a r t i c l e i n f o
a b s t r a c t
Article history:
Received 2 March 2010
Received in revised form
9 June 2010
Accepted 18 June 2010
Available online 9 November 2010
We present TecDEM, a software shell implemented in MATLAB that applies tectonic geomorphologic
tasks to digital elevation models (DEMs). The rst part of this paper series describes drainage partitioning
schemes and stream prole analysis. The graphical user interface of TecDEM provides several options:
determining ow directions, stream vectorization, watershed delineation, Strahler order labeling, stream
prole generation, knickpoints selection, Concavity, Steepness and Hack indices calculations. The
knickpoints along selected streams as well as stream prole analysis, and Hack index per stream prole
are computed using a semi-automatic method. TecDEM was used to extract and investigate the stream
proles in the Kaghan Valley (Northern Pakistan). Our interpretations of the TecDEM results correlate well
with previous tectonic evolution models for this region. TecDEM is designed to assist geoscientists in
applying complex tectonic geomorphology tasks to global DEM data.
& 2010 Elsevier Ltd. All rights reserved.
Keywords:
Tectonics
Digital elevation models
Stream prole analysis
Hack index
MATLAB
1. Introduction
Areas of the planet that are largely inaccessible for practical
reasons pose a major limitation to our understanding of tectonics and
geomorphology at regional and local scales. Efforts to tackle these
issues have resulted in recent theoretical developments in tectonic
geomorphology and drainage network processing. Drainage networks
exhibit critical relationships between relief, elevation, and denudation
rate (Kirby and Whipple, 2001; Schumm et al., 2006). Tectonic activity
disrupts drainage networks. Studying the nature of this disruption can
give clues about the magnitude and orientation of the original tectonic
activity (Gloaguen et al., 2007, 2008; Kurz et al., 2007).
Different software tools exist for a wide range of tectonic
geomorphological analyses, TecDEM is the rst attempt to provide
a single software system that can execute most of the commonly used
analysis techniques. This work is the rst installment of a two-part
series on TecDEM, a MATLAB based software for understanding
tectonics from digital elevation models (DEMs). TecDEM is also able
to generate stream proles, determine ow directions, delineate
watersheds, select knickpoints, and calculate Hack indexes.
The gradient of bedrock channels is intimately linked to the
underlying geology and local tectonics (Kirby and Whipple, 2001;
Schoenbohm et al., 2004). This relationship can be exploited to extract
information regarding lithology or tectonic movements using bedrock
$
Code available from server at http://www.rsg.tu-freiberg.de or at
http://www.iamg.org/CGEditor/index.htm.
Corresponding author. Tel.: +49 3731 44 59 29.
E-mail addresses: geoquaidian@gmail.com (F. Shahzad),
gloaguen@geo.tu-freiberg.de (R. Gloaguen).
0098-3004/$ - see front matter & 2010 Elsevier Ltd. All rights reserved.
doi:10.1016/j.cageo.2010.06.008
2. Methodology
The choice of DEM preprocessing and stream extraction algorithms can inuence stream parameters such as contributing area,
slope, elevation, downstream distance and Strahler order and thus
the analysis of geomorphic parameters. Here, we present algorithms for drainage network partitioning using the stream Strahler
(1957) order and stream prole analysis using lled DEMs
(Planchon and Darboux, 2002). A CSA threshold dened by a trial
and error procedure is used for drainage network delineation.
2.1. Drainage network preprocessing
A DEM is a representation of topography as a nite set of points.
Miliaresis (2001, 2008) provides an overview the various either
continuous or discontinuous terrain partition schemes. Drainage
network preparation consists of dividing a DEM into regions
depending on shared characteristics (Arge et al., 2003; Kiss,
2004; Lindsay, 2005). Here, we divide it into three subsections
as outlined below. An overview of our approach can be found as a
data ow diagram in Fig. 1(a).
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Fig. 1. (a) Simplied ow chart for drainage network preparation and (b) calculation of concavity, steepness and Hack indices.
stream network with a unique id, its spatial location and Strahler
order. The second structure is used to store the indices of all the
streams of specic orders, i.e. netwk_order_ind(od). CSA is
used to remove all locations in the area matrix that are the
consequence of the hill slope effect (Tarboton et al., 1991). This
step produces a binary matrix parea with high bits representing
all locations in area above CSA. Another matrix str_map represents all the locations with area values equal to 1. In the
next step, this binary drainage network is vectorized and their
respective Strahler orders (Garbrecht and Martz, 1997; Gleyzer
et al., 2004) are assigned. Stream Strahler order are assigned as
illustrated in Fig. 2.
