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A reliable determination of equivalent black carbon (eBC) mass concentrations derived from filter absorption photometers (FAPs) measurements depends on the appropriate quantification of the mass absorption cross-section (MAC) for converting the absorption coefficient (babs) to eBC. This study investigates the spatial–temporal variability of the MAC obtained from simultaneous elemental carbon (EC) and babs measurements performed at 22 sites. We compared different methodologies for retrieving eBC integrating different options for calculating MAC including: locally derived, median value calculated from 22 sites, and site-specific rolling MAC. The eBC concentrations that underwent correction using these methods were identified as LeBC (local MAC), MeBC (median MAC), and ReBC (Rolling MAC) respectively. Pronounced differences (up to more than 50 %) were observed between eBC as directly provided by FAPs (NeBC; Nominal instrumental MAC) and ReBC due to the differences observed between the experimental and nominal MAC values. The median MAC was 7.8 ± 3.4 m2 g-1 from 12 aethalometers at 880 nm, and 10.6 ± 4.7 m2 g-1 from 10 MAAPs at 637 nm. The experimental MAC showed significant site and seasonal dependencies, with heterogeneous patterns between summer and winter in different regions. In addition, long-term trend analysis revealed statistically significant (s.s.) decreasing trends in EC. Interestingly, we showed that the corresponding corrected eBC trends are not independent of the way eBC is calculated due to the variability of MAC. NeBC and EC decreasing trends were consistent at sites with no significant trend in experimental MAC. Conversely, where MAC showed s.s. trend, the NeBC and EC trends were not consistent while ReBC concentration followed the same pattern as EC. These results underscore the importance of accounting for MAC variations when deriving eBC measurements from FAPs and emphasize the necessity of incorporating EC observations to constrain the uncertainty associated with eBC.

This study analyzed the variability of equivalent black carbon (eBC) mass concentrations and their sources in urban Europe to provide insights into the use of eBC as an advanced air quality (AQ) parameter for AQ standards. This study compiled eBC mass concentration datasets covering the period between 2006 and 2022 from 50 measurement stations, including 23 urban background (UB), 18 traffic (TR), 7 suburban (SUB), and 2 regional background (RB) sites. The results highlighted the need for the harmonization of eBC measurements to allow for direct comparisons between eBC mass concentrations measured across urban Europe. The eBC mass concentrations exhibited a decreasing trend as follows: TR > UB > SUB > RB. Furthermore, a clear decreasing trend in eBC concentrations was observed in the UB sites moving from Southern to Northern Europe. The eBC mass concentrations exhibited significant spatiotemporal heterogeneity, including marked differences in eBC mass concentration and variable contributions of pollution sources to bulk eBC between different cities. Seasonal patterns in eBC concentrations were also evident, with higher winter concentrations observed in a large proportion of cities, especially at UB and SUB sites. The contribution of eBC from fossil fuel combustion, mostly traffic (eBCT) was higher than that of residential and commercial sources (eBCRC) in all European sites studied. Nevertheless, eBCRC still had a substantial contribution to total eBC mass concentrations at a majority of the sites. eBC trend analysis revealed decreasing trends for eBCT over the last decade, while eBCRC remained relatively constant or even increased slightly in some cities.

The 2017–2019 hourly particle number size distributions (PNSD) from 26 sites in Europe and 1 in the US were evaluated focusing on 16 urban background (UB) and 6 traffic (TR) sites in the framework of Research Infrastructures services reinforcing air quality monitoring capacities in European URBAN & industrial areaS (RI-URBANS) project. The main objective was to describe the phenomenology of urban ultrafine particles (UFP) in Europe with a significant air quality focus.The varying lower size detection limits made it difficult to compare PN concentrations (PNC), particularly PN10-25, from different cities. PNCs follow a TR > UB > Suburban (SUB) order. PNC and Black Carbon (BC) progressively increase from Northern Europe to Southern Europe and from Western to Eastern Europe. At the UB sites, typical traffic rush hour PNC peaks are evident, many also showing midday-morning PNC peaks anti-correlated with BC. These peaks result from increased PN10-25, suggesting significant PNC contributions from nucleation, fumigation and shipping.Site types to be identified by daily and seasonal PNC and BC patterns are: (i) PNC mainly driven by traffic emissions, with marked correlations with BC on different time scales; (ii) marked midday/morning PNC peaks and a seasonal anti-correlation with PNC/BC; (iii) both traffic peaks and midday peaks without marked seasonal patterns. Groups (ii) and (iii) included cities with high insolation.PNC, especially PN25-800, was positively correlated with BC, NO2, CO and PM for several sites. The variable correlation of PNSD with different urban pollutants demonstrates that these do not reflect the variability of UFP in urban environments. Specific monitoring of PNSD is needed if nanoparticles and their associated health impacts are to be assessed. Implementation of the CEN-ACTRIS recommendations for PNSD measurements would provide comparable measurements, and measurements of

This paper studies the distributed coverage control problem of multi-quadcopter systems connected with fixed and switching network topologies to guarantee the finite-time convergence. The proposed method modifies the objective function originating from the locational optimization problem to accommodate the consensus constraint and solves the problem within a given time limit. The coverage problem is solved by sending angular-rate and thrust commands to the quadcopters. By exploiting the finite-time stability theory, we ensure that the rotation and translation controllers of the quadcopters are finite-time stable both in fixed and switching communication topologies, able to be implemented distributively, and able to collaboratively drive the quadcopters towards the desired position and velocity of the Voronoi centroid independent of their initial states. After carefully designing and analyzing the performance, numerical simulations using a Robot Operating System (ROS) and Gazebo simulator are presented to validate the effectiveness of the proposed control protocols.

