Robust Positioning in the Presence of Multipath and NLOS GNSS Signals

GNSS signals can be blocked and reflected by nearby objects, such as buildings, walls, and vehicles. They can also be reflected by the ground and by water. These effects are the dominant source of GNSS positioning errors in dense urban environments, though they can have an impact almost anywhere. Non- line-of-sight (NLOS) reception occurs when the direct path from the transmitter to the receiver is blocked and signals are received only via a reflected path. Multipath interference occurs, as the name suggests, when a signal is received via multiple paths. This can be via the direct path and one or more reflected paths, or it can be via multiple reflected paths. As their error characteristics are different, NLOS and multipath interference typically require different mitigation techniques, though some techniques are applicable to both. Antenna design and advanced receiver signal processing techniques can substantially reduce multipath errors. Unless an antenna array is used, NLOS reception has to be detected using the receiver's ranging and carrier-power-to-noise-density ratio (C/N0) measurements and mitigated within the positioning algorithm. Some NLOS mitigation techniques can also be used to combat severe multipath interference. Multipath interference, but not NLOS reception, can also be mitigated by comparing or combining code and carrier measurements, comparing ranging and C/N0 measurements from signals on different frequencies, and analyzing the time evolution of the ranging and C/N0 measurements

Multi-Epoch 3D-Mapping-Aided Positioning using Bayesian Filtering Techniques

The performance of different filtering algorithms combined with 3D mapping-aided (3DMA) techniques is investigated in this paper. Several single- and multi-epoch filtering algorithms were implemented and then tested on static pedestrian navigation data collected in the City of London using a u-blox EVK M8T GNSS receiver and vehicle navigation data collected in Canary Wharf, London, by a trial van with a Racelogic Labsat 3 GNSS front-end. The results show that filtering has a greater impact on mobile positioning than static positioning, while 3DMA GNSS brings more significant improvements to positioning accuracy in denser environments than in more open areas. Thus, multi-epoch 3DMA GNSS filtering should bring the maximum benefit to mobile positioning in dense environments. In vehicle tests at Canary Wharf, 3DMA GNSS filtering reduced the RMS horizontal position error by approximately 68% and 57% compared to the single-epoch 3DMA GNSS and filtered conventional GNSS, respectively

Stress-Energy Tensor for the Massless Spin 1/2 Field in Static Black Hole Spacetimes

The stress-energy tensor for the massless spin 1/2 field is numerically computed outside and on the event horizons of both charged and uncharged static non-rotating black holes, corresponding to the Schwarzschild, Reissner-Nordstrom and extreme Reissner-Nordstr\"om solutions of Einstein's equations. The field is assumed to be in a thermal state at the black hole temperature. Comparison is made between the numerical results and previous analytic approximations for the stress-energy tensor in these spacetimes. For the Schwarzschild (charge zero) solution, it is shown that the stress-energy differs even in sign from the analytic approximation. For the Reissner-Nordstrom and extreme Reissner-Nordstrom solutions, divergences predicted by the analytic approximations are shown not to exist.Comment: 5 pages, 4 figures, additional discussio

The Origins of [CII] Emission in Local Star-forming Galaxies

The [CII] 158um fine-structure line is the brightest emission line observed in local star-forming galaxies. As a major coolant of the gas-phase interstellar medium, [CII] balances the heating, including that due to far-ultraviolet photons, which heat the gas via the photoelectric effect. However, the origin of [CII] emission remains unclear, because C+ can be found in multiple phases of the interstellar medium. Here we measure the fractions of [CII] emission originating in the ionized and neutral gas phases of a sample of nearby galaxies. We use the [NII] 205um fine-structure line to trace the ionized medium, thereby eliminating the strong density dependence that exists in the ratio of [CII]/[NII] 122um. Using the FIR [CII] and [NII] emission detected by the KINGFISH and Beyond the Peak Herschel programs, we show that 60-80% of [CII] emission originates from neutral gas. We find that the fraction of [CII] originating in the neutral medium has a weak dependence on dust temperature and the surface density of star formation, and a stronger dependence on the gas-phase metallicity. In metal-rich environments, the relatively cooler ionized gas makes substantially larger contributions to total [CII] emission than at low abundance, contrary to prior expectations. Approximate calibrations of this metallicity trend are provided.Comment: 8 pages, accepted for publication in Ap

