Direction finding with radio-frequency (RF) waves have numerous applications in radio navigation, wireless localization, emergency aid, and air traffic control, among others. Direction-finding using digital arrays outperforms traditional analog techniques but requires precise knowledge of the location of the array elements to obtain accurate results. Array perturbations can lead to algorithm failures and false detection, compromising direction-finding capabilities. This research proposes implementing a Matched Filter - Least Square (MF-LS) algorithm for Two-Way Ranging (TWR) to enhance direction-finding accuracy in arrays with perturbed element locations. The MF-LS algorithm leverages the properties of matched filters to accurately determine element positions by measuring the Time of Flight (ToF) of a signal between two ranging nodes. This method is independent of GPS or other sensor data, making it a cost-effective and easily deployable solution aimed at minimizing the effects of array perturbations, thus improving direction-finding accuracy. This work validates the MF-LS algorithm efficacy and enables robust direction-finding capabilities in challenging environments where traditional communication and localization services are unavailable. Moreover, this research provides a comprehensive study of direction-finding accuracy in amateur radio bands using the proposed ranging approach which can provide an immediate low-cost option for search and rescue operations in emergency situations.

When the primary measurement sensor is passive in nature--by which we mean that it does not directly measure range or range rate--there are well-documented challenges for target state estimation. Most estimation schemes rely on variations of the Extended Kalman Filter (EKF), which, in certain situations, suffer from divergence and/or covariance collapse. For this and other reasons, we believe that the Kalman filter is fundamentally ill-suited to the problems that are inherent in target state estimation using passive sensors. As an alternative, we propose a bounded-error (or set-membership) approach to the target state estimation problem. Such estimators are nearly as old as the Kalman filter, but have enjoyed much less attention. In this study we develop a practical estimator that bounds the target states, and apply it to the two-dimensional case of a submarine tracking a surface vessel, which is commonly referred to as Target Motion Analysis (TMA). The estimator is robust in the sense that the true target state does not escape the determined bounds; and the estimator is not unduly pessimistic in the sense that the bounds are not wider than the situation dictates. The estimator is--as is the problem itself--nonlinear and geometric in nature. In part, the simplicity of the estimator is maintained by using redundant states to parameterize the target's velocity. These redundant states also simplify the incorporation of other measurements that are frequently available to the system. The estimator's performance is assessed in a series of simulations and the results are analyzed. Extensions of the algorithm are considered.

Trådlös kommunikation mellan noder sker genom att skicka data över det trådlösa mediet, för att få kommunikationen att samspela har flertalet standarder utvecklats. En av dessa standarder är 802.15.4 med UWB PHY vars utformning är av en sådan karaktär att signalöverföringen blir störningstålig och osynlig för andra standarder. UWB används ofta till lokalisering och positionering, men kan även användas till en samtida dataöverföring då standardens utformning tillåter detta. Det var dock oklart med vilken prestanda detta kunde genomföras. Därför har den datakommunikationsprestandan undersöks. Den hypotes som följdes under arbetet var att ''genom att skicka data mellan positioneringsimpulserna möjliggörs användandet av samma enhet för positionering och datakommunikation, systemets prestanda påverkas då av MAC-metoden''. Ur hypotesen kom det tre frågeställningar: Vilken MAC-metod är lämplig för både positionering och dataöverföring? Är det möjligt att använda systemet för både positionering och dataöverföring genom att skicka data mellan positioneringsimpulserna? Vilken kommunikationsprestanda kan uppnås när systemet används för både postionering och dataöverföring? I arbetet bevisas hypotesen samt frågeställningarna med syftet att detta kunde komma att hjälpa till inom exempelvis robotiken, men även som ett alternativ till WiFi då UWB är både störningståligt och osynligt för andra standarder. Den iterativa metoden användes för att utveckla ett system som kunde lösa den kombinerade positioneringen och datakommunikationen. I prestandatesterna gick det att utläsa att hypotesen stämde förutsatt att parametrarna är korrekt. / Wireless communication between nodes is achieved by sending data over the wireless medium. In order to have communications interact different standards have been developed. One such standard is 802.15.4 with UWB PHY, designed such that the signal transmission becomes interference-resistant and invisible to other standards. UWB is often used for location and positioning, but the standard design also allows for a contemporary data transfer. However, it was unclear with what performance this could be implemented. Therefore, the data communication performance has been investigated. The hypothesis that was followed during the work posits that ''by sending data between the positioning pulses, the use of the same unit for positioning and data communication is made possible, and that the system's performance is then affected by the MAC method.'' Three questions arose from this hypothesis. Which MAC method is suitable for both positioning and data transfer? Is it possible to use the system for both positioning and data transmission by sending data between the positioning pulses? What communication performance can be achieved when the system is used for both positioning and data transfer? In this work the hypothesis and the research questions are verified with the intended purpose that it could be of help in the field of robotics and also as an alternative to WiFi, due to UWBs robustness and invisibility characteristics. An iterative process has been utilized throughout this work to build a system which could solve the combined positioning and data communication. In the following performance tests the hypothesis is verified, provided that the parameters used are correct.