Organic aerosol (OA) is a key component of total submicron particulate matter (PM1), and comprehensive knowledge of OA sources across Europe is crucial to mitigate PM1 levels. Europe has a well-established air quality research infrastructure from which yearlong datasets using 21 aerosol chemical speciation monitors (ACSMs) and 1 aerosol mass spectrometer (AMS) were gathered during 2013–2019. It includes 9 non-urban and 13 urban sites. This study developed a state-of-the-art source apportionment protocol to analyse long-term OA mass spectrum data by applying the most advanced source apportionment strategies (i.e., rolling PMF, ME-2, and bootstrap). This harmonised protocol was followed strictly for all 22 datasets, making the source apportionment results more comparable. In addition, it enables quantification of the most common OA components such as hydrocarbon-like OA (HOA), biomass burning OA (BBOA), cooking-like OA (COA), more oxidised-oxygenated OA (MO-OOA), and less oxidised-oxygenated OA (LO-OOA). Other components such as coal combustion OA (CCOA), solid fuel OA (SFOA: mainly mixture of coal and peat combustion), cigarette smoke OA (CSOA), sea salt (mostly inorganic but part of the OA mass spectrum), coffee OA, and ship industry OA could also be separated at a few specific sites. Oxygenated OA (OOA) components make up most of the submicron OA mass (average = 71.1%, range from 43.7 to 100%). Solid fuel combustion-related OA components (i.e., BBOA, CCOA, and SFOA) are still considerable with in total 16.0% yearly contribution to the OA, yet mainly during winter months (21.4%). Overall, this comprehensive protocol works effectively across all sites governed by different sources and generates robust and consistent source apportionment results. Our work presents a comprehensive overview of OA sources in Europe with a unique combination of high time resolution (30–240 min) and long-term data coverage (9–36 months), providing essential information to improve/validate air quality, health impact, and climate models.

We investigated the contributions and the evolution of organic aerosol (OA) sources at the Marseille-Longchamp supersite (MRS-LCP, France) based on Time-of-flight Aerosol Chemical Speciation Monitor (ToF-ACSM) measurements of non-refractory PM1 over a fourteen-month period (1 February – 3 April 2018). The OA source apportionment was performed by positive matrix factorization (PMF) using the novel “rolling window” approach implemented in the Source Finder Professional (SoFi Pro). Here, PMF is performed over a 14-days window moving over the entire OA dataset, in order to account for the temporal variability of the source profiles.Six factors were resolved, including hydrocarbon-like organic aerosol (HOA) which is related to traffic exhausts, cooking-like organic aerosol (COA), biomass burning aerosol (BBOA), less oxidized organic aerosol (LOOA), more oxidized organic aerosol (MOOA) and a new defined source related to the mix between shipping and industrial plumes (Sh-IndOA). While HOA and COA consistently contribute to the total OA with on average 11.2% (ranging between 9.2 and 12.1% over the seasons) and 11.5% (11–12.1%), respectively, BBOA (11.7% on average) shows a larger seasonal variability with 18% in winter and no contribution in summer. BBOA profiles during winter were attributed to fresh biomass burning emissions from domestic heating, and more oxygenated profiles were assigned to regional land and agricultural waste burning for spring and early autumn. Sh-IndOA fraction is estimated to 4.5% (3.7–6.1%) and contributes to the total OA mass concentrations to a minor extent. The secondary organic aerosol (SOA) fraction includes both LOOA with 21.5% (18.8–27.2%) and MOOA with 39.6% (36.8–42.6%). Based on the f44/f43 analysis these sources appeared to be more linked to biogenic influences in summer, whereas the concentrations were associated with oxidized anthropogenic sources (biomass burning and road traffic) for the rest of the year. The investigation of MOOA geographical origins suggests some influence of air masses transported from the Rhône Valley and the west basin of the Mediterranean Sea.