Unraveling the role of thiosulfate sulfurtransferase in metabolic diseases

Thiosulfate sulfurtransferase (TST, EC 2.8.1.1), also known as Rhodanese, is a mitochondrial enzyme which catalyzes the transfer of sulfur in several molecular pathways. After its initial identification as a cyanide detoxification enzyme, it was found that its functions also include sulfur metabolism, modification of iron-sulfur clusters and the reduction of antioxidants glutathione and thioredoxin. TST deficiency was shown to be strongly related to the pathophysiology of metabolic diseases including diabetes and obesity. This review summarizes research related to the enzymatic properties and functions of TST, to then explore the association between the effects of TST on mitochondria and development of diseases such as diabetes and obesity

Synthesis and characterisation of fluorescent aminophosphines and their coordination to gold(i)

Three novel fluorescent aminophosphine ligands have been synthesised that incorporate napthyl (L1), pyrenyl (L2) and anthraquinone (L3) chromophores into their structures. The ligands react with [AuCl(tht)] (tht = tetrahydrothiophene) to give neutral complexes of the form [AuCl(L1–3)]. Solid state, X-ray crystallographic data was obtained for the anthraquinone derivative, [AuCl(L3)], and showed a distorted linear coordination geometry at Au(I). The packing structure also revealed a number of intermolecular π–π interactions that involve the anthraquinone and phenyl units of the aminophosphine ligand. 31P NMR spectroscopic data revealed δP values of +42.2 (L1), +42.1 (L2) and +26.1 (L3) ppm, which shifted downfield upon coordination to Au(I) to +64.6, +64.7, and +55.8 ppm, respectively. Supporting TD-DFT studies were able to reproduce the structure and 31P NMR chemical shifts of [AuCl(L3)] as well as rationalise the HOMO–LUMO compositions. Photophysical studies showed that the appended fluorophore dominates the absorption and emission properties for the ligands and complexes, with the anthraquinone derivatives showing visible emission at ca. 570 nm which was attributed to the intramolecular charge transfer character of the phosphinoaminoanthraquinone fragment

Core competencies for scientific editors of biomedical journals: consensus statement

Background  Scientific editors are responsible for deciding which articles to publish in their journals. However, we have not found documentation of their required knowledge, skills, and characteristics, or the existence of any formal core competencies for this role.  Methods  We describe the development of a minimum set of core competencies for scientific editors of biomedical journals.  Results  The 14 key core competencies are divided into three major areas, and each competency has a list of associated elements or descriptions of more specific knowledge, skills, and characteristics that contribute to its fulfillment.  Conclusions  We believe that these core competencies are a baseline of the knowledge, skills, and characteristics needed to perform competently the duties of a scientific editor at a biomedical journal.Additional co-authors: Kurinchi Gurusamy, Farrokh Habibzadeh, Stefanie Jewell-Thomas, Diane Kelsall, José Florencio LapeñaJr, Harriet MacLehose, Ana Marusic, Joanne E. McKenzie, Jay Shah, Larissa Shamseer, Sharon Straus, Peter Tugwell, Elizabeth Wager, Margaret Winker and Getu Zhaor

Mapping species distributions: A comparison of skilled naturalist and lay citizen science recording

To assess the ability of traditional biological recording schemes and lay citizen science approaches to gather data on species distributions and changes therein, we examined bumblebee records from the UK’s national repository (National Biodiversity Network) and from BeeWatch. The two recording approaches revealed similar relative abundances of bumblebee species but different geographical distributions. For the widespread common carder (Bombus pascuorum), traditional recording scheme data were patchy, both spatially and temporally, reflecting active record centre rather than species distribution. Lay citizen science records displayed more extensive geographic coverage, reflecting human population density, thus offering better opportunities to account for recording effort. For the rapidly spreading tree bumblebee (Bombus hypnorum), both recording approaches revealed similar distributions due to a dedicated mapping project which overcame the patchy nature of naturalist records. We recommend, where possible, complementing skilled naturalist recording with lay citizen science programmes to obtain a nation-wide capability, and stress the need for timely uploading of data to the national repository