The measurement of topography is a key aspect of geomorphology research, and the prevalence of high resolution topographic data predominantly from Light Detection And Ranging (LiDAR) in the past decade has facilitated a revolution in the quantitative study of planetary surface processes. From this increased quality of data, many techniques have been developed to quantify processes occurring at diverse spatial and temporal scales; from the flow of material down a hill-slope to the uplift and subsequent erosion of mountain ranges. Such insights have identified signatures of processes imprinted on landscapes. These include physical processes such as wildfires and landslides, biological processes such as animal burrowing and tree throw, in addition to tectonic uplift and large scale sediment transport. These signatures are observed in both the morphology of hill-slopes and their connection to the channel network, thereby allowing measures of topography to provide quantitative measures of the rates of processes shaping the Earth’s surface. This thesis is concerned with the development and application of reproducible topographic analysis techniques, to yield new insights into hill-slope sediment transport and to provide accurate metrics for quantifying hill-slope properties, including hill-slope length (LH) and relief (R). The measurement of hill-slope length can be performed through the inversion of drainage density, or the analysis of slope-area plots. However, in Chapter 3 I present a method which quantifies the length of hill-slopes through the generation of hill-slope flow paths. The flow path method is shown to be the most reliable of these methods, and is able to provide measurements of the properties of individual hill-slopes, rather than the basin or landscape averaged techniques commonly employed. The topographic predictions of the LH-R relationship of the nonlinear sediment flux law, stating that the rate of sediment transport is nonlinearly dependent on hill-slope gradient, are also tested and contrasted with the predictions of a linear sediment flux law. This provides the first purely topography based test of a sediment flux law. Through the fitting of a prediction of the nonlinear flux derived model to these measurements of hill-slope length and relief, the critical gradient of each landscape, a key parameter in the nonlinear sediment flux law, is also constrained. A nondimensional framework for erosion rate and relief, which allows the comparison of hill-slopes with differing properties in order to identify landscape transience is presented in Chapter 4. This analysis technique builds upon the work performed in Chapter 3, utilizing similar measurements of hill-slope properties, including hill-slope length and relief. The software produced alongside this chapter is shown to reproduce the results of previous studies which have employed this technique. The method is employed on a new landscape in Coweeta, North Carolina where subtle evidence of topographic decay is presented, consistent with models of Miocene topographic rejuvenation in this location. A detailed sensitivity analysis of the technique is performed, highlighting the need for careful parameterization of any analysis, to ensure meaningful results. This method is also employed to estimate an average critical gradient for each landscape, presenting more evidence building upon the evidence presented in Chapter 3 that a broad range of critical gradients exist for any given landscape. The work presented in Chapter 5 attempts to constrain the limits of the geomorphic analyses presented in the previous chapters, when they are applied to low resolution topographic data. A series of topographic datasets are generated at resolutions ranging from 1 to 30 meters upon which topographic analyses are performed. I test two common channel extraction algorithms and find that a simple geometric method, which identifies tangential curvature thresholds in the landscape, provides a more accurate representation of the channel network in low resolution topographic data than a process based method which identifies the topographic signature of channel initiation. The measurement of curvature is also evaluated, and alongside the estimation of diffusivity, is shown to be sensitive to data resolution, however landscape properties also exhibit a strong control on these measurements, where the larger scale curvature signal of Gabilan Mesa, California is more robust than the sharp ridgelines of Santa Cruz Island, California. Finally, the techniques developed in Chapter 3 to measure hill-slope length and relief are tested and are shown to be robust at grid sizes up to 30 meters, with the caveat that an accurate channel network can be constrained.

