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A Robust Hybrid Multisource Data Fusion Approach for Vehicle Localization

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Positioning 2013年第4期4卷 271-281页

作者： Adda Redouane Ahmed Bacha Dominique Gruyer alain lambert The French Institute of Science and Technology for Transport Development and Networks (IFSTTAR) COSYS Department LIVIC Laboratory 77 rue des Chantiers Versailles France.

In this paper, an innovative collaborative data fusion approach to ego-vehicle localization is presented. This approach called Optimized Kalman Swarm (OKS) is a data fusion and filtering method, fusing data from a low cost GPS, an INS, an Odometer and a Steering wheel angle encoder. The OKS is developed addressing the challenge of managing reactivity and robustness during a real time ego-localization process. For ego-vehicle localization, especially for highly dynamic on-road maneuvers, a filter needs to be robust and reactive at the same time. In these situations, the balance between reactivity and robustness concepts is crucial. The OKS filter represents an intelligent cooperative-reactive localization algorithm inspired by dynamic Particle Swarm Optimization (PSO). It combines advantages coming from two filters: Particle Filter (PF) and Extended Kalman filter (EKF). The OKS is tested using real embedded sensors data collected in the Satory’s test tracks. The OKS is also compared with both the well-known EKF and the Particle Filters (PF). The results show the efficiency of the OKS for a high dynamic driving scenario with damaged and low quality GPS data.

关键词： Localization Mobile Robotic Kalman Filter EKF Particle Swarm Optimization PSO Particle Filter Data Fusion Vehicle Positioning Navigation GPS

A Review on TSO-DSO Data Exchange,CIM Extensions and Interoperability Aspects

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Journal of Modern Power Systems and Clean Energy 2022年第2期10卷 309-315页

作者： Arsim Bytyqi Siddhesh Gandhi Eric lambert Nejc Petrovic European Network of Transmission System Operators(ENTSO-E) BrusselsBelgium Electricite de France(EDF) ParisFrance Elektro Gorenjska LjubljanaSlovenia

The exchange of information between transmission system operators(TSOs)and distribution system operators(DSOs)is a common ***,the evolution of the regulatory frameworks in Europe has increased the need for enhancing TSO-DSO data exchange and *** paper provides an overview of the TSO-DSO data exchanges and demonstrates the best practices using International Electrotechnical Commission(IEC)common information model(CIM),including the implementation of IEC common grid model exchange standard(CGMES),and discussion of the corresponding advantages,disadvantages,and ***,this paper evaluates and reports the activities already carried out within European projects,with particular focus on TSO-DSO ***,this paper concludes the need for TSOs and DSOs to rely on standard-based solutions when performing TSO-DSO data exchange,which enables the efficient operation and development of the future power systems.

关键词： Transmission system operator(TSO) distribution system operator(DSO) data exchange interoperability standardization common information model(CIM) common grid model exchange standard(CGMES)

ASYMPTOTIC RAREFACTION WAVES FOR BALANCE LAWS WITH STIFF SOURCES

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Acta Mathematica Scientia 2009年第6期29卷 1613-1628页

作者： W. lambert D. Marchesin 1-Instituto Nacional de Matemtica Pura e Aplicada Estrada Dona Castorina 11022460-320 Rio de Janeiro RJ Brazil Instituto de Matemtica Pura e Aplicada Estrada Dona Castorina 11022460-320 Rio de Janeiro RJ Brazil

We study the long time formation of rarefaction waves appearing in balance laws by means of singular perturbation methods. The balance laws are non standard because they contain a variable u that appears only in the flux terms. We present a concrete example occurring in flow of steam, nitrogen and water in porous media and an abstract example for a class of systems of three equations. In the concrete example the zero-order equations resulting from the expansion yield a type of conservation law system called compositional model in Petroleum Engineering. In this work we show how compositional models originate from physically more fundamental systems of balance laws. Under appropriate conditions, we prove that certain solutions of the system of balance laws decay with time to rarefaction wave solutions in the compositional model originating from the system of balance laws.

