Evaluation of Four Intermediate Wheatgrass Populations under Grazing

The grazing season in the central and northern Great Plains could be extended by use of adapted cool-season grass pastures for spring and fall grazing to augment the native warm-season range. A grazing trial was conducted to evaluate the forage quality of four intermediate wheatgrass [Thinopyrum intermedium (Host) Barkw. & D.R. Dewey] populations for use in forage-livestock systems. The cultivars Slate and Oahe and two populations selected for improved IVDMD, ‘Manska’ and NE TI 1, were evaluated. Each population was seeded in the fall of 1987 in three replicated 0.4-ha pastures arranged in a randomized complete block design. Pastures were stocked with three beef yearlings for 28 d in spring 1989 and 42 d in spring 1990 to provide a stocking rate of 7.5 steers ha-’. Duration of grazing was shorter in 1989 because of inadequate soil moisture. Average daily gain (ADG) and gain per hectare were higher (P 5 0.10) in 1989 than 1990, despite the lower (P 5 0.10) forage availability and lesser number of grazing days in 1989. Steers grazing Manska in 1989 gained 1.59 kg d-’, compared with 1.42,1.27, and 1.43 for Oahe, Slate, and NE TI 1, respectively. There were no differences (P \u3e 0.10) in ADG or gain per hectare among populations in 1990. The improvement in ADG resulted in 30 to 65 kg more gain per hectare from Manska compared with the other populations in l989. These results demonstrate the excellent quality of intermediate wheatgrass for grazing livestock and the impact that modest improvements in forage quality can have on animal performance

Evaluation of Four Intermediate Wheatgrass Populations under Grazing

The grazing season in the central and northern Great Plains could be extended by use of adapted cool-season grass pastures for spring and fall grazing to augment the native warm-season range. A grazing trial was conducted to evaluate the forage quality of four intermediate wheatgrass [Thinopyrum intermedium (Host) Barkw. & D.R. Dewey] populations for use in forage-livestock systems. The cultivars Slate and Oahe and two populations selected for improved IVDMD, ‘Manska’ and NE TI 1, were evaluated. Each population was seeded in the fall of 1987 in three replicated 0.4-ha pastures arranged in a randomized complete block design. Pastures were stocked with three beef yearlings for 28 d in spring 1989 and 42 d in spring 1990 to provide a stocking rate of 7.5 steers ha-’. Duration of grazing was shorter in 1989 because of inadequate soil moisture. Average daily gain (ADG) and gain per hectare were higher (P 5 0.10) in 1989 than 1990, despite the lower (P 5 0.10) forage availability and lesser number of grazing days in 1989. Steers grazing Manska in 1989 gained 1.59 kg d-’, compared with 1.42,1.27, and 1.43 for Oahe, Slate, and NE TI 1, respectively. There were no differences (P \u3e 0.10) in ADG or gain per hectare among populations in 1990. The improvement in ADG resulted in 30 to 65 kg more gain per hectare from Manska compared with the other populations in l989. These results demonstrate the excellent quality of intermediate wheatgrass for grazing livestock and the impact that modest improvements in forage quality can have on animal performance

GNSS-based Location Determination System Architecture for railway performance assessment in presence of local effects

GNSS plays a strategic role on the introduction of the Virtual Balise functionality and the train integrity. Thanks to GNSS, it could be possible to realize cost effective solutions to increase the safety in the regional lines, where the traffic density is lower. The train position estimation is implemented taking into account that the train is constrained to lie on the track (i.e. track constraint). In this way, we can express the position in terms of the curvilinear abscissa (progressive mileage) of the track corresponding to the train position. However, the impact of local effects such as multipath, foliage attenuation and shadowing in the railway environment plays a crucial role due to the presence of infrastructures like platform roofs, side walls, tunnel entrances, buildings and so on close to the trackside. In the paper, we analyse the impact of those threats on the train GNSS-based position estimation performance. At this aim, several scenarios have been generated by using both real data acquired on a railway test-bed in Sardinia, and synthetic data generated in the lab through ad hoc multipath and foliage models. A sensitivity analysis has been conducted, varying main scenarios parameters (e.g. height of obstacles, presence of trees and shadowing). The result of the performed analysis, in terms of availability, accuracy and integrity, are here presented. mitigations implemented by the ERTMS at system level are not considered since the attention is focused on GNSS only

Multisensor navigation systems: a remedy for GNSS vulnerabilities?