Orientador: Mauricio Galo / Resumo: Um Levantamento Hidrográfico (LH) tem como principal meta a obtenção de dados para a edição e atualização de documentos náuticos, estes, voltados à segurança das atividades de navegação. Objetivando padronizar parâmetros de incerteza das cartas náuticas, a Organização Hidrográfica Internacional (OHI) define níveis mínimos de confiança para diferentes ordens. A sugestão dessas especificações foi internalizada pela Marinha do Brasil, responsável pela produção das cartas náuticas brasileiras, na NORMAM-25. Um desses parâmetros é a Incerteza Vertical Total máxima permitida, um indicador de qualidade da medição da profundidade. A informação de profundidade influencia no calado máximo permitido a uma embarcação para transitar em uma região com segurança, o que pode impactar inclusive nas limitações de transações comerciais em terminais portuários, uma vez que as profundidades estimadas com acurácia potencializam os parâmetros de operação dos portos. Por se tratar de um ambiente dinâmico, seja por ação da própria natureza ou devido a atividades antrópicas, a atualização de uma carta náutica deve ser uma preocupação constante. Como complemento à tradicional técnica de levantamento por meio de um ecobatímetro acoplado a embarcações, há a opção de se realizar um LH com o emprego da tecnologia LiDAR (Light Detection And Ranging) a partir de aeronaves, por meio de um aerolevantamento batimétrico por LiDAR (ALB – Airborne LASER Bathymetry), que operam com pulsos LASER na região verde do e... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: A Hydrographic Survey (HS) has as main goal to obtain data for editing and updating nautical documents, these, focused on the safety of navigation. In order to establish a standard of uncertainty parameters for nautical charts, the International Hydrographic Organization (IHO) defines minimum levels of confidence for different orders. The suggestion of these specifications was acknowledged by the Brazilian Navy, institution responsible to produce Brazilian nautical charts, as described in NORMAM-25. One such parameter is the maximum allowed Total Vertical Uncertainty, a quality indicator of the depth measurement. Depth information influences the maximum operational draft for a vessel to safely travel in a region, causing impact on port operations and limiting the commercial transactions. Accurately estimated depths enhance the operational parameters of the ports. Due to the aim of representing a dynamic environment, whether as consequence of the action of nature itself or because of anthropic activities, updating a nautical chart must be a constant concern. As a complement to the traditional survey technique conducted with a boat-coupled echosounder, there is the option of performing a HS using LiDAR (Light Detection And Ranging) technology from aircraft, through LiDAR aerial bathymetry (ALB - Airborne LASER Bathymetry), which operate with LASER pulses in the green region of the electromagnetic spectrum. Considering these points, this work analyzed the differences between the... (Complete abstract click electronic access below) / Mestre

