DualTrust: A Distributed Trust Model for Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.; Dionysiou, Ioanna; Frincke, Deborah A.

2011-02-01

For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, trust management is important for the acceptance of the mobile agent sensors and to protect the system from malicious behavior by insiders and entities that have penetrated network defenses. This paper examines the trust relationships, evidence, and decisions in a representative system and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and still serves to protect the swarm. We then propose the DualTrust conceptual trust model. By addressing themore » autonomic manager’s bi-directional primary relationships in the ACS architecture, DualTrust is able to monitor the trustworthiness of the autonomic managers, protect the sensor swarm in a scalable manner, and provide global trust awareness for the orchestrating autonomic manager.« less

Reactive navigation for autonomous guided vehicle using neuro-fuzzy techniques

NASA Astrophysics Data System (ADS)

Cao, Jin; Liao, Xiaoqun; Hall, Ernest L.

1999-08-01

A Neuro-fuzzy control method for navigation of an Autonomous Guided Vehicle robot is described. Robot navigation is defined as the guiding of a mobile robot to a desired destination or along a desired path in an environment characterized by as terrain and a set of distinct objects, such as obstacles and landmarks. The autonomous navigate ability and road following precision are mainly influenced by its control strategy and real-time control performance. Neural network and fuzzy logic control techniques can improve real-time control performance for mobile robot due to its high robustness and error-tolerance ability. For a mobile robot to navigate automatically and rapidly, an important factor is to identify and classify mobile robots' currently perceptual environment. In this paper, a new approach of the current perceptual environment feature identification and classification, which are based on the analysis of the classifying neural network and the Neuro- fuzzy algorithm, is presented. The significance of this work lies in the development of a new method for mobile robot navigation.

Speed control for a mobile robot

NASA Astrophysics Data System (ADS)

Kolli, Kaylan C.; Mallikarjun, Sreeram; Kola, Krishnamohan; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a speed control for a modular autonomous mobile robot controller. The speed control of the traction motor is essential for safe operation of a mobile robot. The challenges of autonomous operation of a vehicle require safe, runaway and collision free operation. A mobile robot test-bed has been constructed using a golf cart base. The computer controlled speed control has been implemented and works with guidance provided by vision system and obstacle avoidance using ultrasonic sensors systems. A 486 computer through a 3- axis motion controller supervises the speed control. The traction motor is controlled via the computer by an EV-1 speed control. Testing of the system was done both in the lab and on an outside course with positive results. This design is a prototype and suggestions for improvements are also given. The autonomous speed controller is applicable for any computer controlled electric drive mobile vehicle.

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

NASA Technical Reports Server (NTRS)

Negrut, Dan; Mazhar, Hammad; Melanz, Daniel; Lamb, David; Jayakumar, Paramsothy; Letherwood, Michael; Jain, Abhinandan; Quadrelli, Marco

2012-01-01

This paper is concerned with the physics-based simulation of light tracked vehicles operating on rough deformable terrain. The focus is on small autonomous vehicles, which weigh less than 100 lb and move on deformable and rough terrain that is feature rich and no longer representable using a continuum approach. A scenario of interest is, for instance, the simulation of a reconnaissance mission for a high mobility lightweight robot where objects such as a boulder or a ditch that could otherwise be considered small for a truck or tank, become major obstacles that can impede the mobility of the light autonomous vehicle and negatively impact the success of its mission. Analyzing and gauging the mobility and performance of these light vehicles is accomplished through a modeling and simulation capability called Chrono::Engine. Chrono::Engine relies on parallel execution on Graphics Processing Unit (GPU) cards.

Teleautonomous guidance for mobile robots

NASA Technical Reports Server (NTRS)

Borenstein, J.; Koren, Y.

1990-01-01

Teleautonomous guidance (TG), a technique for the remote guidance of fast mobile robots, has been developed and implemented. With TG, the mobile robot follows the general direction prescribed by an operator. However, if the robot encounters an obstacle, it autonomously avoids collision with that obstacle while trying to match the prescribed direction as closely as possible. This type of shared control is completely transparent and transfers control between teleoperation and autonomous obstacle avoidance gradually. TG allows the operator to steer vehicles and robots at high speeds and in cluttered environments, even without visual contact. TG is based on the virtual force field (VFF) method, which was developed earlier for autonomous obstacle avoidance. The VFF method is especially suited to the accommodation of inaccurate sensor data (such as that produced by ultrasonic sensors) and sensor fusion, and allows the mobile robot to travel quickly without stopping for obstacles.

Developing operation algorithms for vision subsystems in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Shikhman, M. V.; Shidlovskiy, S. V.

2018-05-01

The paper analyzes algorithms for selecting keypoints on the image for the subsequent automatic detection of people and obstacles. The algorithm is based on the histogram of oriented gradients and the support vector method. The combination of these methods allows successful selection of dynamic and static objects. The algorithm can be applied in various autonomous mobile robots.

Theseus: tethered distributed robotics (TDR)

NASA Astrophysics Data System (ADS)

Digney, Bruce L.; Penzes, Steven G.

2003-09-01

The Defence Research and Development Canada's (DRDC) Autonomous Intelligent System's program conducts research to increase the independence and effectiveness of military vehicles and systems. DRDC-Suffield's Autonomous Land Systems (ALS) is creating new concept vehicles and autonomous control systems for use in outdoor areas, urban streets, urban interiors and urban subspaces. This paper will first give an overview of the ALS program and then give a specific description of the work being done for mobility in urban subspaces. Discussed will be the Theseus: Thethered Distributed Robotics (TDR) system, which will not only manage an unavoidable tether but exploit it for mobility and navigation. Also discussed will be the prototype robot called the Hedgehog, which uses conformal 3D mobility in ducts, sewer pipes, collapsed rubble voids and chimneys.

Towards Principled Experimental Study of Autonomous Mobile Robots

NASA Technical Reports Server (NTRS)

Gat, Erann

1995-01-01

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.

Autonomous mobile platform for enhanced situational awareness in Mass Casualty Incidents.

PubMed

Yang, Dongyi; Schafer, James; Wang, Sili; Ganz, Aura

2014-01-01

To enhance the efficiency of the search and rescue process of a Mass Casualty Incident, we introduce a low cost autonomous mobile platform. The mobile platform motion is controlled by an Android Smartphone mounted on a robot. The pictures and video captured by the Smartphone camera can significantly enhance the situational awareness of the incident commander leading to a more efficient search and rescue process. Moreover, the active RFID readers mounted on the mobile platform can improve the localization accuracy of victims in the disaster site in areas where the paramedics are not present, reducing the triage and evacuation time.

77 FR 36447 - Hazardous Waste Management System; Identification and Listing of Hazardous Waste

Federal Register 2010, 2011, 2012, 2013, 2014

2012-06-19

... the point of waste generation. C. How did ExxonMobil sample and analyze the data in this petition? To support its petition, ExxonMobil submitted: (1) Historical information on waste generation and management... North Landfarm underflow water twice during the first six months of waste generation. ExxonMobil would...

Towards Autonomous Inspection of Space Systems Using Mobile Robotic Sensor Platforms

NASA Technical Reports Server (NTRS)

Wong, Edmond; Saad, Ashraf; Litt, Jonathan S.

2007-01-01

The space transportation systems required to support NASA's Exploration Initiative will demand a high degree of reliability to ensure mission success. This reliability can be realized through autonomous fault/damage detection and repair capabilities. It is crucial that such capabilities are incorporated into these systems since it will be impractical to rely upon Extra-Vehicular Activity (EVA), visual inspection or tele-operation due to the costly, labor-intensive and time-consuming nature of these methods. One approach to achieving this capability is through the use of an autonomous inspection system comprised of miniature mobile sensor platforms that will cooperatively perform high confidence inspection of space vehicles and habitats. This paper will discuss the efforts to develop a small scale demonstration test-bed to investigate the feasibility of using autonomous mobile sensor platforms to perform inspection operations. Progress will be discussed in technology areas including: the hardware implementation and demonstration of robotic sensor platforms, the implementation of a hardware test-bed facility, and the investigation of collaborative control algorithms.

Tracked robot controllers for climbing obstacles autonomously

NASA Astrophysics Data System (ADS)

Vincent, Isabelle

2009-05-01

Research in mobile robot navigation has demonstrated some success in navigating flat indoor environments while avoiding obstacles. However, the challenge of analyzing complex environments to climb obstacles autonomously has had very little success due to the complexity of the task. Unmanned ground vehicles currently exhibit simple autonomous behaviours compared to the human ability to move in the world. This paper presents the control algorithms designed for a tracked mobile robot to autonomously climb obstacles by varying its tracks configuration. Two control algorithms are proposed to solve the autonomous locomotion problem for climbing obstacles. First, a reactive controller evaluates the appropriate geometric configuration based on terrain and vehicle geometric considerations. Then, a reinforcement learning algorithm finds alternative solutions when the reactive controller gets stuck while climbing an obstacle. The methodology combines reactivity to learning. The controllers have been demonstrated in box and stair climbing simulations. The experiments illustrate the effectiveness of the proposed approach for crossing obstacles.

Do mobile phones pose a potential risk to autonomic modulation of the heart?

PubMed

Barutcu, Irfan; Esen, Ali Metin; Kaya, Dayimi; Turkmen, Muhsin; Karakaya, Osman; Saglam, Mustafa; Melek, Mehmet; Çelik, Ataç; Kilit, Celal; Onrat, Ersel; Kirma, Cevat

2011-11-01

It has long been speculated that mobile phones may interact with the cardiac devices and thereby cardiovascular system may be a potential target for the electromagnetic fields emitted by the mobile phones. Therefore, the present study was designed to test possible effects of radiofrequency waves emitted by digital mobile phones on cardiac autonomic modulation by short-time heart rate variability (HRV) analysis. A total of 20 healthy young subjects were included to the study. All participants were rested in supine position at least for 15 minutes on a comfortable bed, and then time and frequency domain HRV parameters were recorded at baseline in supine position for 5 minutes. After completion of baseline records, by using a mobile GSM (Global System for Mobile Communication) phone, HRV parameters were recorded at turned off mode, at turned on mode, and at calling mode over 5 minutes periods for each stage. Neither time nor frequency domain HRV parameters altered significantly during off mode compare to their baseline values. Also, neither time nor frequency domain HRV parameters altered significantly during turned on and calling mode compared to their baseline values. Short-time exposure to electromagnetic fields emitted by mobile phone does not affect cardiac autonomic modulation in healthy subjects.

