Search Planning of a UAV/UGV Team With Localization Uncertainty in a Subterranean Environment

A new species of Vestalenula is described. Vestalenula carveli, sp. nov. was found in the interstitial habitat of rivers during the PASCALIS European program when sampling three sites on the Aude River and Tech River basins (Roussillon region, southern France). With its large caudal brooding cavity, the presence of an external keel on the right valve and an internal tooth on the left valve, V. carveli is a typical representative of the genus. This new record brings the worldwide number of Vestalenula species to 24. Vestalenula representatives are known from the Lower Miocene to the present. A review of present-day knowledge of the geographical distribution of the genus and a cladistic analysis are presented in order to assess the biogeography of this genus and the importance of the discovery of a new subterranean species in southern France. The geographical review of the genus showed that most species of Vestalenula occur in subtropical regions. However, V. cylindrica, V. boteai and V. danielopoli lived, or are living, in the Palearctic. Vestalenula pagliolii occurs in both hemispheres. Many of the Recent species live in semiterrestrial and/or interstitial habitats and occur in geographically restricted areas. The distribution of the species of Vestalenula suggests independent colonisation of the subterranean environment by several species; this hypothesis is supported by the cladistic analysis.

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Patterns of population genetic variation in sympatric chiltoniid amphipods within a calcrete aquifer reveal a dynamic subterranean environment

Heredity ◽

10.1038/hdy.2013.22 ◽

2013 ◽

Vol 111 (1) ◽

pp. 77-85 ◽

Cited By ~ 16

Author(s):

T M Bradford ◽

M Adams ◽

M T Guzik ◽

W F Humphreys ◽

A D Austin ◽

...

Keyword(s):

Genetic Variation ◽

Population Genetic ◽

Population Genetic Variation ◽

Subterranean Environment

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“Experiences” in the subterranean environment as a risk factor for cultural heritage. The case of Nerja Cave (Malaga, Spain)

Science and Digital Technology for Cultural Heritage ◽

10.1201/9780429345470-42 ◽

2019 ◽

pp. 227-230

Author(s):

C. Liñán ◽

Y. del Rosal ◽

L.E. Fernández

Keyword(s):

Risk Factor ◽

Cultural Heritage ◽

Subterranean Environment

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A Pedestrian Navigation System Using Cellular Phone Video-Conferencing Functions

International Journal of Vehicular Technology ◽

10.1155/2012/945365 ◽

2012 ◽

Vol 2012 ◽

pp. 1-8

Author(s):

Akihiko Sugiura ◽

Takuya Shoji

Keyword(s):

Global Positioning System ◽

Video Conferencing ◽

Cellular Phone ◽

Positioning System ◽

Cellular Phones ◽

Gps Technology ◽

Pedestrian Navigation ◽

Global Positioning ◽

Positional Precision ◽

Subterranean Environment

A user’s position-specific field has been developed using the Global Positioning System (GPS) technology. To determine the position using cellular phones, a device was developed, in which a pedestrian navigation unit carries the GPS. However, GPS cannot specify a position in a subterranean environment or indoors, which is beyond the reach of transmitted signals. In addition, the position-specification precision of GPS, that is, its resolution, is on the order of several meters, which is deemed insufficient for pedestrians. In this study, we proposed and evaluated a technique for locating a user’s 3D position by setting up a marker in the navigation space detected in the image of a cellular phone. By experiment, we verified the effectiveness and accuracy of the proposed method. Additionally, we improved the positional precision because we measured the position distance using numerous markers.

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Brazilian obligatory subterranean fauna and threats to the hypogean environment

ZooKeys ◽

10.3897/zookeys.746.15140 ◽

2018 ◽

Vol 746 ◽

pp. 1-23 ◽

Cited By ~ 11

Author(s):

Jonas Eduardo Gallão ◽

Maria Elina Bichuette

Keyword(s):