Algorithm 1. Algorithm to prepare drainage network with CSA as a
threshold
Require: area, owdir, and CSA
str_net structure (id,rowid,colid,order),
netwk_order_ind structure(ind), noval 1, i1
r size(owdir), area(area o CSA) 0
area(area Z CSA) 1, parea area, str_map noval * parea
while i do
to owdir(str_map noval)
pzero zeros(r)
for i1 to lengthto do
if to(i) a1 then
pzero(to(i)) pzero(to(i)) +1
end if
end for
nid nd(pzero 0)
if notisempty(nid) then
[str_net, netid, str_map] prepare_network(str_net,
str_map, pzero, owdir, nid, i)
netwk_order_ind(i).ind netid, i i + 1
else
i0
end if
end while
return str_net, netwk_order_ind, str_map
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Fig. 2. Simplied illustration for assigning stream Strahler orders (see text for details): (a) Strahler order 1 streams are highlighted, (b) Strahler order 2 streams are highlighted,
(c) Strahler order 3 streams are highlighted and (d) Complete drainage network with respective Strahler order.
253
for a 1:1:length(to) do
ind owdir(to(a)), output to(a)
while and(ind a 1, bsngrd(ind) 0) do
output [output; ind]
if ind a owdir(owdir(ind)) then
ind owdir(ind)
end if
end while
if owdir(output(end)) a 1 then
bsngrd(output) bsngrd(owdir(output(end)));
else
bsngrd(output) bsngrd(output(end));
end if
end for
catchment_matrix(bsngrd, td)
Fig. 3. Simplied illustration for drainage basins extraction (see text for details): (a) Drainage Basins of Strahler order 1, (b) Drainage Basins of Strahler order 1 and 2,
(c) Drainage Basins of Strahler order 1, 2 and 3 and (d) Full drainage basin of desired Strahler order (4 in this case).
254
Fig. 4. Transient stream prole is showing a relationship between low uplift and
high uplift along migration of knickpoint. Inset shows a logarithmic plot between
stream slope and upstream contributing area. It shows that concavity index y
remains same for both initial and nal proles, while steepness index (ks) is higher
for nal prole. Modied from Shahzad et al. (2009) and Snyder et al. (2000).
where K is the erosion coefcient, n depends upon basin morphology and U is relative uplift rates. This equation gives us relative
uplift rate for area within a steady-state landscape by choosing
appropriate values of n and K which can be found from previous
studies (Anderson et al., 1994; Seidl and Dietrich, 1992; Tucker and
Slingerland, 1996; Wobus et al., 2006). The calculation procedure is
255
Fig. 6. (a) Tectonic setting of India Eurasia collision zone (Kamp et al., 2008; Shahzad et al., 2010), (b) Geographical location of study area (Kamp et al., 2008; Shahzad et al.,
2010) and (c) Kaghan valley and surrounding area with major tectonic features (Kamp et al., 2008; Kazmi and Jan, 1997; Monalisa et al., 2007; Shahzad et al., 2007).
256
the study area with the streams of Strahler orders greater than
4 and the drainage basin of the Kunhar river is shown in Fig. 6(c).
A total of 22 streams were selected in the Kunhar river drainage
basin. A simplied user manual is given in Appendix A. These
streams are extracted from the source to their conuence point
with the main channel. The major lithological units in the study
area are Tertiary sedimentary rocks (Kamp et al., 2008; Kazmi and
Jan, 1997). The area was selected because it is undergoing variable
surface deformation conditions. Stream prole analysis was
applied to selected streams as shown in Fig. 8. This type of analysis
investigates the concavity, stream gradient and steepness of the
region underlying any stream and can be investigated in detail
using their spatial distribution in map view (Shahzad et al., 2007).
We use a reference concavity of yref 0:45 as suggested by
Schoenbohm et al. (2004) and Snyder et al. (2000). Proles consist
of one to several channel segments with distinct concavity and
steepness indices. The selection of stream segments depends upon
stream morphology.
Fig. 7 shows the stream prole analysis of stream no. 3. The
logarealogslope plot shows three prominent trends. We selected
two concave trends to calculate their concavity and normalized
steepness (Schoenbohm et al., 2004). The convex trend is not
analyzed here but can be interpreted separately (Kirby and
Whipple, 2001). Both concave trends are marked with different
colors and are also visible in the longitudinal prole. The starting
portion of this stream before the rst trend represents the hill slope
effect. According to Schoenbohm et al. (2004), this type of stream
Fig. 7. Concavity and Steepness analysis of stream no. 3. Two concave trends have been identied on logarealogslope data (bottom). These trends also appear on longitudinal
prole (upper). Green line represents area prole of stream. Selected streams with unique ids are shown in Fig. 8. (For interpretation of the references to color in this gure
legend, the reader is referred to the web version of this article.)