Current Fear of Crime, Sense of Community, and Loneliness in Italian Adolescents: The Role of Autonomous Mobility and Play during Childhood

ERIC Educational Resources Information Center

Prezza, Miretta; Pacilli, Maria Giuseppina

2007-01-01

A structural equation model was used to examine the role of autonomous mobility and play in public and semipublic places in childhood to predict adolescents' sense of community, fear of crime, and, through the mediation of these two last psychosocial factors, feelings of loneliness. Participants included 789 Italian students (469 females and 320…

SLAM algorithm applied to robotics assistance for navigation in unknown environments.

PubMed

Cheein, Fernando A Auat; Lopez, Natalia; Soria, Carlos M; di Sciascio, Fernando A; Pereira, Fernando Lobo; Carelli, Ricardo

2010-02-17

The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation.

Dual stage potential field method for robotic path planning

NASA Astrophysics Data System (ADS)

Singh, Pradyumna Kumar; Parida, Pramod Kumar

2018-04-01

Path planning for autonomous mobile robots are the root for all autonomous mobile systems. Various methods are used for optimization of path to be followed by the autonomous mobile robots. Artificial potential field based path planning method is one of the most used methods for the researchers. Various algorithms have been proposed using the potential field approach. But in most of the common problems are encounters while heading towards the goal or target. i.e. local minima problem, zero potential regions problem, complex shaped obstacles problem, target near obstacle problem. In this paper we provide a new algorithm in which two types of potential functions are used one after another. The former one is to use to get the probable points and later one for getting the optimum path. In this algorithm we consider only the static obstacle and goal.

Millimeter-scale MEMS enabled autonomous systems: system feasibility and mobility

NASA Astrophysics Data System (ADS)

Pulskamp, Jeffrey S.

2012-06-01

Millimeter-scale robotic systems based on highly integrated microelectronics and micro-electromechanical systems (MEMS) could offer unique benefits and attributes for small-scale autonomous systems. This extreme scale for robotics will naturally constrain the realizable system capabilities significantly. This paper assesses the feasibility of developing such systems by defining the fundamental design trade spaces between component design variables and system level performance parameters. This permits the development of mobility enabling component technologies within a system relevant context. Feasible ranges of system mass, required aerodynamic power, available battery power, load supported power, flight endurance, and required leg load bearing capability are presented for millimeter-scale platforms. The analysis illustrates the feasibility of developing both flight capable and ground mobile millimeter-scale autonomous systems while highlighting the significant challenges that must be overcome to realize their potential.

Interoceptive threat leads to defensive mobilization in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Holtz, Katharina; Michalowski, Jaroslaw M; Hamm, Alfons O

2011-06-01

To study defensive mobilization elicited by the exposure to interoceptive arousal sensations, we exposed highly anxiety sensitive students to a symptom provocation task. Symptom reports, autonomic arousal, and the startle eyeblink response were monitored during guided hyperventilation and a recovery period in 26 highly anxiety sensitive persons and 22 controls. Normoventilation was used as a non-provocative comparison condition. Hyperventilation led to autonomic arousal and a marked increase in somatic symptoms. While high and low anxiety sensitive persons did not differ in their defensive activation during hyperventilation, group differences were detected during early recovery. Highly anxiety sensitive students exhibited a potentiation of startle response magnitudes and increased autonomic arousal after hyper- as compared to after normoventilation, indicating defensive mobilization evoked by the prolonged presence of feared somatic sensations. Copyright © 2010 Society for Psychophysiological Research.

From Autonomous Robots to Artificial Ecosystems

NASA Astrophysics Data System (ADS)

Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

During the past few years, starting from the two mainstream fields of Ambient Intelligence [2] and Robotics [17], several authors recognized the benefits of the socalled Ubiquitous Robotics paradigm. According to this perspective, mobile robots are no longer autonomous, physically situated and embodied entities adapting themselves to a world taliored for humans: on the contrary, they are able to interact with devices distributed throughout the environment and get across heterogeneous information by means of communication technologies. Information exchange, coupled with simple actuation capabilities, is meant to replace physical interaction between robots and their environment. Two benefits are evident: (i) smart environments overcome inherent limitations of mobile platforms, whereas (ii) mobile robots offer a mobility dimension unknown to smart environments.

The Personal Satellite Assistant: An Internal Spacecraft Autonomous Mobile Monitor

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

This paper presents an overview of the research and development effort at the NASA Ames Research Center to create an internal spacecraft autonomous mobile monitor capable of performing intra-vehicular sensing activities by autonomously navigating onboard the International Space Station. We describe the capabilities, mission roles, rationale, high-level functional requirements, and design challenges for an autonomous mobile monitor. The rapid prototyping design methodology used, in which five prototypes of increasing fidelity are designed, is described as well as the status of these prototypes, of which two are operational and being tested, and one is actively being designed. The physical test facilities used to perform ground testing are briefly described, including a micro-gravity test facility that permits a prototype to propel itself in 3 dimensions with 6 degrees-of-freedom as if it were in an micro-gravity environment. We also describe an overview of the autonomy framework and its components including the software simulators used in the development process. Sample mission test scenarios are also described. The paper concludes with a discussion of future and related work followed by the summary.

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

76 FR 74709 - Hazardous Waste Management System; Identification and Listing of Hazardous Waste; Final Exclusion

Federal Register 2010, 2011, 2012, 2013, 2014

2011-12-01

... stated that ExxonMobil's waste is not subject to the LDR standards, because the waste was not delisted at the point of generation, ExxonMobil may submit a variance to the treatment standards as described in... granting a petition submitted by ExxonMobil Refining and Supply Company--Beaumont Refinery (Beaumont...

An Analysis of Navigation Algorithms for Smartphones Using J2ME

NASA Astrophysics Data System (ADS)

Santos, André C.; Tarrataca, Luís; Cardoso, João M. P.

Embedded systems are considered one of the most potential areas for future innovations. Two embedded fields that will most certainly take a primary role in future innovations are mobile robotics and mobile computing. Mobile robots and smartphones are growing in number and functionalities, becoming a presence in our daily life. In this paper, we study the current feasibility of a smartphone to execute navigation algorithms. As a test case, we use a smartphone to control an autonomous mobile robot. We tested three navigation problems: Mapping, Localization and Path Planning. For each of these problems, an algorithm has been chosen, developed in J2ME, and tested on the field. Results show the current mobile Java capacity for executing computationally demanding algorithms and reveal the real possibility of using smartphones for autonomous navigation.

Autonomous mobile robot teams

NASA Technical Reports Server (NTRS)

Agah, Arvin; Bekey, George A.

1994-01-01

This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

Mobile Autonomous Humanoid Assistant

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.

2004-01-01

A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

DualTrust: A Trust Management Model for Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.

Trust management techniques must be adapted to the unique needs of the application architectures and problem domains to which they are applied. For autonomic computing systems that utilize mobile agents and ant colony algorithms for their sensor layer, certain characteristics of the mobile agent ant swarm -- their lightweight, ephemeral nature and indirect communication -- make this adaptation especially challenging. This thesis looks at the trust issues and opportunities in swarm-based autonomic computing systems and finds that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust management problem becomes much more scalable and stillmore » serves to protect the swarm. After analyzing the applicability of trust management research as it has been applied to architectures with similar characteristics, this thesis specifies the required characteristics for trust management mechanisms used to monitor the trustworthiness of entities in a swarm-based autonomic computing system and describes a trust model that meets these requirements.« less

SLAM algorithm applied to robotics assistance for navigation in unknown environments

PubMed Central

2010-01-01

Background The combination of robotic tools with assistance technology determines a slightly explored area of applications and advantages for disability or elder people in their daily tasks. Autonomous motorized wheelchair navigation inside an environment, behaviour based control of orthopaedic arms or user's preference learning from a friendly interface are some examples of this new field. In this paper, a Simultaneous Localization and Mapping (SLAM) algorithm is implemented to allow the environmental learning by a mobile robot while its navigation is governed by electromyographic signals. The entire system is part autonomous and part user-decision dependent (semi-autonomous). The environmental learning executed by the SLAM algorithm and the low level behaviour-based reactions of the mobile robot are robotic autonomous tasks, whereas the mobile robot navigation inside an environment is commanded by a Muscle-Computer Interface (MCI). Methods In this paper, a sequential Extended Kalman Filter (EKF) feature-based SLAM algorithm is implemented. The features correspond to lines and corners -concave and convex- of the environment. From the SLAM architecture, a global metric map of the environment is derived. The electromyographic signals that command the robot's movements can be adapted to the patient's disabilities. For mobile robot navigation purposes, five commands were obtained from the MCI: turn to the left, turn to the right, stop, start and exit. A kinematic controller to control the mobile robot was implemented. A low level behavior strategy was also implemented to avoid robot's collisions with the environment and moving agents. Results The entire system was tested in a population of seven volunteers: three elder, two below-elbow amputees and two young normally limbed patients. The experiments were performed within a closed low dynamic environment. Subjects took an average time of 35 minutes to navigate the environment and to learn how to use the MCI. The SLAM results have shown a consistent reconstruction of the environment. The obtained map was stored inside the Muscle-Computer Interface. Conclusions The integration of a highly demanding processing algorithm (SLAM) with a MCI and the communication between both in real time have shown to be consistent and successful. The metric map generated by the mobile robot would allow possible future autonomous navigation without direct control of the user, whose function could be relegated to choose robot destinations. Also, the mobile robot shares the same kinematic model of a motorized wheelchair. This advantage can be exploited for wheelchair autonomous navigation. PMID:20163735

Advances in Simultaneous Localization and Mapping in Confined Underwater Environments Using Sonar and Optical Imaging

DTIC Science & Technology

2016-01-01

satisfying journeys in my life. I would like to thank Ryan for his guidance through the truly exciting world of mobile robotics and robotic perception. Thank...Multi-session and Multi-robot SLAM . . . . . . . . . . . . . . . 15 1.3.3 Robust Techniques for SLAM Backends . . . . . . . . . . . . . . 18 1.4 A...sonar. xv CHAPTER 1 Introduction 1.1 The Importance of SLAM in Autonomous Robotics Autonomous mobile robots are becoming a promising aid in a wide

Impact of Contextuality on Mobile Learning Acceptance: An Empirical Study Based on a Language Learning App

ERIC Educational Resources Information Center

Böhm, Stephan; Constantine, Georges Philip

2015-01-01

The mobility of both the device and the learner will determine how mobile learning takes place. Mobile learning offers new educational opportunities that allow for autonomous, personalized and context aware learning. This paper focuses on contextualized features for mobile language learning apps. Context-awareness is seen as a particularly…

[Factors related to lack of autonomous mobility during out-of-hospital emergency care].

