorithms provided in the context of the Water Cycle Observation Multi-mission Strategy ? Evapotranspiration (WACMOS-ET) initiative

Quantile forecast combination using stochastic dominance

This paper derives optimal forecast combinations based on stochastic dominance efficiency (SDE) analysis with differential forecast weights for different quantiles of forecast error distribution. For the optimal forecast combination, SDE will minimize the cumulative density functions of the levels of loss at different quantiles of the forecast error distribution by combining different time-series model-based forecasts. Using two exchange rate series on weekly data for the Japanese yen/US dollar and US dollar/Great Britain pound, we find that the optimal forecast combinations with SDE weights perform better than different forecast selection and combination methods for the majority of the cases at different quantiles of the error distribution. However, there are also some very few cases where some other forecast selection and combination model performs equally well at some quantiles of the forecast error distribution. Different forecasting period and quadratic loss function are used to obtain optimal forecast combinations, and results are robust to these choices. The out-of sample performance of the SDE forecast combinations is also better than that of the other forecast selection and combination models we considered

Mean-Based Forecasting Error Measures for Intermittent Demand

To compare different forecasting methods on demand series we require an error measure. Many error measures have been proposed, but when demand is intermittent some become inapplicable, some give counter-intuitive results, and there is no agreement on which is best. We argue that almost all known measures rank forecasters incorrectly on intermittent demand series. We propose several new error measures with wider applicability, and correct forecaster ranking on several intermittent demand patterns. We call these "mean-based" error measures because they evaluate forecasts against the (possibly time-dependent) mean of the underlying stochastic process instead of point demands

The SMAP Level-4 ECO Product - Phase 1: Improving Vegetation Simulations Through Observation-Driven Parameter Estimation

Simulations of hydrological fields as well as water, energy and carbon fluxes from the land surface to the atmosphere are crucial for a wide range of applications, including agricultural advisories, forecasts of (short-term) atmospheric behavior and seasonal weather predictions including forecasts of extreme events, such as heatwaves or droughts. The NASA Soil Moisture Active Passive (SMAP) mission Level-4 (L4) Eco-Hydrology (ECO) project aims to improve modeled estimates of the terrestrial water, energy and carbon fluxes and states by developing a fully-coupled hydrology-vegetation data assimilation (DA) algorithm. The DA system is developed for the NASA Goddard Earth Observing System version 5 (GEOS-5) Catchment-CN land surface model, which combines land hydrology components of the GEOS-5 Catchment model with dynamic vegetation components of the Community Land Model version 4. Catchment-CN fully couples the terrestrial water, energy and carbon cycles, allowing feedbacks from the land hydrology to the biosphere and vice versa. For SMAP L4 ECO a calibration of the Catchment-CN vegetation parameterization against observations of the fraction of absorbed photosynthetically active radiation (FPAR) from the Moderate Resolution Imaging Spectroradiometer (MODIS) is implemented to improve the model's standalone skill. Next, the DA algorithm used to produce the SMAP L4 soil moisture product is adapted to Catchment-CN to assimilate SMAP brightness temperatures and inform the model's land hydrology component. The DA system is further extended to assimilate MODIS FPAR observations in order to constrain the model's dynamic vegetation component. In this presentation, we demonstrate that the Catchment-CN parameter calibration leads to more realistic vegetation simulations and reduces the root mean squared error between modeled and observed vegetation states across the model's various plant functional types. We also show that the assimilation of SMAP observations is able to improve the average correlation, bias and unbiased RMSE between the modeled surface and root zone soil moisture estimates, and ground observations from the SMAP core validation sites

Global downscaling of remotely sensed soil moisture using neural networks

Characterizing soil moisture at spatiotemporal scales relevant to land surface processes (i.e., of the order of 1&thinsp;km) is necessary in order to quantify its role in regional feedbacks between the land surface and the atmospheric boundary layer. Moreover, several applications such as agricultural management can benefit from soil moisture information at fine spatial scales. Soil moisture estimates from current satellite missions have a reasonably good temporal revisit over the globe (2–3-day repeat time); however, their finest spatial resolution is 9&thinsp;km. NASA's Soil Moisture Active Passive (SMAP) satellite has estimated soil moisture at two different spatial scales of 36 and 9&thinsp;km since April 2015. In this study, we develop a neural-network-based downscaling algorithm using SMAP observations and disaggregate soil moisture to 2.25&thinsp;km spatial resolution. Our approach uses the mean monthly Normalized Differenced Vegetation Index (NDVI) as ancillary data to quantify the subpixel heterogeneity of soil moisture. Evaluation of the downscaled soil moisture estimates against in situ observations shows that their accuracy is better than or equal to the SMAP 9&thinsp;km soil moisture estimates.</p

The DNA methylation landscape of the human oxytocin receptor gene (OXTR): data-driven clusters and their relation to gene expression and childhood adversity

The oxytocin receptor gene (OXTR) is of interest when investigating the effects of early adversity on DNA methylation. However, there is heterogeneity regarding the selection of the most promising CpG sites to target for analyses. The goal of this study was to determine functionally relevant clusters of CpG sites within the OXTR CpG island in 113 mother-infant dyads, with 58 of the mothers reporting childhood maltreatment (CM). OXTR DNA methylation was analyzed in peripheral/umbilical blood mononuclear cells. Different complexity reduction approaches were used to reduce the 188 CpG sites into clusters of co-methylated sites. Furthermore, associations between OXTR DNA methylation (cluster- and site-specific level) and OXTR gene expression and CM were investigated in mothers. Results showed that, first, CpG sections differed strongly regarding their statistical utility for research of individual differences in DNA methylation. Second, cluster analyses and Partial Least Squares (PLS) suggested two clusters consisting of intron1/exon2 and the protein-coding region of exon3, respectively, as most strongly associated with outcome measures. Third, cross-validated PLS regression explained 7% of variance in CM, with low cross-validated variance explained for the prediction of gene expression. Fourth, substantial mother-child correspondence was observed in correlation patterns within the identified clusters, but only modest correspondence outside these clusters. This study makes an important contribution to the mapping of the DNA methylation landscape of the OXTR CpG island by highlighting clusters of CpG sites that show desirable statistical properties and predictive value. We provide a Companion Web Application to facilitate the choice of CpG sites