Tropical peatlands have some of the highest carbon densities of any ecosystem and are under enormous development pressure. This dissertation aimed to provide better estimates of the scales and trends of ecological impacts from tropical peatland deforestation and degradation across more than 7,000 hectares of both intact and disturbed peatlands in northwestern Borneo. We combined direct field sampling and airborne Light Detection And Ranging (LiDAR) data to empirically quantify forest structures and aboveground live biomass across a largely intact tropical peat dome. The observed biomass density of 217.7 ± 28.3 Mg C hectare-1 was very high, exceeding many other tropical rainforests. The canopy trees were ~65m in height, comprising 81% of the aboveground biomass. Stem density was observed to increase across the 4m elevational gradient from the dome margin to interior with decreasing stem height, crown area and crown roughness. We also developed and implemented a multi-temporal, Landsat resolution change detection algorithm for identify disturbance events and assessing forest trends in aseasonal tropical peatlands. The final map product achieved more than 92% user’s and producer’s accuracy, revealing that after more than 25 years of management and disturbances, only 40% of the area was intact forest. Using a chronosequence approach, with a space for time substitution, we then examined the temporal dynamics of peatlands and their recovery from disturbance. We observed widespread arrested succession in previously logged peatlands consistent with hydrological limits on regeneration and degraded peat quality following canopy removal. We showed that clear-cutting, selective logging and drainage could lead to different modes of regeneration and found that statistics of the Enhanced Vegetation Index and LiDAR height metrics could serve as indicators of harvesting intensity, impacts, and regeneration stage. Long-term, continuous monitoring of the hydrology and ecology of peatland can provide key insights regarding best management practices, restoration, and conservation priorities for this unique and rapidly disappearing ecosystem.

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 2008

Dogs are one of the most widespread carnivore and the third most invasive mammal, after cats and rodents. Stray dogs affect wildlife negatively by predation, disturbance, disease spreading, competition and hybridization with other wild canids. Even in urban environments stray dogs cause problems such as disturbance, pollution, traffic accidents, bites and risk of disease spreading. Serbia is one of many countries in the Balkan region that has a problem with overpopulation of stray dogs. The aim of this study is to investigate the population dynamics of stray dogs in Bor, Serbia and discuss different dog population management strategies. A total of 361 stray dogs were registered, 111 male dogs, 85 female dogs and 165 dogs with undetermined sex. 55 dogs (15.23%) were estimated to be older than 7 years old, 262 dogs (72.57%) were estimated to be between 3-7 years old, 30 dogs (8.31%) were estimated to be between 6-24 months old and 14 dogs (3.87) were estimated to be between 0-6 months old. No dogs showed any signs of rabies or CDV (canine distemper virus) and 241 stray dogs (66.75%) seemed healthy. 120 stray dogs (33.25%) did however have some kind of impaired health. To achieve a stop in the population increase,70% sterilisation rate is required and to teach responsible dog ownership. The stray dogs showed different reactions towards people, 164 dogs (45.42%) were neutral and 100 dogs (27.70%) showed no fear or aggression towards humans and gladly interacted. Since the dogs are highly accessible, they would be acceptable for a TNR (trap-neuter-release) program and male dogs need to be prioritised considering their dispersal patterns. / Hundar är en av de mest spridda karnivorerna och det tredje mest invasiva däggdjuret, efter katter och gnagare. Gatuhundar påverkar vilda djur negativt genom predation, störning, spridning av sjukdomar, konkurrens och hybridisering med andra vilda hunddjur. Även i urbana miljöer har gatuhundar en negativ påverkan, genom störning, förorening, trafikolyckor, bett och sjukdomsrisk. Serbien är ett av många länder i Balkanregionen som har för stora populationer av gatuhundar. I detta arbete undersöks populationsdynamiken hos gatuhundar i Bor, Serbien och diskuterar olika metoder för att hantera gatuhundpopulationen. Totalt inventerades 361 gatuhundar, 111 hanar, 85 honor och 165 med obestämt kön. 55 hundar (15.23%) uppskattades vara äldre än 7 år, 262 hundar (72.57%) uppskattades vara mellan 3-7 år, 30 hundar (8.31%) uppskattades vara mellan 6-24 månader gamla och 14 hundar (3.87) uppskattades vara mellan 0-6 månader gamla. Inga hundar visade tecken på rabies eller CDV (canine distemper virus) och 241 gatuhundar (66.75%) föreföll friska. Däremot visade 120 hundar (33.25%) någon typ av nedsatt hälsa. För att uppnå ett stopp i populationsökningen krävs minst 70% steriliseringstakt samt att man lär ut ansvarsfullt hundägande. Gatuhundarna visade olika reaktioner mot människor, 164 hundar (45.42%) var neutrala och 100 hundar (27.70%) visade ingen rädsla eller aggression för människor och interagerade gärna. Eftersom gatuhundarna är lättillgängliga, skulle de kunna ingå i populationshanteringar som TNR (trap-neuter-release) och hanhundar bör prioriteras med tanke på deras spridningsmönster.