PubMed

Montero García, Antonio; Morales Asencio, José Miguel; Trujillo Illescas, Juan Alfonso; Martí, Celia

2016-10-01

To explore the frequency of lack of autonomous mobility and factors related to it in patients requiring prehospital emergency services. Cross-sectional, observational, retrospective analysis. We identified a stratified random sample of patients attended by the public health emergency service of Andalusia in 2011. The sample included 280 patients with a mean age of 56 years; 63.9% were men. The majority were attended in homes and streets or other public spaces. Most were transported to a hospital in a mobile intensive care unit. The reasons for calling the service were most often related to chest pain or injuries. Loss of autonomous mobility was seen more often in men, when care was required in a public area, when there were injuries or altered vital signs, and when the patient required transport in a mobile intensive care unit. Dependence on others was significantly associated with the presence of a prior condition before the patient required transport (odds ratio [OR], 3.27; 95% CI, 1.60-6.33), the use of immobilization strategies (OR, 7.71; 95% CI, 1.7-34.96], and the use of ambulance transport (OR, 4.35; 95% CI, 1.63-11.60]. The following 2 variables were at the limit of significance: pain during the care process (OR, 1.13; 95% CI, 0.99-1.29) and age (OR, 0.46; 95% CI, 0.97-1.01). The profile we identified for patients and situations in which patients cannot move autonomously during prehospital emergency care can be used to plan preventive strategies to ensure patient safety.

Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2014-01-01

Access to Space, Chemical Propulsion, Advanced Propulsion, In-Situ Resource Utilization, Entry, Descent, Landing and Ascent, Humans and Robots Working Together, Autonomous Operations, In-Flight Maintenance, Exploration Mobility, Power Generation, Life Support, Space Suits, Microgravity Countermeasures, Autonomous Medicine, Environmental Control.

Integration for navigation on the UMASS mobile perception lab

NASA Technical Reports Server (NTRS)

Draper, Bruce; Fennema, Claude; Rochwerger, Benny; Riseman, Edward; Hanson, Allen

1994-01-01

Integration of real-time visual procedures for use on the Mobile Perception Lab (MPL) was presented. The MPL is an autonomous vehicle designed for testing visually guided behavior. Two critical areas of focus in the system design were data storage/exchange and process control. The Intermediate Symbolic Representation (ISR3) supported data storage and exchange, and the MPL script monitor provided process control. Resource allocation, inter-process communication, and real-time control are difficult problems which must be solved in order to construct strong autonomous systems.

Integrated Microsensors for Autonomous Microrobots

DOE Office of Scientific and Technical Information (OSTI.GOV)

ADKINS, DOUGLAS R.; BYRNE, RAYMOND H.; HELLER, EDWIN J.

2003-02-01

This report describes the development of a miniature mobile microrobot device and several microsystems needed to create a miniature microsensor delivery platform. This work was funded under LDRD No.10785, entitled, ''Integrated Microsensors for Autonomous Microrobots''. The approach adopted in this project was to develop a mobile platform, to which would be attached wireless RF remote control and data acquisition in addition to various microsensors. A modular approach was used to produce a versatile microrobot platform and reduce power consumption and physical size.

Evaluation of a Mobile Platform for Proof-of-Concept Autonomous Site Selection and Preparation

NASA Astrophysics Data System (ADS)

Gammell, Jonathan

A mobile robotic platform for Autonomous Site Selection and Preparation (ASSP) was developed for an analogue deployment to Mauna Kea, Hawai`i. A team of rovers performed an autonomous Ground Penetrating Radar (GPR) survey and constructed a level landing pad. They used interchangeable payloads that allowed the GPR and blade to be easily exchanged. Autonomy was accomplished by integrating the individual hardware devices with software based on the ArgoSoft framework previously developed at UTIAS. The rovers were controlled by an on-board netbook. The successes and failures of the devices and software modules are evaluated within. Recommendations are presented to address problems discovered during the deployment and to guide future research on the platform.

Metals bioleaching from electronic waste by Chromobacterium violaceum and Pseudomonads sp.

PubMed

Pradhan, Jatindra Kumar; Kumar, Sudhir

2012-11-01

These days, electronic waste needs to be taken into consideration due to its materials content, but due to the heterogeneity of the metals present, reprocessing of electronic waste is quite limited. The bioleaching of metals from electronic waste was investigated by using cyanogenic bacterial strains (Chromobacterium violaceum, Pseudomonas aeruginosa and Pseudomonas fluorescens). A two-step bioleaching process was followed under cyanide-forming conditions for maximum metals mobilization. Both single and mixed cultures of cyanogenic bacteria were able to mobilize metals from electronic waste with different efficiencies. In all the flasks in which high metal mobilizations were observed, the consequent biomass productions were also high. Pseudomonas aeruginosa was applied in the bioleaching process for the first time and this achieved its bioleaching ability of mobilization of metals from electronic waste. Chromobacterium violaceum as a single culture and a mixture of C. violaceum and P. aeruginosa exhibited maximum metal mobilization. Chromobacterium violaceum was capable of leaching more than 79, 69, 46, 9 and 7% of Cu, Au, Zn, Fe and Ag, respectively at an electronic waste concentration of 1% w/v. Moreover, the mixture of C. violaceum and P. aeruginosa exhibited metals leaching of more than 83, 73, 49, 13 and 8% of total Cu, Au, Zn, Fe, and Ag, respectively. Precious metals were mobilized through bioleaching which might be considered as an industrial application for recycling of electronic waste in the near future.

Rice-obot 1: An intelligent autonomous mobile robot

NASA Technical Reports Server (NTRS)

Defigueiredo, R.; Ciscon, L.; Berberian, D.

1989-01-01

The Rice-obot I is the first in a series of Intelligent Autonomous Mobile Robots (IAMRs) being developed at Rice University's Cooperative Intelligent Mobile Robots (CIMR) lab. The Rice-obot I is mainly designed to be a testbed for various robotic and AI techniques, and a platform for developing intelligent control systems for exploratory robots. Researchers present the need for a generalized environment capable of combining all of the control, sensory and knowledge systems of an IAMR. They introduce Lisp-Nodes as such a system, and develop the basic concepts of nodes, messages and classes. Furthermore, they show how the control system of the Rice-obot I is implemented as sub-systems in Lisp-Nodes.

Dynamic multisensor fusion for mobile robot navigation in an indoor environment

NASA Astrophysics Data System (ADS)

Jin, Taeseok; Lee, Jang-Myung; Luk, Bing L.; Tso, Shiu K.

2001-10-01

In this study, as the preliminary step for developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, CCD camera dn IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the intelligent service robot project at the Centre of Intelligent Design, Automation & Manufacturing (CIDAM). We will conclude by discussing some possible future extensions of the project. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results form the simulations run.

Embodied Computation: An Active-Learning Approach to Mobile Robotics Education

ERIC Educational Resources Information Center

Riek, L. D.

2013-01-01

This paper describes a newly designed upper-level undergraduate and graduate course, Autonomous Mobile Robots. The course employs active, cooperative, problem-based learning and is grounded in the fundamental computational problems in mobile robotics defined by Dudek and Jenkin. Students receive a broad survey of robotics through lectures, weekly…

Mobile Phones-An asset or a liability: A study based on characterization and assessment of metals in waste mobile phone components using leaching tests.

PubMed

Hira, Meenakshi; Yadav, Sudesh; Morthekai, P; Linda, Anurag; Kumar, Sushil; Sharma, Anupam

2018-01-15

The prolonged use of old fashioned gadgets, especially mobile phones, is declining readily with the advancement in technology which ultimately lead to generation of e-waste. The present study investigates the concentrations of nine metals (Ba, Cd, Cr, Cu, Fe, Ni, Pb, Sn, and Zn) in various components of the mobile phones using Toxicity Characteristic Leaching Procedure (TCLP), Waste Extraction Test (WET) and Synthetic Precipitation Leaching Procedure (SPLP). The results were compared with the threshold limits for hazardous waste defined by the California Department of Toxic Substances Control (CDTSC) and United States Environmental Protection Agency (USEPA). The average concentrations of metals were found high in PWBs. WET was found relatively aggressive as compared to TCLP and SPLP. Redundancy analysis (RDA) suggests that part of mobile, extraction test, manufacturer, mobile model and year of manufacturing explain 34.66% of the variance. According to the present study, waste mobile phones must be considered as hazardous due to the potential adverse impact of toxic metals on human health and environment. However, mobile phones can be an asset as systematic extraction and recycling could reduce the demand of primary metals mining and conserve the natural resources. Copyright © 2017 Elsevier B.V. All rights reserved.

Robust Planning for Autonomous Navigation of Mobile Robots in Unstructured, Dynamic Environments: An LDRD Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

EISLER, G. RICHARD

This report summarizes the analytical and experimental efforts for the Laboratory Directed Research and Development (LDRD) project entitled ''Robust Planning for Autonomous Navigation of Mobile Robots In Unstructured, Dynamic Environments (AutoNav)''. The project goal was to develop an algorithmic-driven, multi-spectral approach to point-to-point navigation characterized by: segmented on-board trajectory planning, self-contained operation without human support for mission duration, and the development of appropriate sensors and algorithms to navigate unattended. The project was partially successful in achieving gains in sensing, path planning, navigation, and guidance. One of three experimental platforms, the Minimalist Autonomous Testbed, used a repetitive sense-and-re-plan combination to demonstratemore » the majority of elements necessary for autonomous navigation. However, a critical goal for overall success in arbitrary terrain, that of developing a sensor that is able to distinguish true obstacles that need to be avoided as a function of vehicle scale, still needs substantial research to bring to fruition.« less

Does autonomization of public hospitals and exposure to market pressure complement or debilitate social health insurance systems? Evidence from a low-income country.

PubMed

Sepehri, Ardeshir

2014-01-01

Granting public hospitals greater autonomy and creating organizational arrangements that mimic the private sector and encourage competition is often promoted as a way to increase efficiency and public accountability and to improve quality of care at these facilities. The existence of good-quality health infrastructure, in turn, encourages the population to join and support the social health insurance system and achieve universal coverage. This article provides a critical review of hospital autonomization, using Vietnam's experience to assess the influence of hospital autonomy on the sustainability of Vietnam's social health insurance. The evidence suggests that a reform process based on greater autonomy of resource mobilization and on the retention and use of own-source revenues can create perverse incentives among managers and health care providers, leading to the development of a two-tiered provision of clinical care, provider-induced supply of an inefficient service mix, a high degree of duplication, wasteful investment, and cost escalation. Rather than complementing social health insurance and helping the country to achieve universal coverage, granting public hospitals greater autonomy that mimics the private sector may indeed undermine the legitimacy and sustainability of social health insurance as health care costs escalate and higher quality of care remains elusive.

