Publications


Submitted

O., PROFADUOLFRANCISW.  Submitted.  A static dynamic model for densification of geodetic networks.. Allgemeine Vermessungs Nachrichten, International Edition, 1. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.
O., PROFADUOLFRANCISW.  Submitted.  On outlier identification in geodetic networks using principal component analysis. International Conference on Influential Data Analysis,. University of Sheffield, Sheffield, UK,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW.  Submitted.  Four lectures on geodetic network analysis: (i) Practical techniques for computation of geodetic networks; (ii) A possible course of action for the reestablishment of the Eastern African geodetic netw. Nairobi,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW.  Submitted.  Geodetic models for monitoring crustal deformation along the African Rift System.. IASPEI/UNESCO/ICL Regional Seismological Assembly in Africa, Nairobi,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW.  Submitted.  A model for the establishment of an integrated regional geodetic datum.. Survey Review, Vol. 32, No 250,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

2002

O., PROFADUOLFRANCISW.  2002.  Transformation between GPS coordinates and local plane UTM coordinates using the Excel spreadsheet.. Survey Review, Vol. 36, No. 284,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

2001

O., PROFADUOLFRANCISW.  2001.  Financing public universities in Kenya: a model based on rationalised student unit costs and staffing. International Conference on Transformation of Higher Education Management Leadership Efficacy in. Kenyatta University, Nairobi, Kenya.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW, O. PROFADUOLFRANCISW.  2001.  A model for estimating student unit cost and staffing requirements for university programmes with reference to Kenyan public universities.. Higher Education Policy, 14/2 (2001) 117-140. Elsevier Science Ltd.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

2000

1999

O., PROFADUOLFRANCISW.  1999.  Establishing teaching staff requirements for university academic programmes.. Higher Education Policy, 12/1 (1999) 101-106. Elsevier Science Ltd.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW.  1999.  An evaluation of some robust estimation techniques in the estimation of geodetic parameters.. Survey Review, Vol. 35, No 273, London.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW, O. PROFADUOLFRANCISW.  1999.  Robust geodetic parameter estimation under least squares through weighting on the basis of the mean square error.. Quo vadis geodesia. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

1998

O., PROFADUOLFRANCISW.  1998.  The surveying profession beyond the Year 2000 and the Kenyan surveyor.. Second Licensed Surveyors Seminar, Kenya Institute of Surveying and Mapping (KISM), Nairobi, The Kenya Surveyor, Vol. 7, No.1, pp18 . : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW.  1998.  Engineering education at the University of Nairobi.. Kenya Engineer  Journal of the Institution of Engineers of Kenya, Vol. 18, No 2, Nairobi.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

1997

O., PROFADUOLFRANCISW.  1997.  Aduol FWO, (1997):A model for a four-dimensional regional geodetic reference datum. Survey Review, 34, 264. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.
O., PROFADUOLFRANCISW.  1997.  The Kenya geodetic reference system project.. United Nations / European Space Agency Symposium on Space Industry Cooperation with the Developing World. Graz, Austria,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.
O., PROFADUOLFRANCISW, MULEI DRMUSYOKASAMMY.  1997.  A three dimensional geodetic network model for the analysis of localised earth deformation.. Survey Review, Vol. 34, No 263, London.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of an integrated geodetic datum covering a region is treated. The integrated geodetic datum is understood here to comprise the geoid, the reference ellipsoid, and the positional coordinates. A comprehensive unified solution model including the three parameters comprising the datum is considered. The estimation model adopted rigorously incorporates determined prior information in the estimation of the datum parameters. Mathematical models together with the pertinent observation equations are presented, followed by a description of the procedure for the aetual setting up of the datum. The observational scheme is based on a system of modular traverses anchored on a trilateration of GPS baselines.

1995

MBATHA, DRCHRISTOPHER, O. PROFADUOLFRANCISW.  1995.  The surveying profession beyond the year 2000 with reference to the profession in Kenya.. Institution of Surveyors of Kenya Seminar, Nairobi.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.
O., PROFADUOLFRANCISW, M PROFSYAGGAPAUL, MBATHA DRCHRISTOPHER, CANNY PROFMULAKUGALCANO.  1995.  Education for a modern integrated survey professional: a model curriculum with special reference to developing countries.. Presented at the Commonwealth Association of Surveying and Land Economy (CASLE) and the International Federation of Surveyors (FIG) Seminar, Harare,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.
O., PROFADUOLFRANCISW.  1995.  A three dimensional adjustment model for small scale survey networks.. South African Journal of Surveying and Mapping, Vol. 23, Part 1,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.
O., PROFADUOLFRANCISW, CANNY PROFMULAKUGALCANO, CANNY PROFMULAKUGALCANO.  1995.  The surveying profession into the 21st century.. The Kenya Surveyor, Vol. 3 No 4 Nov/Dec 1994 and Vol. 4 No 1 June 1995, Nairobi.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.

1994

O., PROFADUOLFRANCISW.  1994.  Robust geodetic parameter estimation through iterative weighting.. Survey Review, Vol. 32, No 252, April , London.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.

1993

1989

O., PROFADUOLFRANCISW.  1989.  Integrierte geod. Deutsche Geod. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.

1987

O., PROFADUOLFRANCISW.  1987.  Detection of outliers in geodetic networks using principal component analysis and bias parameter estimation.. Technical Report No. 2, Institute of Geodesy, University of Stuttgart, 1987, 104pp.. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.

1986

1981

O., PROFADUOLFRANCISW.  1981.  Optimisation of a three dimensional terrestrial geodetic network.. MSc thesis, University of Nairobi,. : F.N. kamau, G. N Thothi and I.O Kibwage Abstract
A model for the establishment of a four-dimensional regional geodetic reference datum is presented. Starting from the three-dimensional integrated geodetic network model, formulations for the establishment of a four-dimensional regional datum are developed. Astronomic latitudes, astronomic longitudes, gravity values, gravity potential differences, gravity differences, and GPS-vectors are considered as observables. The estimated parameters defining the datura are point coordinates, deflections of the vertical and geoidai undulations, and velocities and accelerations on the positional coordinates. The network datum is considered observed over several epochs with parameters estimated from previous epochs being introduced into later epochs as stochastic prior information parameters.

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