257
4. Concluding remarks
TecDEM is a valuable new software tool for the processing of
DEM data. Drainage basin partitioning from DEMs is a fundamental
processing option of TecDEM. The presented algorithms assign
Strahler orders to each stream and extract sub-basins. Stream
prole analysis of selected streams reveals the spatial distribution
of concavity, steepness and Hack indices. The quantitative
Fig. 8. Map view of spatial distribution of geomorphic indices. Numbers correspond to unique ids for selected streams: (a) Concavity map, (b) steepness map and (c) Hack
Index map.
258
Acknowledgements
Financial support to Faisal Shahzad from the State Government
of Saxony (Germany), German Academic Exchange Association
(DAAD) and graduate student research grant for year 2008 from the
International Association for Mathematical Geosciences (IAMG) is
gratefully acknowledged. We thank George Miliaresis and an
anonymous reviewer who helped us to improve the quality and
presentation of this paper series. Anja Bretzler and Adam Szulc are
acknowledged for help in proof reading and Louis Andreani for his
support in GIS matters.
A.2. Process
Appendix A. TecDEM user guide
This software has been written in MATLAB (release 2008b and
2009b) using the Mapping toolbox and has been tested on
Windows XP, Linux and MacOS. In order to run the software
properly MATLAB must be running with current path set to the
provided folder TecDEM 1.0. Source code has been organized into
three folders: Extraction, Methods and Drainage. The Extraction
folder contains the code to extract drainage networks from the
DEM while the other two folders contain the code for stream prole
analysis, spatial statistics and basin analysis. When the user runs
the TecDEM.m le all code in the sub-folders will be automatically
congured to work efciently. TecDEM consists of a graphical user
interface (GUI) as shown in Fig. 9. This GUI is organized into one
text box and six menus: File, Prepare, Display, Analyze, Results and
Help. The text box is used to record the log of processes and will be
constantly updated. This box will provide information about the
start and end of any process and can be saved for future references.
The following sub-sections provide an overview about software
usage for drainage network partitioning and stream prole analysis. Details concerning the use of the software can also be found in
the accompanying user guide.
A.1. File menu
The File menu is used for data handling. It provides functions for
the import and export of data in a variety of formats. Data handling
is carried out in native MATLAB les (n.mat). The import DEM
submenu is used to import the lled DEM in GEOTIFF format. The
location of the DEM le is set as the working and result directory for
the current project. Two les (n_INFO.mat and n_DEM.mat) are
automatically created and placed in the current working directory.
The denotes the project name specied by the DEM le name. The
Open Project sub-menu is used to open those projects, which have
been fully or partially processed in TecDEM. Settings from previous
computations are automatically loaded when a user loads an
existing project. The export sub-menu is used to export the grids
in n.HDR and vectors in n.SHP le formats.
The Process menu consists of commands for drainage preparation. The Flow Direction (D8) sub-menu performs the D8 owrouting algorithm on the DEM using a gridding approach. This
function will route the ow at each pixel location to the eight
possible adjacent cells. The Link File sub-menu will create a ow
link between each pixel using their ow directions. This will create
a n_FLOW.mat le which contains the linear indices for the inow
direction of each pixel. The Contributing Area sub-menu will
calculate the contributing area at each pixel and stores it
in n_AREA.mat. It uses a linking approach and calculates the
cumulative sum for each pixels ow to a neighboring pixel. The
Drainage Network sub-menu requires a CSA value (usually 1 km
km2) to remove the hillside effect. It saves the drainage network as
a structure consisting of stream segments along with their respective Strahler order in n_ADN.mat le. The watershed extraction submenu is used to extract drainage basins of specic Strahler order.
This type of drainage extraction is usually useful for drainage
system visualization as well as basin analysis (Shahzad and
Gloaguen, in press).
A.3. Display
The display menu is used not only to display the DEM, drainage
networks, and watersheds but is also used to select the individual
streams for stream prole analysis. When the data is displayed it
shows the stream extraction interface. This module consists of
three menus: Plot, Edit and Extract. The Plot sub-menu allows us to
change the base plot between DEM and extracted drainage network
at variable Strahler orders. The extract sub-menu is used to identify
the desired stream. The save stream command will save the stream
into stream data structure and is saved in a n_stream.mat le. Each
stream is assigned a unique id as shown in a list box on the right
hand side. When all desired streams have been extracted and saved
the edit menu can be used to format the data if desired. This menu
allows a user to delete a desired stream or subtract one stream from
another. The Subtract sub-menu is used to subtract streams with
similar drainage outlet in order to remove redundant data due to
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