Material flows of mobile phones and accessories in Nigeria: Environmental implications and sound end-of-life management options

DOE Office of Scientific and Technical Information (OSTI.GOV)

Osibanjo, Oladele; Nnorom, Innocent Chidi

Presently, Nigeria is one of the fastest growing Telecom markets in the world. The country's teledensity increased from a mere 0.4 in 1999 to 10 in 2005 following the liberalization of the Telecom sector in 2001. More than 25 million new digital mobile lines have been connected by June 2006. Large quantities of mobile phones and accessories including secondhand and remanufactured products are being imported to meet the pent-up demand. This improvement in mobile telecom services resulted in the preference of mobile telecom services to fixed lines. Consequently, the contribution of fixed lines decreased from about 95% in year 2000more » to less than 10% in March 2005. This phenomenal progress in information technology has resulted in the generation of large quantities of electronic waste (e-waste) in the country. Abandoned fixed line telephone sets estimated at 120,000 units are either disposed or stockpiled. Increasing quantities of waste mobile phones estimated at 8 million units by 2007, and accessories will be generated. With no material recovery facility for e-waste and/or appropriate solid waste management infrastructure in place, these waste materials end up in open dumps and unlined landfills. These practices create the potential for the release of toxic metals and halocarbons from batteries, printed wiring boards, liquid crystal display and plastic housing units. This paper presents an overview of the developments in the Nigerian Telecom sector, the material in-flow of mobile phones, and the implications of the management practices for wastes from the Telecom sector in the country.« less

AltiVec performance increases for autonomous robotics for the MARSSCAPE architecture program

NASA Astrophysics Data System (ADS)

Gothard, Benny M.

2002-02-01

One of the main tall poles that must be overcome to develop a fully autonomous vehicle is the inability of the computer to understand its surrounding environment to a level that is required for the intended task. The military mission scenario requires a robot to interact in a complex, unstructured, dynamic environment. Reference A High Fidelity Multi-Sensor Scene Understanding System for Autonomous Navigation The Mobile Autonomous Robot Software Self Composing Adaptive Programming Environment (MarsScape) perception research addresses three aspects of the problem; sensor system design, processing architectures, and algorithm enhancements. A prototype perception system has been demonstrated on robotic High Mobility Multi-purpose Wheeled Vehicle and All Terrain Vehicle testbeds. This paper addresses the tall pole of processing requirements and the performance improvements based on the selected MarsScape Processing Architecture. The processor chosen is the Motorola Altivec-G4 Power PC(PPC) (1998 Motorola, Inc.), a highly parallized commercial Single Instruction Multiple Data processor. Both derived perception benchmarks and actual perception subsystems code will be benchmarked and compared against previous Demo II-Semi-autonomous Surrogate Vehicle processing architectures along with desktop Personal Computers(PC). Performance gains are highlighted with progress to date, and lessons learned and future directions are described.

Even parasites have parasites: oscillatory population dynamics of mobile genetic elements in your genome

NASA Astrophysics Data System (ADS)

Xue, Chi; Goldenfeld, Nigel

Transposable elements (TEs), or transposons, are a class of mobile genetic elements that can either move or duplicate themselves in the genome, sometimes interfering with gene expression as a result. Some TEs can code all necessary enzymes for their transposition and are thus autonomous, while non-autonomous TEs are parasitic and must depend on the machinery of autonomous ones. I present and solve a stochastic model to describe the dynamics of non-autonomous/autonomous pairs of retrotransposons in the human genome that proliferate by a copy-and-paste mechanism. We predict noise-induced persistent oscillations in their copy numbers, analogous to predator-prey dynamics in an ecosystem. We discuss if it is experimentally feasible to measure these phenomena in the laboratory and to observe them over evolutionary time through bioinformatics. This work shows that it is fruitful to regard the genome as an ecosystem that is host to diverse interacting populations. This work was partially supported by the National Science Foundation through Grant No. PHY-1430124, and by the National Aeronautics and Space Administration Astrobiology Institute (NAI) under Cooperative Agreement No. NNA13AA91A.

Vision-Based Real-Time Traversable Region Detection for Mobile Robot in the Outdoors.

PubMed

Deng, Fucheng; Zhu, Xiaorui; He, Chao

2017-09-13

Environment perception is essential for autonomous mobile robots in human-robot coexisting outdoor environments. One of the important tasks for such intelligent robots is to autonomously detect the traversable region in an unstructured 3D real world. The main drawback of most existing methods is that of high computational complexity. Hence, this paper proposes a binocular vision-based, real-time solution for detecting traversable region in the outdoors. In the proposed method, an appearance model based on multivariate Gaussian is quickly constructed from a sample region in the left image adaptively determined by the vanishing point and dominant borders. Then, a fast, self-supervised segmentation scheme is proposed to classify the traversable and non-traversable regions. The proposed method is evaluated on public datasets as well as a real mobile robot. Implementation on the mobile robot has shown its ability in the real-time navigation applications.

Autonomous Navigation by a Mobile Robot

NASA Technical Reports Server (NTRS)

Huntsberger, Terrance; Aghazarian, Hrand

2005-01-01

ROAMAN is a computer program for autonomous navigation of a mobile robot on a long (as much as hundreds of meters) traversal of terrain. Developed for use aboard a robotic vehicle (rover) exploring the surface of a remote planet, ROAMAN could also be adapted to similar use on terrestrial mobile robots. ROAMAN implements a combination of algorithms for (1) long-range path planning based on images acquired by mast-mounted, wide-baseline stereoscopic cameras, and (2) local path planning based on images acquired by body-mounted, narrow-baseline stereoscopic cameras. The long-range path-planning algorithm autonomously generates a series of waypoints that are passed to the local path-planning algorithm, which plans obstacle-avoiding legs between the waypoints. Both the long- and short-range algorithms use an occupancy-grid representation in computations to detect obstacles and plan paths. Maps that are maintained by the long- and short-range portions of the software are not shared because substantial localization errors can accumulate during any long traverse. ROAMAN is not guaranteed to generate an optimal shortest path, but does maintain the safety of the rover.

Obstacle avoidance system with sonar sensing and fuzzy logic

NASA Astrophysics Data System (ADS)

Chiang, Wen-chuan; Kelkar, Nikhal; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of an obstacle avoidance system using sonar sensors for a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. The obstacle avoidance system is based on a micro-controller interfaced with multiple ultrasonic transducers. This micro-controller independently handles all timing and distance calculations and sends a distance measurement back to the computer via the serial line. This design yields a portable independent system. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous obstacle avoidance controller applicable for any mobile vehicle with only minor adaptations.

Autonomous mobile robot research using the HERMIES-III robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; Beckerman, M.; Spelt, P.F.

1989-01-01

This paper reports on the status and future directions in the research, development and experimental validation of intelligent control techniques for autonomous mobile robots using the HERMIES-III robot at the Center for Engineering Systems Advanced research (CESAR) at Oak Ridge National Laboratory (ORNL). HERMIES-III is the fourth robot in a series of increasingly more sophisticated and capable experimental test beds developed at CESAR. HERMIES-III is comprised of a battery powered, onmi-directional wheeled platform with a seven degree-of-freedom manipulator arm, video cameras, sonar range sensors, laser imaging scanner and a dual computer system containing up to 128 NCUBE nodes in hypercubemore » configuration. All electronics, sensors, computers, and communication equipment required for autonomous operation of HERMIES-III are located on board along with sufficient battery power for three to four hours of operation. The paper first provides a more detailed description of the HERMIES-III characteristics, focussing on the new areas of research and demonstration now possible at CESAR with this new test-bed. The initial experimental program is then described with emphasis placed on autonomous performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES- III). The paper concludes with a discussion of the integration problems and safety considerations necessarily arising from the set-up of an experimental program involving human-scale, multi-autonomous mobile robots performance. 10 refs., 3 figs.« less

Autonomous Trans-Antartic expeditions: an initiative for advancing planetary mobility system technology while addressing Earth science objectives in Antartica

NASA Technical Reports Server (NTRS)

Carsey, F.; Schenker, P.; Blamont, J.

2001-01-01

A workshop on Antartic Autonomous Scientific Vehicles and Traverses met at the National Geographic Society in February to discuss scientific objectives and benefits of the use of rovers such as are being developed for use in planetary exploration.

Navigation, behaviors, and control modes in an autonomous vehicle

NASA Astrophysics Data System (ADS)

Byler, Eric A.

1995-01-01

An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at Department of Energy sites. A 2D space of control modes was used that provides a combined view of reactive and planning approaches wherein a 2D situation space is defined by dimensions representing the predictability of the agent's task environment and the constraint imposed by its goals. In this sense selection of appropriate systems for planning, navigation, and control depends on the problem at hand. The IMSS vehicle navigation system is based on a combination of feature based motion, landmark sightings, and an a priori logical map of the mockup storage facility. Motion for the inspection activities are composed of different interactions of several available control modes, several obstacle avoidance modes, and several feature identification modes. Features used to drive these behaviors are both visual and acoustic.

Efficiency of a hybrid-type plasma-assisted fuel reformation system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Matveev, I.B.; Serbin, S.I.; Lux, S.M.

2008-12-15

The major advantages of a new plasma-assisted fuel reformation system are its cost effectiveness and technical efficiency. Applied Plasma Technologies has proposed its new highly efficient hybrid-type plasma-assisted system for organic fuel combustion and gasification. The system operates as a multimode multipurpose reactor in a wide range of plasma feedstock gases and turndown ratios. This system also has convenient and simultaneous feeding of several reagents in the reaction zone such as liquid fuels, coal, steam, and air. A special methodology has been developed for such a system in terms of heat balance evaluation and optimization. This methodology considers all existingmore » and possible energy streams, which could influence the system's efficiency. The developed hybrid-type plasma system could be suitable for combustion applications, mobile and autonomous small- to mid-size liquid fuel and coal gasification modules, hydrogen-rich gas generators, waste-processing facilities, and plasma chemical reactors.« less

Path planning in GPS-denied environments via collective intelligence of distributed sensor networks

NASA Astrophysics Data System (ADS)

Jha, Devesh K.; Chattopadhyay, Pritthi; Sarkar, Soumik; Ray, Asok

2016-05-01

This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.