A database of likely sinkholes in Pinellas County, Florida, created using airborne laser swath mapping (ALSM a.k.a LIDAR for light detection and ranging), correlates poorly with other databases of likely sinkholes created from modern and historic aerial photographs. Urbanization appears to be the cause of the poor correlation. Buildings obscure much of the ground surface in urban areas, and many man-made depressions can be confused with natural sinkholes. Additionally, the lack of air photos contemporaneous with the ALSM data hinders ALSM analysis in rapidly developing areas. Selecting a lightly-developed portion of the county for further study reduced the effects of urbanization. Air photos of this focus area, taken two years after the ALSM data were collected, image essentially the same surface as the ALSM data; therefore, ALSM and the air photos can be considered concurrent. While correlations among the two databases in the focus area were better than in the county-wide comparisons, the incongruencies were still numerous and the validity of the databases was unsubstantiated. An additional database of likely sinkholes in the focus area, created using all available information, represents the most exhaustive search for sinkholes in Pinellas County to date. By assuming it is correct (i.e. it identifies true sinkholes), this composite analysis is used to assess the validity of the ALSM database and the air photo databases. Measuring the ALSM and air photo databases against the composite analysis reveals that, while ALSM outperforms the air photo methods, the ALSM and air photo analyses each fail to recognize true sinkholes more than 50% of the time. However, it also demonstrates that, while flawed, using the databases allows for a better-than-random chance of selecting a site free of sinkholes.

This study aims to present and evaluate a new method for measuring the distribution of snow within built-up environments by differencing elevations collected by an Airborne Laser Scanner (ALS) before, and during peak snow accumulation. Few efforts have been made to study the distribution of snow within built-up environments due to the false assumption that high-intensity rainfall is the main contributor to peak yearly runoff rates. Traditional techniques for measuring snow are often difficult to replicate in built-up environments due to incompatibility of methods and barriers such as buildings, roads and private property. Light Detection and Ranging (LiDAR) technology, specifically ALSs, have previously been used to characterize the distribution of snow under forest canopy, and in remote mountain environments. This study investigates and assesses the utility of high resolution, non-intrusive ALS data for estimating the depth and distribution of snow within the town of Uxbridge, Ontario. ALS flights for this study were completed before the onset of snow accumulation, as well as near peak snow accumulation for the winters of 2010 and 2011. Pre and post snow accumulation ALS measured elevations were differenced to estimate the depth of the snowpack across the entire study area at a resolution of 0.5 m. Ground measurements of snow depth were also completed within 24 hours of each of the winter flights. The LiDAR-estimated and ground-measured snow depths were compared using Spearman's rank correlation coefficient as well as Mean Absolute Error (MAE) and Root Mean Squared Error (RMSE). Results from this thesis show that: 1) Snow depths estimated by differencing elevations from two ALS flights show a MAE of 3 cm and an RMSE of 10 cm when compared to ground-measured snow depths. (2) There is a strong, statistically significant relationship (ρ = 0:82, p < 0:001) between LiDAR-estimated and ground-measured snow depths. (3) An average bias of -3 cm was found for the entire dataset showing an underestimation in the LiDAR-estimated snow depths most likely caused by the effects of low lying vegetation on the fall ALS measurements. The results presented in this study demonstrate that ALSs are capable of providing high spatial resolution snow depth estimates within built-up environments. Furthermore, snow depth measurements made using an ALS can be used to increase the current body of knowledge on the distribution and re-distribution of snow within built-up environments. Snow distributions measured by an ALS could also be used for future development and verification of urban hydrological models.