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A partial redesign of the original sampling configuration demonstrates the potential of the proposed methodology.
These monitors differ not only in sampling configuration but also in protocol-specific laboratory analysis procedures.
The constraint on grasping orientation and the basic operations such as sampling, configuration distance calculation and interpolation have been discussed to facilitate the application of RRT.
This scaled prediction interval can be used as a presurvey quality measure since it depends only on the sampling configuration and the variogram of the log-transformed variable.
Accordingly, a detailed preparation of monitoring campaigns including an accuracy check for the sampling configuration provides important information on the reliability of the gathered data.
However, it does not depend only on the variogram of the variable and the sampling configuration, but also on the conditional mean of the prediction.
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Mass-balance numerical simulations based on continuously stirred tank reactor equations (CSTR) provided information on flux measurement performance of several sampling configurations with the final chamber configuration measuring greater than 96% of model-simulated fluxes.
While the probabilistic algorithms effectively trade-off completeness for computational efficiency, they have difficulties in finding valid paths through narrow corridors in the free space, where the probability of sampling configurations is low.
Interestingly, when using spectra simulated at multi-angular sampling configurations as were captured by the UAV platform (view zenith angles up to 30°), already a huge improvement could be obtained when compared to solely using spectra simulated at nadir position.
Such sampling configurations are undesirable for the motion tracking algorithm.
A sample configuration follows.
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