Real-Time Modeling of Cross-Body Flow for Torpedo Tube Recovery of the Phoenix Autonomous Underwater Vehicle (AUV)

DTIC Science & Technology

1998-03-01

34Numerical Recipes in C," second edition, Cambridge University Press, Cambridge England, 1992. Marco, David , "Autonomous Control of Underwater...in the viewer. -202- LIST OF REFERENCES Ames, Andrea L., Nadeau, David R., Moreland, John L., VRML 2.0 Sourcebook, Second edition, John Wiley...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," AI-Based Mobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy, MJT/AAAI

Tank-automotive robotics

NASA Astrophysics Data System (ADS)

Lane, Gerald R.

1999-07-01

To provide an overview of Tank-Automotive Robotics. The briefing will contain program overviews & inter-relationships and technology challenges of TARDEC managed unmanned and robotic ground vehicle programs. Specific emphasis will focus on technology developments/approaches to achieve semi- autonomous operation and inherent chassis mobility features. Programs to be discussed include: DemoIII Experimental Unmanned Vehicle (XUV), Tactical Mobile Robotics (TMR), Intelligent Mobility, Commanders Driver Testbed, Collision Avoidance, International Ground Robotics Competition (ICGRC). Specifically, the paper will discuss unique exterior/outdoor challenges facing the IGRC competing teams and the synergy created between the IGRC and ongoing DoD semi-autonomous Unmanned Ground Vehicle and DoT Intelligent Transportation System programs. Sensor and chassis approaches to meet the IGRC challenges and obstacles will be shown and discussed. Shortfalls in performance to meet the IGRC challenges will be identified.

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks

PubMed Central

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-01

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage. PMID:28075364

A Social Potential Fields Approach for Self-Deployment and Self-Healing in Hierarchical Mobile Wireless Sensor Networks.

PubMed

González-Parada, Eva; Cano-García, Jose; Aguilera, Francisco; Sandoval, Francisco; Urdiales, Cristina

2017-01-09

Autonomous mobile nodes in mobile wireless sensor networks (MWSN) allow self-deployment and self-healing. In both cases, the goals are: (i) to achieve adequate coverage; and (ii) to extend network life. In dynamic environments, nodes may use reactive algorithms so that each node locally decides when and where to move. This paper presents a behavior-based deployment and self-healing algorithm based on the social potential fields algorithm. In the proposed algorithm, nodes are attached to low cost robots to autonomously navigate in the coverage area. The proposed algorithm has been tested in environments with and without obstacles. Our study also analyzes the differences between non-hierarchical and hierarchical routing configurations in terms of network life and coverage.

SyRoTek--Distance Teaching of Mobile Robotics

ERIC Educational Resources Information Center

Kulich, M.; Chudoba, J.; Kosnar, K.; Krajnik, T.; Faigl, J.; Preucil, L.

2013-01-01

E-learning is a modern and effective approach for training in various areas and at different levels of education. This paper gives an overview of SyRoTek, an e-learning platform for mobile robotics, artificial intelligence, control engineering, and related domains. SyRoTek provides remote access to a set of fully autonomous mobile robots placed in…

Research state-of-the-art of mobile robots in China

NASA Astrophysics Data System (ADS)

Wu, Lin; Zhao, Jinglun; Zhang, Peng; Li, Shiqing

1991-03-01

Several newly developed mobile robots in china are described in the paper. It includes masterslave telerobot sixleged robot biped walking robot remote inspection robot crawler moving robot and autonomous mobi le vehicle . Some relevant technology are also described.

The development of an assessment tool for the mobility of lightweight autonomous vehicles on coastal terrain

NASA Astrophysics Data System (ADS)

Worley, Marilyn E.; Ren, Ping; Sandu, Corina; Hong, Dennis

2007-04-01

This study focuses on developing an assessment tool for the performance prediction of lightweight autonomous vehicles with varying locomotion platforms on coastal terrain involves three segments. A table based on the House of Quality shows the relationships - high, low, or adverse - between mission profile requirements and general performance measures and geometries of vehicles under consideration for use. This table, when combined with known values for vehicle metrics, provides information for an index formula used to quantitatively compare the mobility of a user-chosen set of vehicles, regardless of their methods of locomotion. To study novel forms of locomotion, and to compare their mobility and performance with more traditional wheeled and tracked vehicles, several new autonomous vehicles - bipedal, self-excited dynamic tripedal, active spoke-wheel - are currently under development. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and models have been developed for heavy vehicles, the feasibility of extrapolating them to the analysis of light vehicles is still under analysis. wheeled all-terrain vehicle and a lightweight autonomous tracked vehicle have been tested for effects of sand gradation, vehicle speed, and vehicle payload on measures of pressure and sinkage in the contact patch, and preliminary analysis is presented on the sinkage of the wheeled all-terrain vehicle. These three segments - development of the comparison matrix and indexing function, modeling and development of novel forms of locomotion, and physical experimentation of lightweight tracked and wheeled vehicles on varying terrain types for terramechanic model validation - combine to give an overall picture of mobility that spans across different forms of locomotion.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

Colloidal mobilization of arsenic from mining-affected soils by surface runoff.

PubMed

Gomez-Gonzalez, Miguel Angel; Voegelin, Andreas; Garcia-Guinea, Javier; Bolea, Eduardo; Laborda, Francisco; Garrido, Fernando

2016-02-01

Scorodite-rich wastes left as a legacy of mining and smelting operations pose a threat to environmental health. Colloids formed by the weathering of processing wastes may control the release of arsenic (As) into surface waters. At a former mine site in Madrid (Spain), we investigated the mobilization of colloidal As by surface runoff from weathered processing wastes and from sediments in the bed of a draining creek and a downstream sedimentation-pond. Colloids mobilized by surface runoff during simulated rain events were characterized for their composition, structure and mode of As uptake using asymmetric flow field-flow fractionation coupled to inductively plasma mass spectrometry (AF4-ICP-MS) and X-ray absorption spectroscopy (XAS) at the As and Fe K-edges. Colloidal scorodite mobilized in surface runoff from the waste pile is acting as a mobile As carrier. In surface runoff from the river bed and the sedimentation pond, ferrihydrite was identified as the dominant As-bearing colloidal phase. The results from this study suggest that mobilization of As-bearing colloids by surface runoff may play an important role in the dispersion of As from metallurgical wastes deposited above ground and needs to be considered in risk assessment. Copyright © 2015 Elsevier Ltd. All rights reserved.

Proceedings of the 1989 CESAR/CEA (Center for Engineering Systems Advanced Research/Commissariat a l'Energie Atomique) workshop on autonomous mobile robots (May 30--June 1, 1989)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harber, K.S.; Pin, F.G.

1990-03-01

The US DOE Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) and the Commissariat a l'Energie Atomique's (CEA) Office de Robotique et Productique within the Directorat a la Valorization are working toward a long-term cooperative agreement and relationship in the area of Intelligent Systems Research (ISR). This report presents the proceedings of the first CESAR/CEA Workshop on Autonomous Mobile Robots which took place at ORNL on May 30, 31 and June 1, 1989. The purpose of the workshop was to present and discuss methodologies and algorithms under development at the two facilities in themore » area of perception and navigation for autonomous mobile robots in unstructured environments. Experimental demonstration of the algorithms and comparison of some of their features were proposed to take place within the framework of a previously mutually agreed-upon demonstration scenario or base-case.'' The base-case scenario described in detail in Appendix A, involved autonomous navigation by the robot in an a priori unknown environment with dynamic obstacles, in order to reach a predetermined goal. From the intermediate goal location, the robot had to search for and locate a control panel, move toward it, and dock in front of the panel face. The CESAR demonstration was successfully accomplished using the HERMIES-IIB robot while subsets of the CEA demonstration performed using the ARES robot simulation and animation system were presented. The first session of the workshop focused on these experimental demonstrations and on the needs and considerations for establishing benchmarks'' for testing autonomous robot control algorithms.« less

Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

NASA Technical Reports Server (NTRS)

Quraishi, Naveed (Inventor)

1996-01-01

An autonomous navigation system for a mobile vehicle arranged to move within an environment includes a plurality of sensors arranged on the vehicle and at least one neural network including an input layer coupled to the sensors, a hidden layer coupled to the input layer, and an output layer coupled to the hidden layer. The neural network produces output signals representing respective positions of the vehicle, such as the X coordinate, the Y coordinate, and the angular orientation of the vehicle. A plurality of patch locations within the environment are used to train the neural networks to produce the correct outputs in response to the distances sensed.

Context recognition and situation assessment in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Yavnai, Arie

1993-05-01

The capability to recognize the operating context and to assess the situation in real-time is needed, if a high functionality autonomous mobile robot has to react properly and effectively to continuously changing situations and events, either external or internal, while the robot is performing its assigned tasks. A new approach and architecture for context recognition and situation assessment module (CORSA) is presented in this paper. CORSA is a multi-level information processing module which consists of adaptive decision and classification algorithms. It performs dynamic mapping from the data space to the context space, and dynamically decides on the context class. Learning mechanism is employed to update the decision variables so as to minimize the probability of misclassification. CORSA is embedded within the Mission Manager module of the intelligent autonomous hyper-controller (IAHC) of the mobile robot. The information regarding operating context, events and situation is then communicated to other modules of the IAHC where it is used to: (a) select the appropriate action strategy; (b) support the processes to arbitration and conflict resolution between reflexive behaviors and reasoning-driven behaviors; (c) predict future events and situations; and (d) determine criteria and priorities for planning, replanning, and decision making.

Non-destructive inspection in industrial equipment using robotic mobile manipulation

NASA Astrophysics Data System (ADS)

Maurtua, Iñaki; Susperregi, Loreto; Ansuategui, Ander; Fernández, Ane; Ibarguren, Aitor; Molina, Jorge; Tubio, Carlos; Villasante, Cristobal; Felsch, Torsten; Pérez, Carmen; Rodriguez, Jorge R.; Ghrissi, Meftah

2016-05-01

MAINBOT project has developed service robots based applications to autonomously execute inspection tasks in extensive industrial plants in equipment that is arranged horizontally (using ground robots) or vertically (climbing robots). The industrial objective has been to provide a means to help measuring several physical parameters in multiple points by autonomous robots, able to navigate and climb structures, handling non-destructive testing sensors. MAINBOT has validated the solutions in two solar thermal plants (cylindrical-parabolic collectors and central tower), that are very demanding from mobile manipulation point of view mainly due to the extension (e.g. a thermal solar plant of 50Mw, with 400 hectares, 400.000 mirrors, 180 km of absorber tubes, 140m height tower), the variability of conditions (outdoor, day-night), safety requirements, etc. Once the technology was validated in simulation, the system was deployed in real setups and different validation tests carried out. In this paper two of the achievements related with the ground mobile inspection system are presented: (1) Autonomous navigation localization and planning algorithms to manage navigation in huge extensions and (2) Non-Destructive Inspection operations: thermography based detection algorithms to provide automatic inspection abilities to the robots.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

Evaluating driver reactions to new vehicle technologies intended to increase safety and mobility across the lifespan.