Raw Materials ◽

Iucn Red List ◽

Red List ◽

Small Scale ◽

Conservation Actions ◽

Terrestrial Habitats ◽

Hydroelectric Projects ◽

Selective Regime ◽

Subterranean Species ◽

Subterranean Environment

The subterranean environment harbors species that are not capable of establishing populations in the epigean environment, i.e., the obligatory subterranean species. These organisms live in a unique selective regime in permanent darkness and usually low food availability, high air humidity in terrestrial habitats, and low temperature range allied to other unique conditions related to lithologies and past climatic influences. The pressure to increase Brazil’s economic growth relies on agricultural/pastoral industries and exporting of raw materials such as iron, limestone, ethanol, soybean, cotton, and meat, as well as huge reservoir constructions to generate electricity. Mining (even on a small scale), agricultural expansion, and hydroelectric projects are extremely harmful to subterranean biodiversity, via the modification and even destruction of hypogean habitats. The Brazilian subterranean species were analyzed with respect to their distributions, presence on the IUCN Red List, and current and potential threats to hypogean habitats. A map and three lists are presented, one with the described obligatory subterranean species, one with undescribed taxa, and one with the current and potential threats to the hypogean environment. To date, 150 obligatory subterranean species have been recorded in Brazil, plus at least 156 undescribed troglomorphic taxa, totaling 306 Brazilian troglobites/obligatory cave fauna. We also analyzed the current and potential cave threats and the conservation actions that are underway to attempt to compensate for loss of these habitats. In according to the Brazilian legislation (Decree 6640) only caves of maximum relevance are fully protected. One strategy to protect the subterranean fauna of Brazil is the inclusion of these species in the IUCN Red List (one of attributes that determines maximum relevance for caves); however, one of the IUCN assumptions is that the taxa must be formally described. It is clear that the description and proposed protection of Brazilian subterranean biodiversity depends on more systematics studies.

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Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty

IEEE Transactions on Robotics ◽

10.1109/tro.2019.2917817 ◽

2019 ◽

Vol 35 (5) ◽

pp. 1123-1135

Author(s):

Piotr R. Slawinski ◽

Nabil Simaan ◽

Addisu Z. Taddese ◽

Keith L. Obstein ◽

Pietro Valdastri

Keyword(s):

Force Control ◽

Localization Uncertainty

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Strong lensing as a giant telescope to localize the host galaxy of gravitational wave event

Monthly Notices of the Royal Astronomical Society ◽

10.1093/mnras/staa1952 ◽

2020 ◽

Vol 497 (1) ◽

pp. 204-209 ◽

Cited By ~ 1

Author(s):

Hai Yu ◽

Pengjie Zhang ◽

Fa-Yin Wang

Keyword(s):

Gravitational Wave ◽

Host Galaxy ◽

Observational Constraints ◽

Host Galaxies ◽

Einstein Telescope ◽

Strong Lensing ◽

Potential Applications ◽

Wave Event ◽

Localization Uncertainty ◽

Better Than

ABSTRACT Standard siren cosmology of gravitational wave (GW) merger events relies on the identification of host galaxies and their redshifts. But this can be highly challenging due to numerous candidates of galaxies in the GW localization area. We point out that the number of candidates can be reduced by orders of magnitude for strongly lensed GW events, due to extra observational constraints. For the next-generation GW detectors like Einstein Telescope (ET), we estimate that this number is usually significantly less than one, as long as the GW localization uncertainty is better than $\sim 10\, \rm deg^2$. This implies that the unique identification of the host galaxy of lensed GW event detected by ET and Cosmic Explorer (CE) is possible. This provides us a promising opportunity to measure the redshift of the GW event and facilitate the standard siren cosmology. We also discuss its potential applications in understanding the evolution process and environment of the GW event.

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Distributed Gaussian Process Regression Under Localization Uncertainty

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4028148 ◽

2014 ◽

Vol 137 (3) ◽

Cited By ~ 8

Author(s):

Sungjoon Choi ◽

Mahdi Jadaliha ◽

Jongeun Choi ◽

Songhwai Oh

Keyword(s):

Sensor Networks ◽

Gaussian Process ◽

Gaussian Process Regression ◽

Maximum A Posteriori ◽

A Posteriori ◽

Distributed Sensor Networks ◽

Distributed Sensor ◽

Average Consensus ◽

Localization Uncertainty ◽

Map Solution

In this paper, we propose distributed Gaussian process regression (GPR) for resource-constrained distributed sensor networks under localization uncertainty. The proposed distributed algorithm, which combines Jacobi over-relaxation (JOR) and discrete-time average consensus (DAC), can effectively handle localization uncertainty as well as limited communication and computation capabilities of distributed sensor networks. We also extend the proposed method hierarchically using sparse GPR to improve its scalability. The performance of the proposed method is verified in numerical simulations against the centralized maximum a posteriori (MAP) solution and a quick-and-dirty solution. We show that the proposed method outperforms the quick-and-dirty solution and achieve an accuracy comparable to the centralized solution.

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