Space-based positioning, navigation, and timing (PNT) technologies, such as the global navigation satellite systems (GNSS) provide position, velocity, and timing information to an unlimited number of users around the world. In recent years, PNT information has become increasingly critical to the security, safety, and prosperity of the World's population, and is now widely recognized as an essential element of the global information infrastructure. Due to its vulnerabilities and line-of-sight requirements, GNSS alone is unable to provide PNT with the required levels of integrity, accuracy, continuity, and reliability. A multisensor navigation approach offers an effective augmentation in GNSS-challenged environments that holds a promise of delivering robust and resilient PNT. Traditionally, sensors such as inertial measurement units (IMUs), barometers, magnetometers, odometers, and digital compasses, have been used. However, recent trends have largely focused on image-based, terrain-based and collaborative navigation to recover the user location. This paper offers a review of the technological advances that have taken place in PNT over the last two decades, and discusses various hybridizations of multisensory systems, building upon the fundamental GNSS/IMU integration. The most important conclusion of this study is that in order to meet the challenging goals of delivering continuous, accurate and robust PNT to the ever-growing numbers of users, the hybridization of a suite of different PNT solutions is required

A Model-based Tightly Coupled Architecture for Low-Cost Unmanned Aerial Vehicles for Real-Time Applications

This paper investigates the navigation performance of a vehicle dynamic model-based (VDM-based) tightly coupled architecture for a fixed-wing Unmanned Aerial Vehicle (UAV) during a global navigation satellite system (GNSS) outage for real-time applications. Unlike an Inertial Navigation System (INS) which uses inertial sensor measurements to propagate the navigation solution, the VDM uses control inputs from either the autopilot system or direct pilot commands to propagate the navigation states. The proposed architecture is tested using both raw GNSS observables (Pseudorange and Doppler frequency) and Micro-Electro-Mechanical Systems-grade (MEMS) Inertial Measurement Unit (IMU) measurements fused using an extended Kalman filter (EKF) to aid the navigation solution. Other than the navigation states, the state vector also includes IMU errors, wind velocity, VDM parameters, and receiver clock bias and drift. Simulation results revealed significant performance improvements with a decreasing number of satellites in view during 140 seconds of a GNSS outage. With two satellites visible during the GNSS outage, the position error improved by one order of magnitude as opposed to a tightly coupled INS/GNSS scheme. Real flight tests on a small fixed-wing UAV show the benefits of the approach with position error being an order of magnitude better as opposed to a tightly coupled INS/GNSS scheme with two satellites in view during 100 seconds of a GNSS outage

The Phytoecology Of Boone Fork Sphagnum Bog

The purpose of this study was to determine the distributional and associational aspects of the macroscopic flora of Boone Fork Bog, a Sphagnum bog in the southern Appalachian Mountains

Error characteristics of a model-based integration approach for fixed-wing unmanned aerial vehicles

The paper presents the error characteristics of a vehicle dynamic model (VDM)-based integration architecture for fixed-wing unmanned aerial vehicles. Global navigation satellite system (GNSS) and inertial measurement unit measurements are fused in an extended Kalman filter (EKF) which uses the VDM as the main process model. Control inputs from the autopilot system are used to drive the navigation solution. Using a predefined trajectory with segments of both high and low dynamics and a variable wind profile, Monte Carlo simulations reveal a degrading performance in varying periods of GNSS outage lasting 10 s, 20 s, 30 s, 60 s and 90 s, respectively. These are followed by periods of re-acquisition where the navigation solution recovers. With a GNSS outage lasting less than 60 s, the position error gradually grows to a maximum of 8⋅4 m while attitude errors in roll and pitch remain bounded, as opposed to an inertial navigation system (INS)/GNSS approach in which the navigation solution degrades rapidly. The model-based approach shows improved navigation performance even with parameter uncertainties over a conventional INS/GNSS integration approach

The W_N minimal model classification

We first rigourously establish, for any N, that the toroidal modular invariant partition functions for the (not necessarily unitary) W_N(p,q) minimal models biject onto a well-defined subset of those of the SU(N)xSU(N) Wess-Zumino-Witten theories at level (p-N,q-N). This permits considerable simplifications to the proof of the Cappelli-Itzykson-Zuber classification of Virasoro minimal models. More important, we obtain from this the complete classification of all modular invariants for the W_3(p,q) minimal models. All should be realised by rational conformal field theories. Previously, only those for the unitary models, i.e. W_3(p,p+1), were classified. For all N our correspondence yields for free an extensive list of W_N(p,q) modular invariants. The W_3 modular invariants, like the Virasoro minimal models, all factorise into SU(3) modular invariants, but this fails in general for larger N. We also classify the SU(3)xSU(3) modular invariants, and find there a new infinite series of exceptionals.Comment: 25 page

On the Classification of Diagonal Coset Modular Invariants

We relate in a novel way the modular matrices of GKO diagonal cosets without fixed points to those of WZNW tensor products. Using this we classify all modular invariant partition functions of $su(3)_k\oplus su(3)_1/su(3)_{k+1}$ for all positive integer level $k$, and $su(2)_k\oplus su(2)_\ell/su(2)_{k+\ell}$ for all $k$ and infinitely many $\ell$ (in fact, for each $k$ a positive density of $\ell$). Of all these classifications, only that for $su(2)_k\oplus su(2)_1/su(2)_{k+1}$ had been known. Our lists include many new invariants.Comment: 24 pp (plain tex

Twisted brane charges for non-simply connected groups

The charges of the twisted branes for strings on the group manifold SU(n)/Z_d are determined. To this end we derive explicit (and remarkably simple) formulae for the relevant NIM-rep coefficients. The charge groups of the twisted and untwisted branes are compared and found to agree for the cases we consider.Comment: 30 page