DOT National Transportation Integrated Search

2013-05-01

Personal vehicle manufactures are introducing a wide range of new technologies that are : intended to increase the safety, comfort, and mobility of drivers of all ages. Examples range from : semi-autonomous technologies such as adaptive cruise contro...

Peer-to-peer model for the area coverage and cooperative control of mobile sensor networks

NASA Astrophysics Data System (ADS)

Tan, Jindong; Xi, Ning

2004-09-01

This paper presents a novel model and distributed algorithms for the cooperation and redeployment of mobile sensor networks. A mobile sensor network composes of a collection of wireless connected mobile robots equipped with a variety of sensors. In such a sensor network, each mobile node has sensing, computation, communication, and locomotion capabilities. The locomotion ability enhances the autonomous deployment of the system. The system can be rapidly deployed to hostile environment, inaccessible terrains or disaster relief operations. The mobile sensor network is essentially a cooperative multiple robot system. This paper first presents a peer-to-peer model to define the relationship between neighboring communicating robots. Delaunay Triangulation and Voronoi diagrams are used to define the geometrical relationship between sensor nodes. This distributed model allows formal analysis for the fusion of spatio-temporal sensory information of the network. Based on the distributed model, this paper discusses a fault tolerant algorithm for autonomous self-deployment of the mobile robots. The algorithm considers the environment constraints, the presence of obstacles and the nonholonomic constraints of the robots. The distributed algorithm enables the system to reconfigure itself such that the area covered by the system can be enlarged. Simulation results have shown the effectiveness of the distributed model and deployment algorithms.

75 FR 71559 - Hazardous Waste Management System; Identification and Listing of Hazardous Waste; Withdrawal of...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-24

...Mobil Refining and Supply Company-- Beaumont Refinery, published on October 1, 2010. DATES: Effective...: Because EPA received adverse comments, we are withdrawing the direct final exclusion for ExxonMobil...

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: i) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; To study the fine structure of insect flight trajectories with in order to better understand the characteristics of flight control, orientation and navigation.

Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

NASA Technical Reports Server (NTRS)

Srinivasan, Mandyam V.

1999-01-01

The aims of the project were to use a high-speed digital video camera to pursue two questions: (1) To explore the influence of temporal imaging constraints on the performance of vision systems for autonomous mobile robots; (2) To study the fine structure of insect flight trajectories in order to better understand the characteristics of flight control, orientation and navigation.

Automatic detection and classification of obstacles with applications in autonomous mobile robots

NASA Astrophysics Data System (ADS)

Ponomaryov, Volodymyr I.; Rosas-Miranda, Dario I.

2016-04-01

Hardware implementation of an automatic detection and classification of objects that can represent an obstacle for an autonomous mobile robot using stereo vision algorithms is presented. We propose and evaluate a new method to detect and classify objects for a mobile robot in outdoor conditions. This method is divided in two parts, the first one is the object detection step based on the distance from the objects to the camera and a BLOB analysis. The second part is the classification step that is based on visuals primitives and a SVM classifier. The proposed method is performed in GPU in order to reduce the processing time values. This is performed with help of hardware based on multi-core processors and GPU platform, using a NVIDIA R GeForce R GT640 graphic card and Matlab over a PC with Windows 10.

Mobilization of Ag, heavy metals and Eu from the waste deposit of the Las Herrerias mine (Almería, SE Spain)

NASA Astrophysics Data System (ADS)

Navarro, A.; Cardellach, E.

2009-02-01

We studied the mobility of silver, heavy metals and europium in waste from the Las Herrerías mine in Almería (SE Spain). The most abundant primary mineral phases in the mine wastes are hematite, hydrohematite, barite, quartz, muscovite, anorthite, calcite and phillipsite. The minor phase consisted of primary minerals including ankerite, cinnabar, digenite, magnesite, stannite, siderite and jamesonite, and secondary minerals such as glauberite, szomolnokite, thenardite and uklonscovite. The soils show high concentrations of Ag (mean 21.6 mg kg-1), Ba (mean 2.5%), Fe (mean 114,000 mg kg-1), Sb (mean 342.5 mg kg-1), Pb (mean 1,229.8 mg kg-1), Zn (mean 493 mg kg-1), Mn (mean 4,321.1 mg kg-1), Cd (mean 1.2 mg kg-1) and Eu (mean 4.0 mg kg-1). The column experiments showed mobilization of Ag, Al, Ba, Cu, Cd, Eu, Fe, Mn, Ni, Sb, Pb and Zn, and the inverse modelling showed that the dissolution of hematite, hausmannite, pyrolusite and anglesite can largely account for the mobilization of Fe, Mn and Pb in the leaching experiment. The mobility of silver may be caused by the presence of kongsbergite and chlorargyrite in the waste, while the mobility of Eu seems to be determined by Eu(OH)3, which controls the solubility of Eu in the pH-Eh conditions of the experiments. The mineralogy, pH, Eh and geochemical composition of the mine wastes may explain the possible mobilization of heavy metals and metalloids. However, the absence of contaminants in the groundwater may be caused by the carbonate-rich environment of “host-rocks” that limits their mobility.

Autonomous Navigation Error Propagation Assessment for Lunar Surface Mobility Applications

NASA Technical Reports Server (NTRS)

Welch, Bryan W.; Connolly, Joseph W.

2006-01-01

The NASA Vision for Space Exploration is focused on the return of astronauts to the Moon. While navigation systems have already been proven in the Apollo missions to the moon, the current exploration campaign will involve more extensive and extended missions requiring new concepts for lunar navigation. In this document, the results of an autonomous navigation error propagation assessment are provided. The analysis is intended to be the baseline error propagation analysis for which Earth-based and Lunar-based radiometric data are added to compare these different architecture schemes, and quantify the benefits of an integrated approach, in how they can handle lunar surface mobility applications when near the Lunar South pole or on the Lunar Farside.

Thiosulfate leaching of gold from waste mobile phones.

PubMed

Ha, Vinh Hung; Lee, Jae-chun; Jeong, Jinki; Hai, Huynh Trung; Jha, Manis K

2010-06-15

The present communication deals with the leaching of gold from the printed circuit boards (PCBs) of waste mobile phones using an effective and less hazardous system, i.e., a copper-ammonia-thiosulfate solution, as an alternative to the conventional and toxic cyanide leaching of gold. The influence of thiosulfate, ammonia and copper sulfate concentrations on the leaching of gold from PCBs of waste mobile phones was investigated. Gold extraction was found to be enhanced with solutions containing 15-20 mM cupric, 0.1-0.14 M thiosulfate, and 0.2-0.3 M ammonia. Similar trends were obtained for the leaching of gold from two different types of scraps and PCBs of waste mobile phones. From the scrap samples, 98% of the gold was leached out using a solution containing 20 mM copper, 0.12 M thiosulfate and 0.2 M ammonia. Similarly, the leaching of gold from the PCBs samples was also found to be good, but it was lower than that of scrap samples in similar experimental conditions. In this case, only 90% of the gold was leached, even with a contact time of 10h. The obtained data will be useful for the development of processes for the recycling of gold from waste mobile phones. Copyright 2010 Elsevier B.V. All rights reserved.

Development of a mobile robot for the 1995 AUVS competition

NASA Astrophysics Data System (ADS)

Matthews, Bradley O.; Ruthemeyer, Michael A.; Perdue, David; Hall, Ernest L.

1995-12-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The advantages of a modular system are related to portability and the fact that any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors systems. The speed and steering control are supervised by a 486 computer through a 3-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. The is micro-controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system, where even computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected through a commercial tracking device, communicating with the computer the X,Y coordinates of the lane marker. Testing of these systems yielded positive results by showing that at five mph the vehicle can follow a line and at the same time avoid obstacles. This design, in its modularity, creates a portable autonomous controller applicable for any mobile vehicle with only minor adaptations.

TEMPEST code modifications and testing for erosion-resisting sludge simulations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Onishi, Y.; Trent, D.S.

The TEMPEST computer code has been used to address many waste retrieval operational and safety questions regarding waste mobilization, mixing, and gas retention. Because the amount of sludge retrieved from the tank is directly related to the sludge yield strength and the shear stress acting upon it, it is important to incorporate the sludge yield strength into simulations of erosion-resisting tank waste retrieval operations. This report describes current efforts to modify the TEMPEST code to simulate pump jet mixing of erosion-resisting tank wastes and the models used to test for erosion of waste sludge with yield strength. Test results formore » solid deposition and diluent/slurry jet injection into sludge layers in simplified tank conditions show that the modified TEMPEST code has a basic ability to simulate both the mobility and immobility of the sludges with yield strength. Further testing, modification, calibration, and verification of the sludge mobilization/immobilization model are planned using erosion data as they apply to waste tank sludges.« less

Food waste impact on municipal solid waste angle of internal friction.

PubMed

Cho, Young Min; Ko, Jae Hac; Chi, Liqun; Townsend, Timothy G

2011-01-01

The impact of food waste content on the municipal solid waste (MSW) friction angle was studied. Using reconstituted fresh MSW specimens with different food waste content (0%, 40%, 58%, and 80%), 48 small-scale (100-mm-diameter) direct shear tests and 12 large-scale (430 mm × 430 mm) direct shear tests were performed. A stress-controlled large-scale direct shear test device allowing approximately 170-mm sample horizontal displacement was designed and used. At both testing scales, the mobilized internal friction angle of MSW decreased considerably as food waste content increased. As food waste content increased from 0% to 40% and from 40% to 80%, the mobilized internal friction angles (estimated using the mobilized peak (ultimate) shear strengths of the small-scale direct shear tests) decreased from 39° to 31° and from 31° to 7°, respectively, while those of large-scale tests decreased from 36° to 26° and from 26° to 15°, respectively. Most friction angle measurements produced in this study fell within the range of those previously reported for MSW. Copyright © 2010 Elsevier Ltd. All rights reserved.

System control of an autonomous planetary mobile spacecraft

NASA Technical Reports Server (NTRS)

Dias, William C.; Zimmerman, Barbara A.

1990-01-01

The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

Intelligent behavior generator for autonomous mobile robots using planning-based AI decision making and supervisory control logic

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Martin, Jason; Flann, Nicholas S.; Moore, Kevin L.