关键词： balance laws asymptotic expansion rarefaction waves compositional models

Tidal triggering of seismicity in the region of Palu, Central Sulawesi, Indonesia

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Geodesy and Geodynamics 2023年第4期14卷 377-384页

作者： Ibnu Nurul Huda Sebastien lambert Jean Souchay Research Center for Computing National Research and Innovation AgencyBogorIndonesia Department of Astronomy and Bosscha Observatory FMIPAInstitut Teknologi BandungBandungIndonesia SYRTE Observatoire de ParisUniversité PSLCNRSSorbonne UniversitéLNEParisFrance

This paper investigates the correlation between tidal stress and earthquakes for periods ranging from hours to months in the limited zone of the Palu region(Central Sulawesi,Indonesia).Through Schuster and binomial tests,we examined the relation between the seismicity(time density of seismic events)and tidal potential arising from the Moon and Sun,using all tidal components simultaneously and focusing on the estimation of specific *** results show significant correlations between the seismicity and tidal potential for S2(0.5 d)and O1(1.075 d)tidal components in the case of solely isolated earthquake events,particularly for shallow ***,there is a strong relationship between aftershocks and tidal components larger than the Mf period(13.661 d).Finally,the analysis of the temporal variation of the earthquake-tide relation reveals an optimal correlation for about six years before the 2018 great Palu *** correlation becomes insignificant afterwards.

关键词： Tidal triggering Earth tides Palu region Statistical test

Digestive retention times for Allen’s swamp monkey and L’Hoest’s monkey: data with implications for the evolution of cercopithecine digestive strategy

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Integrative Zoology 2012年第2期7卷 183-191页

作者： Kevin P.BLAINE Joanna E.lambert Department of Anesthesia Stanford University Medical CenterStanfordCaliforniaUSA Department of Ecological Anthropology University of Texas at San AntonioSan AntonioTexasUSA

Primates access energy from plant fiber via bacterial fermentation in either a modified forestomach(‘foregut’),a caecocolic(‘hindgut’)chamber of the large intestine,or *** digestive retention times allow for more complete fermentation;as such,primates that consume an herbivorous diet high in fiber are expected to have both relatively and absolutely longer retention times than those mammals that rely on more readily digestible plant foods,such as *** used particulate markers to measure the digestive retention times of captive Allen’s swamp monkeys[Allenopithecus nigroviridis(Pocock,1907)](n=3)and L’Hoest’s monkey(Cercopithecus lhoesti ***,1899)(n=2).Results indicate mean retention times of 23.2-29.4 h and 23.2-24.0 h for *** and ***,*** from this study,in combination with previously published data on digestive retention times in other primate species,indicate that cercopithecines differ from other primate taxa by having lengthier retention times that can be predicted by body mass *** data are consistent with the hypothesis that relatively lengthy retention times are a primitive trait for Cercopithecinae.

关键词： Cercopithecinae digestive retention time evolution of diet fermentation plant fiber

Preliminary studies on occurrence of monensin antibiotic in Bosque River Watershed

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Journal of Environmental Sciences 2013年第2期25卷 268-273页

作者： Sudarshan Kurwadkar Victoria Sicking Barry lambert Anne McFarland Forrest Mitchell Environmental Engineering Department of Engineering and PhysicsBox T-0390Tarleton State UniversityStephenvilleTX 76402USA Environmental Engineering Program Department of Engineering and PhysicsTarleton State UniversityStephenvilleTX 76402USA Department of Animal Sciences Box T-0070Tarleton State UniversityStephenvilleTX 76402USA Texas Institute for Applied Environmental Research Box T-0410Tarleton State UniversityStephenvilleTX 76402USA Texas A&M AgriLife Research 1229 N.US Hwy 281StephenvilleTX 76401USA

Water quality impact due to excessive nutrients has been extensively studied. In recent years, however, micro-pollutants such as pharmaceuticals and hormonal products used in animal agriculture have added an additional impact to overall water quality. Pharmaceuticals used in the poultry, swine, beef, and dairy industries have been detected in various environmental matrices such as, soil, groundwater and surface water. In this study, 26 surface water samples were collected throughout the Bosque River Watershed （BRW） with samples representing a range of land use conditions and locations of major dairy operations. Samples were analyzed using commercially available Enzyme-Linked Immunosorbent Assay test. Of the 26 samples, three samples consistently tested positive for monensin antibiotic with concentration ranging from 0.30 to 3.41 μg/L. These three samples were collected from sites that received varying amount of agriculture wastes （11.7% to 31.3%） and located downstream from sites associated with moderate levels of animal agriculture. The preliminary results suggest that there is a potential for monensin occurrence in the BRW, although initial findings indicate only very low levels.