Primary Biogenic Organic Aerosols (PBOA) were recently shown to be produced by only a few types of microorganisms, emitted by the surrounding vegetation in the case of a regionally homogeneous field site. This study presents the first comprehensive description of the structure and main sources of airborne microbial communities associated with temporal trends in Sugar Compounds (SC) concentrations of PM10 in 3 sites under a climatic gradient in France. By combining sugar chemistry and DNA Metabarcoding approaches, we intended to identify PM10-associated microbial communities and their main sources at three sampling-sites in France, under different climates, during the summer of 2018. This study accounted also for the interannual variability in summer airborne microbial community structure (bacteria and fungi only) associated with PM10-SC concentrations during a 2 consecutive years’ survey at one site. Our results showed that temporal changes in PM10-SC in the three sites are associated with the abundance of only a few specific taxa of airborne fungi and bacterial. These taxa differ significantly between the 3 climatic regions studied. The microbial communities structure associated with SC concentrations of PM10 during a consecutive 2-year study remained stable in the rural area. Atmospheric concentration levels of PM10-SC species varied significantly between the 3 study sites, but with no clear difference according to site typology (rural vs. urban), suggesting that SC emissions are related to regional rather than local climatic characteristics. The overall microbial beta diversity in PM10 samples is significantly different from that of the main vegetation around the urban sites studied. This indicates that the airborne microorganisms at these urban sites are not solely from the immediate surrounding vegetation, which contrasts with observations at the scale of a regionally homogeneous rural site in 2017. These results improve our understanding of the spatial behavior of tracers of PBOA emission sources, which need to be better characterized to further implement this important mass fraction of Organic Matter (OM) in Chemical Transport models (CTM).

This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this is estimated online via an extended state observer (ESO). Further, a quaternion-based feedback is developed, which is assisted by a feedforward term obtained via the ESO to relieve the total disturbance actively. The control law is bounded; consequently, it takes into account the maximum capabilities of the actuators to reject the disturbances. The stability is analyzed in the ISS framework, guaranteeing that the closed loop (controller-ESO-UAV) is robustly stable. The simulation results allow validation of the theoretical features.

The CARA program has been running since 2008 by the French reference laboratory for air quality monitoring (LCSQA) and the regional monitoring networks, to gain better knowledge—at a national level—on particulate matter (PM) chemistry and its diverse origins in urban environments. It results in strong collaborations with international-level academic partners for state-of-the-art, straightforward, and robust results and methodologies within operational air quality stakeholders (and subsequently, decision makers). Here, we illustrate some of the main outputs obtained over the last decade, thanks to this program, regarding methodological aspects (both in terms of measurement techniques and data treatment procedures) as well as acquired knowledge on the predominant PM sources. Offline and online methods are used following well-suited quality assurance and quality control procedures, notably including inter-laboratory comparison exercises. Source apportionment studies are conducted using various receptor modeling approaches. Overall, the results presented herewith underline the major influences of residential wood burning (during the cold period) and road transport emissions (exhaust and non-exhaust ones, all throughout the year), as well as substantial contributions of mineral dust and primary biogenic particles (mostly during the warm period). Long-range transport phenomena, e.g., advection of secondary inorganic aerosols from the European continental sector and of Saharan dust into the French West Indies, are also discussed in this paper. Finally, we briefly address the use of stable isotope measurements (δ15N) and of various organic molecular markers for a better understanding of the origins of ammonium and of the different organic aerosol fractions, respectively.

The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators’ input. The asymptotic stability of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body’s states in hovering mode, as well as the robustness with respect to external disturbances.

High-latitude areas are very sensitive to global warming, which has significant impacts on soil temperatures and associated processes governing permafrost evolution. This study aims to improve first-layer soil temperature retrievals during winter. This key surface state variable is strongly affected by snow’s geophysical properties and their associated uncertainties (e.g., thermal conductivity) in land surface climate models. We used infrared MODIS land-surface temperatures (LST) and Advanced Microwave Scanning Radiometer for EOS (AMSR-E) brightness temperatures (Tb) at 10.7 and 18.7 GHz to constrain the Canadian Land Surface Scheme (CLASS), driven by meteorological reanalysis data and coupled with a simple radiative transfer model. The Tb polarization ratio (horizontal/vertical) at 10.7 GHz was selected to improve snowpack density, which is linked to the thermal conductivity representation in the model. Referencing meteorological station soil temperature measurements, we validated the approach at four different sites in the North American tundra over a period of up to 8 years. Results show that the proposed method improves simulations of the soil temperature under snow (Tg) by 64% when using remote sensing (RS) data to constrain the model, compared to model outputs without satellite data information. The root mean square error (RMSE) between measured and simulated Tg under the snow ranges from 1.8 to 3.5 K when using RS data. Improved temporal monitoring of the soil thermal state, along with changes in snow properties, will improve our understanding of the various processes governing soil biological, hydrological, and permafrost evolution.

Hovering flies are able to stay still in place when hovering above flowers and burst into movement towards a new object of interest (a target). This suggests that sensorimotor control loops implemented onboard could be usefully mimicked for controlling Unmanned Aerial Vehicles (UAVs). In this study, the fundamental head-body movements occurring in free-flying insects was simulated in a sighted twin-engine robot with a mechanical decoupling inserted between its eye (or gaze) and its body. The robot based on this gaze control system achieved robust and accurate hovering performances, without an accelerometer, over a ground target despite a narrow eye field of view (±5°). The gaze stabilization strategy validated under Processor-In-the-Loop (PIL) and inspired by three biological Oculomotor Reflexes (ORs) enables the aerial robot to lock its gaze onto a fixed target regardless of its roll angle. In addition, the gaze control mechanism allows the robot to perform short range target to target navigation by triggering an automatic fast “target jump” behaviour based on a saccadic eye movement.