2002-07-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) have been funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). One among the several out growths of this work has been the development of a grammar-based approach to intelligent behavior generation for commanding autonomous robotic vehicles. In this paper we describe the use of this grammar for enabling autonomous behaviors. A supervisory task controller (STC) sequences high-level action commands (taken from the grammar) to be executed by the robot. It takes as input a set of goals and a partial (static) map of the environment and produces, from the grammar, a flexible script (or sequence) of the high-level commands that are to be executed by the robot. The sequence is derived by a planning function that uses a graph-based heuristic search (A* -algorithm). Each action command has specific exit conditions that are evaluated by the STC following each task completion or interruption (in the case of disturbances or new operator requests). Depending on the system's state at task completion or interruption (including updated environmental and robot sensor information), the STC invokes a reactive response. This can include sequencing the pending tasks or initiating a re-planning event, if necessary. Though applicable to a wide variety of autonomous robots, an application of this approach is demonstrated via simulations of ODIS, an omni-directional inspection system developed for security applications.

Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

PubMed Central

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Duca, Angelica Lo; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles—AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011. PMID:22438748

Secure cooperation of autonomous mobile sensors using an underwater acoustic network.

PubMed

Caiti, Andrea; Calabrò, Vincenzo; Dini, Gianluca; Lo Duca, Angelica; Munafò, Andrea

2012-01-01

Methodologies and algorithms are presented for the secure cooperation of a team of autonomous mobile underwater sensors, connected through an acoustic communication network, within surveillance and patrolling applications. In particular, the work proposes a cooperative algorithm in which the mobile underwater sensors (installed on Autonomous Underwater Vehicles-AUVs) respond to simple local rules based on the available information to perform the mission and maintain the communication link with the network (behavioral approach). The algorithm is intrinsically robust: with loss of communication among the vehicles the coverage performance (i.e., the mission goal) is degraded but not lost. The ensuing form of graceful degradation provides also a reactive measure against Denial of Service. The cooperative algorithm relies on the fact that the available information from the other sensors, though not necessarily complete, is trustworthy. To ensure trustworthiness, a security suite has been designed, specifically oriented to the underwater scenario, and in particular with the goal of reducing the communication overhead introduced by security in terms of number and size of messages. The paper gives implementation details on the integration between the security suite and the cooperative algorithm and provides statistics on the performance of the system as collected during the UAN project sea trial held in Trondheim, Norway, in May 2011.

Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator

NASA Technical Reports Server (NTRS)

Allen, B. Danette; Cross, Charles D.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc; Trujillo, Anna C.; Crisp, Vicki K.

2015-01-01

NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.

An architecture for an autonomous learning robot

NASA Technical Reports Server (NTRS)

Tillotson, Brian

1988-01-01

An autonomous learning device must solve the example bounding problem, i.e., it must divide the continuous universe into discrete examples from which to learn. We describe an architecture which incorporates an example bounder for learning. The architecture is implemented in the GPAL program. An example run with a real mobile robot shows that the program learns and uses new causal, qualitative, and quantitative relationships.

Leaching Characteristics of Hanford Ferrocyanide Wastes

DOE Office of Scientific and Technical Information (OSTI.GOV)

Edwards, Matthew K.; Fiskum, Sandra K.; Peterson, Reid A.

2009-12-21

A series of leach tests were performed on actual Hanford Site tank wastes in support of the Hanford Tank Waste Treatment and Immobilization Plant (WTP). The samples were targeted composite slurries of high-level tank waste materials representing major complex, radioactive, tank waste mixtures at the Hanford Site. Using a filtration/leaching apparatus, sample solids were concentrated, caustic leached, and washed under conditions representative of those planned for the Pretreatment Facility in the WTP. Caustic leaching was performed to assess the mobilization of aluminum (as gibbsite, Al[OH]3, and boehmite AlO[OH]), phosphates [PO43-], chromium [Cr3+] and, to a lesser extent, oxalates [C2O42-]). Ferrocyanidemore » waste released the solid phase 137Cs during caustic leaching; this was antithetical to the other Hanford waste types studied. Previous testing on ferrocyanide tank waste focused on the aging of the ferrocyanide salt complex and its thermal compatibilities with nitrites and nitrates. Few studies, however, examined cesium mobilization in the waste. Careful consideration should be given to the pretreatment of ferrocyanide wastes in light of this new observed behavior, given the fact that previous testing on simulants indicates a vastly different cesium mobility in this waste form. The discourse of this work will address the overall ferrocyanide leaching characteristics as well as the behavior of the 137Cs during leaching.« less

Mobility and generation of mosaic non-autonomous transposons by Tn3-derived inverted-repeat miniature elements (TIMEs).

PubMed

Szuplewska, Magdalena; Ludwiczak, Marta; Lyzwa, Katarzyna; Czarnecki, Jakub; Bartosik, Dariusz

2014-01-01

Functional transposable elements (TEs) of several Pseudomonas spp. strains isolated from black shale ore of Lubin mine and from post-flotation tailings of Zelazny Most in Poland, were identified using a positive selection trap plasmid strategy. This approach led to the capture and characterization of (i) 13 insertion sequences from 5 IS families (IS3, IS5, ISL3, IS30 and IS1380), (ii) isoforms of two Tn3-family transposons--Tn5563a and Tn4662a (the latter contains a toxin-antitoxin system), as well as (iii) non-autonomous TEs of diverse structure, ranging in size from 262 to 3892 bp. The non-autonomous elements transposed into AT-rich DNA regions and generated 5- or 6-bp sequence duplications at the target site of transposition. Although these TEs lack a transposase gene, they contain homologous 38-bp-long terminal inverted repeat sequences (IRs), highly conserved in Tn5563a and many other Tn3-family transposons. The simplest elements of this type, designated TIMEs (Tn3 family-derived Inverted-repeat Miniature Elements) (262 bp), were identified within two natural plasmids (pZM1P1 and pLM8P2) of Pseudomonas spp. It was demonstrated that TIMEs are able to mobilize segments of plasmid DNA for transposition, which results in the generation of more complex non-autonomous elements, resembling IS-driven composite transposons in structure. Such transposon-like elements may contain different functional genetic modules in their core regions, including plasmid replication systems. Another non-autonomous element "captured" with a trap plasmid was a TIME derivative containing a predicted resolvase gene and a res site typical for many Tn3-family transposons. The identification of a portable site-specific recombination system is another intriguing example confirming the important role of non-autonomous TEs of the TIME family in shuffling genetic information in bacterial genomes. Transposition of such mosaic elements may have a significant impact on diversity and evolution, not only of transposons and plasmids, but also of other types of mobile genetic elements.

Autonomous navigation and mobility for a planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

An autonomous, automated and mobile device to concurrently assess several cognitive functions in group-living non-human primates.

PubMed

Fizet, Jonas; Rimele, Adam; Pebayle, Thierry; Cassel, Jean-Christophe; Kelche, Christian; Meunier, Hélène

2017-11-01

Research methods in cognitive neuroscience using non-human primates have undergone notable changes over the last decades. Recently, several research groups have described freely accessible devices equipped with a touchscreen interface. Two characteristics of such systems are of particular interest: some apparatuses include automated identification of subjects, while others are mobile. Here, we designed, tested and validated an experimental system that, for the first time, combine automatization and mobility. Moreover, our system allows autonomous learning and testing of cognitive performance in group-living subjects, including follow-up assessments. The mobile apparatus is designed to be available 24h a day, 7days a week, in a typical confined primate breeding and housing facility. Here we present as proof of concept, the results of two pilot studies. We report that rhesus macaques (Macaca mulatta) learned the tasks rapidly and achieved high-level of stable performance. Approaches of this kind should be developed for future pharmacological and biomedical studies in non-human primates. Copyright © 2017 Elsevier Inc. All rights reserved.

Applying Hanford Tank Mixing Data to Define Pulse Jet Mixer Operation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wells, Beric E.; Bamberger, Judith A.; Recknagle, Kurtis P.

Pulse jet mixed (PJM) process vessels are being developed for storing, blending, and chemical processing of nuclear waste slurries at the Waste Treatment and Immobilization Plant (WTP) to be built at Hanford, Washington. These waste slurries exhibit variable process feed characteristics including Newtonian to non-Newtonian rheologies over a range of solids loadings. Waste feed to the WTP from the Hanford Tank Farms will be accomplished via the Waste Feed Delivery (WFD) system which includes million-gallon underground storage double-shell tanks (DSTs) with dual-opposed jet mixer pumps. Experience using WFD type jet mixer pumps to mobilize actual Hanford waste in DSTs maymore » be used to establish design threshold criteria of interest to pulse jet mixed process vessel operation. This paper describes a method to evaluate the pulse jet mixed vessel capability to process waste based on information obtained during mobilizing and suspending waste by the WFD system jet mixer pumps in a DST. Calculations of jet velocity and wall shear stress in a specific pulse jet mixed process vessel were performed using a commercial computational fluid dynamics (CFD) code. The CFD-modelled process vessel consists of a 4.9-m- (16-ft-) diameter tank with a 2:1 semi-elliptical head, a single, 10-cm (4-in.) downward facing 60-degree conical nozzle, and a 0.61-m (24-in.) inside diameter PJM. The PJM is located at 70% of the vessel radius with the nozzle stand-off-distance 14 cm (6 in.) above the vessel head. The CFD modeled fluid velocity and wall shear stress can be used to estimate vessel waste-processing performance by comparison to available actual WFD system process data. Test data from the operation of jet mixer pumps in the 23-m (75-ft) diameter DSTs have demonstrated mobilization, solid particles in a sediment matrix were moved from their initial location, and suspension, mobilized solid particles were moved to a higher elevation in the vessel than their initial location, of waste solids. Jet mixer pumps were used in Hanford waste tank 241-AZ-101, and at least 95% of the 0.46-m (18-in.) deep sediment, with a shear strength of 1,500 to 4,200 Pa, was mobilized. Solids with a median particle size of 43 μm, 90th percentile of 94μm, were suspended in tank 241-AZ-101 to at least 5.5 m (216 in.) above the vessel bottom. Analytical calculations for this jet mixer pump test were used to estimate the velocities and wall shear stress that mobilized and suspended the waste. These velocities and wall shear stresses provide design threshold criteria which are metrics for system performance that can be evaluated via testing. If the fluid motion in a specific pulse jet mixed process vessel meets or exceeds the fluid motion of the demonstrated performance in the WFD system, confidence is provided that that vessel will similarly mobilize and suspend those solids if they were within the WTP. The single PJM CFD-calculated jet velocity and wall shear stress compare favorably with the design threshold criterion estimated for the tank 241-AZ-101 process data. Therefore, for both mobilization and suspension, the performance data evaluated from the WFD system testing increases confidence that the performance of the pulse jet mixed process vessels will be sufficient to process that waste even if that waste is not fully characterized.« less