关键词： ELISA ionophore monensin antibiotic dairy waste emerging pollutants pharmaceuticals

Discrete modeling of rock joints with a smooth-joint contact model

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Journal of Rock Mechanics and Geotechnical Engineering 2014年第1期6卷 1-12页

作者： C.lambert C.Coll Department of Civil and Natural Resources Engineering University of CanterburyPrivate Bag 4800 Christchurch 8140 New Zealand Golder Associates Christchurch New Zealand

Structural defects such as joints or faults are inherent to almost any rock *** many situations those defects have a major impact on slope stability as they can control the possible failure *** a good estimate of their strength then becomes *** roughness of a structure is a major contributor to its strength through two different aspects,*** morphology of the surface(or the shape)and the strength of the asperities(related to the strength of the rock).In the current state of practice,roughness is assessed through idealized descriptions(Patton strength criterion)or through empirical parameters(Barton JRC).In both cases,the multi-dimensionality of the roughness is *** this study,we propose to take advantage of the latest developments in numerical ***3D photogrammetry and/or laser mapping,practitioners have access to the real morphology of an exposed *** derived triangulated surface was introduced into the DEM(discrete element method)code PFC3D to create a synthetic rock *** interaction between particles on either side of the discontinuity was described by a smooth-joint model(SJM),hence suppressing the artificial roughness introduced by the particle *** tests were then performed on the synthetic rock joint.A good correspondence between strengths predicted by the model and strengths derived from well-established techniques was obtained for thefirst *** the benefits of the methodology is the possibility offered by the model to be used in a quantitative way for shear strength estimates,to reproduce the progressive degradation of the asperities upon shearing and to analyze structures of different scales without introducing any empirical relation.

关键词： Rock joint Shear strength DEM simulations Smooth-joint model

The pikas of China: a review of current research priorities and challenges for conservation

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Integrative Zoology 2023年第1期18卷 110-128页

作者： Joseph P.lambert Xiaozheng ZHANG Kun SHI Philip RIORDAN Wildlife Institute School of Nature ConservationBeijing Forestry UniversityBeijingChina Eco-Bridge Continental Haidian DistrictBeijingChina Marwell Wildlife WinchesterHampshireUK

Of the approximately 30 extant species of pika(Ochotona;Ochotonidae;Lagomorpha),at least 23 occur in *** these,8 are endemic,and 3 are classiﬁed as Endangered by the *** into most Chinese species is scarce,and there is much to learn about basic aspects of their *** reviewed the literature on the 23 Chinese Ochotona species,with the aim of highlighting knowledge gaps and biases in research ***ﬁcally,we identify(1)which pika species receive the most attention from researchers,(2)which topics are the most frequently studied,and(3)how well research satisﬁes conservation *** covered a total of 879 articles,most of which were written in English or *** 75%of all publications focused on the plateau pika Ochotona *** species were represented by 10 or fewer publications *** and endemic species were particularly poorly represented.204 papers treated pikas as a pest,while 13 studied conservation *** species were considered possible targets for pest control,including some poorly known *** make some recommendations on how research into Chinese Ochotona could be improved,including:(1)recognizing that the current species-level taxonomy may be an ineffective way to prioritize conservation research in Ochotona,(2)directing more research toward threatened and endemic species,subspecies,and populations,(3)researching the ecosystem engineering effects of pikas,(4)collecting basic data on natural history of the many understudied species,and(5)researching threats,including climate change and pest control campaigns.

关键词： conservation Lagomorpha Ochotona prioritization research allocation

Fecal microbial diversity and putative function in captive western lowland gorillas(Gorilla gorilla gorilla),common chimpanzees(Pan troglodytes),Hamadryas baboons(Papio hamadryas)and binturongs(Arctictis binturong)

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Integrative Zoology 2014年第5期9卷 557-569页

作者： Erin A.McKENNEY Melissa ASHWELL Joanna E.lambert Vivek FELLNER Department of Animal Sciences North Carolina State UniversityRaleighNorth CarolinaUSA Department of Anthropology The University of Texas at San AntonioTexasUSA

Microbial populations in the gastrointestinal tract contribute to host health and *** gut microbial ecology is well studied in livestock and domestic animals,little is known of the endogenous populations inhabiting primates or *** characterized microbial populations in fecal cultures from gorillas(Gorilla gorilla gorilla),common chimpanzees(Pan troglodytes),Hamadryas baboons(Papio hamadryas)and binturongs(Arctictis binturong)to compare the microbiomes associated with different gastrointestinal morphologies and different omnivorous feeding *** species was fed a distinct standardized diet for 2 weeks prior to fecal *** diets were formulated to reflect the species’feeding strategies in *** fecal samples were pooled within species and used to inoculate in vitro batch ***,propionate,butyrate and valerate were measured after 24 h of *** DNA was extracted from individual fecal samples,pooled,and the cpn60 gene region was amplified and then sequenced to identify the major eubacterial constituents associated with each host *** chain fatty acids(P<0.001)and methane(P<0.001)were significantly different across *** profiles were consistent with fermentation data and suggest an increase in diversity with dietary fiber.

关键词： ecology fermentation gastrointestinal microbiota microbial diversity