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

NASA Astrophysics Data System (ADS)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized second-order altitude models for the quadrotor, AR.Drone 2.0. Proportional (P), pole placement or proportional plus velocity (PV), linear quadratic regulator (LQR), and model reference adaptive control (MRAC) controllers are designed and validated through simulations using MATLAB/Simulink. Control input saturation and time delay in the controlled systems are also studied. MATLAB graphical user interface (GUI) and Simulink programs are developed to implement the controllers on the drone. Thirdly, the time delay in the drone's control system is estimated using analytical and experimental methods. In the experimental approach, the transient properties of the experimental altitude responses are compared to those of simulated responses. The analytical approach makes use of the Lambert W function to obtain analytical solutions of scalar first-order delay differential equations (DDEs). A time-delayed P-feedback control system (retarded type) is used in estimating the time delay. Then an improved system performance is obtained by incorporating the estimated time delay in the design of the PV control system (neutral type) and PV-MRAC control system. Furthermore, the stability of a parametric perturbed linear time-invariant (LTI) retarded-type system is studied. This is done by analytically calculating the stability radius of the system. Simulation of the control system is conducted to confirm the stability. This robust control design and uncertainty analysis are conducted for first-order and second-order quadrotor models. Lastly, the robustly designed PV and PV-MRAC control systems are used to autonomously track multiple waypoints. Also, the robustness of the PV-MRAC controller is tested against a baseline PV controller using the payload capability of the drone. It is shown that the PV-MRAC offers several benefits over the fixed-gain approach of the PV controller. The adaptive control is found to offer enhanced robustness to the payload fluctuations.

Indonesia municiple solid waste life cycle and environmental monitoring: current situation, before and future challenges

NASA Astrophysics Data System (ADS)

Susmono

2017-03-01

Indonesia is a big country with circa 250 million population, with more than 500 Local Governments and they are going to improve their municiple solid waste dumping method from Open Dumping to Sanitary Landfill (SLF) and to promote Reduce-Reuse-Recycling (3R) since many years ago, and it is strengthened by issuing of Solid Waste Management Act No.18/2008, MSW Government Regulation No.12/2012 and other regulations which are issued by Central Government and Local Governments. During “Water and Sanitation Decade 1980-1990” through “Integrated Urban Infrastructures Development Program” some pilot project such as 30 units of 3R station were developed in the urban areas, and modified or simplification of SLF call Controlled Landfill (CLF) were implemented. In the year of 2002 about 45 units of composting pilot projects were developed under “Western Java Environmental Management Project”, and the result was notified that some of them are not sustain because many aspects. At the beginning of 2007 until now, some pilot projects of 3R were continued in some cities and since 2011 some Waste Banks are growing fast. In the year of 2014 was recorded that of 70 % of 3Rs in Java Island well developed (2014, Directorate of Environment Sanitation Report), and in the year of 2012 was recorded that development of Communal Waste Banks were growing fast during two months from 400 units to 800 units (2012, Ministry of Environment report), now more Communal Waste Banks all ready exist. After the last overview monitoring activity by Ministry of Environment and JICA (2008), because of lack of data is very difficult to give current accurate information of Municiple Solid Waste Handling in Indonesia. Nevertheless some innovation are developed because of impact of many pilot projects, Adipura City Cleanest Competition among Local Governments and growing of the spirit of autonomous policy of Local Governments, but some Local Governments still dependence on Central Government support, both technically and non technically aspects such as new appropriate technology development, new integration management especially between formal and informal organizations, acceleration of community education/empowerment, new required regulations development and law enforcement support. Political will of government. In the beginning, government and people of Indonesia follow the paradigm that municipal solid waste management could be managed by Collecting-Transferring-Dumping system only. This paradigm is appropriate if no problem increase of land providing for solid waste dumping site. Most of local governments are not able to decide it because so many aspects and complexity of problems such as choosing an appropriate technology, finding location for solid waste transfer stations and dumping site, developing of waste management, limitation of affordability, improving people behaviour to increase their low health environment consciousness, as well as lack of professional staffs. Indonesia Ministry of Environment who is responsible for solid waste handling regulations and Ministry of Public Works who is responsible for urban infrastructures development have changed their paradigm that in municipal solid waste handling it is better to reduce as soon as possible. The new approach is to introduce 3R methods from the sources to the solid waste dumping site for minimizing cost of transportation and dumping site area. The Municipal Solid Waste Management Law no 18/2008 stated that municipal solid waste handling consists of Reduction-Reuse-Recycling of waste and running waste management services such as collection of the rest to transport, treat and dumping in the end of the system. Based on the Autonomous Law, the local governments are still the main responsible governments to handle municipal solid waste management in their administrative area. Community participation. During the last few years many solid waste communal and non-governmental organizations were grown and developed, some solid waste communal leaders were born, and solid waste handling motivation and participation of community are grown. To accelerate this situation, the government introduces many training and education to produce more municipal solid waste handling facilitators. Since 2007, environment sanitation motivation activities runs through the yearly Sanitation Jamboree that educate, short train, motivate junior school children and competition among other. Technology innovation. Local governments, with or without central government support, are being to make some improvement how to handle municipal solid waste and through Sister City Program, many innovations were developed such as in Surabaya City (home Takakura composter), Depok (waste separation and composting), Bogor City (management), Malang City, Makasar City and others. The new Closing the Loops of solid waste handling approaches should be introduced in the future to break the bottle neck that always happened in the past. Integration between solid waste management and the farming activities, land plantation rehabilitations, city landscaping and gardening is very urgent to develop, including integration of 3R stakeholders in the region. The challenges. The municipal solid waste problem in urban areas is relative more complicated compared with the same problem in the rural areas. Accurate data collection and analyzing periodically is very important. Road map development and mobilizing of all stake holders both in central government and in local government such as NGOs, private sectors, education and research institutions, civil societies and the community are very urgent. New research action is required to find our new urban municipal solid waste characteristic and our appropriate technology and management to give some input to the central government, local governments and the community or others who involve in the municipal solid waste handling due to the recent fast growing of urban people income and changing of their life style. Conclusion. For the future, the strengthening of central and local governments’ political will is still required including financial mobilization, community education and/or empowerment, law enforcement, technical innovations, management development, providing required urban and regional solid waste management infrastructures, and Public Private Partnership promotion.

Thiourea leaching gold and silver from the printed circuit boards of waste mobile phones.

PubMed

Jing-ying, Li; Xiu-li, Xu; Wen-quan, Liu

2012-06-01

The present communication deals with the leaching of gold and silver from the printed circuit boards (PCBs) of waste mobile phones using an effective and less hazardous system, i.e., a thiourea leaching process as an alternative to the conventional and toxic cyanide leaching of gold. The influence of particle size, thiourea and Fe(3+) concentrations and temperature on the leaching of gold and silver from waste mobile phones was investigated. Gold extraction was found to be enhanced in a PCBs particle size of 100 mesh with the solutions containing 24 g/L thiourea and Fe(3+) concentration of 0.6% under the room temperature. In this case, about 90% of gold and 50% of silver were leached by the reaction of 2h. The obtained data will be useful for the development of processes for the recycling of gold and silver from the PCBs of waste mobile phones. Copyright © 2012 Elsevier Ltd. All rights reserved.

Intelligent Adaptive Systems: Literature Research of Design Guidance for Intelligent Adaptive Automation and Interfaces

DTIC Science & Technology

2007-09-01

behaviour based on past experience of interacting with the operator), and mobile (i.e., can move themselves from one machine to another). Edwards argues that...Sofge, D., Bugajska, M., Adams, W., Perzanowski, D., and Schultz, A. (2003). Agent-based Multimodal Interface for Dynamically Autonomous Mobile Robots...based architecture can provide a natural and scalable approach to implementing a multimodal interface to control mobile robots through dynamic

Secure, Mobile, Wireless Network Technology Designed, Developed, and Demonstrated

NASA Technical Reports Server (NTRS)

Ivancic, William D.; Paulsen, Phillip E.

2004-01-01

The inability to seamlessly disseminate data securely over a high-integrity, wireless broadband network has been identified as a primary technical barrier to providing an order-of-magnitude increase in aviation capacity and safety. Secure, autonomous communications to and from aircraft will enable advanced, automated, data-intensive air traffic management concepts, increase National Air Space (NAS) capacity, and potentially reduce the overall cost of air travel operations. For the first time ever, secure, mobile, network technology was designed, developed, and demonstrated with state-ofthe- art protocols and applications by a diverse, cooperative Government-industry team led by the NASA Glenn Research Center. This revolutionary technology solution will make fundamentally new airplane system capabilities possible by enabling secure, seamless network connections from platforms in motion (e.g., cars, ships, aircraft, and satellites) to existing terrestrial systems without the need for manual reconfiguration. Called Mobile Router, the new technology autonomously connects and configures networks as they traverse from one operating theater to another. The Mobile Router demonstration aboard the Neah Bay, a U.S. Coast Guard vessel stationed in Cleveland, Ohio, accomplished secure, seamless interoperability of mobile network systems across multiple domains without manual system reconfiguration. The Neah Bay was chosen because of its low cost and communications mission similarity to low-Earth-orbiting satellite platforms. This technology was successfully advanced from technology readiness level (TRL) 2 (concept and/or application formation) to TRL 6 (system model or prototype demonstration in a relevant environment). The secure, seamless interoperability offered by the Mobile Router and encryption device will enable several new, vehicle-specific and systemwide technologies to perform such things as remote, autonomous aircraft performance monitoring and early detection and mitigation of potential equipment malfunctions. As an additional benefit, team advancements were incorporated into open standards, ensuring technology transfer. Low-cost, commercial products incorporating the new technology are already available. Furthermore, these products are fully interoperable with legacy network technology equipment currently being used throughout the world.

Mobile phone waste management and recycling: Views and trends.

PubMed

Sarath, P; Bonda, Sateesh; Mohanty, Smita; Nayak, Sanjay K

2015-12-01

There is an enormous growth in mobile phone consumption worldwide which leads to generation of a large volume of mobile phone waste every year. The aim of this review is to give an insight on the articles on mobile phone waste management and recycling, published in scientific journals, major proceedings and books from 1999 to 2015. The major areas of research have been identified and discussed based on available literature in each research topic. It was observed that most of these articles were published during the recent years, with the number of articles increasing yearly. Material recovery and review on management options of waste are found to be the leading topics in this area. Researchers have proved that economically viable refurbishing or recycling of such waste is possible in an environmentally friendly manner. However, the literatures indicate that without proper consumer awareness, a recycling system cannot perform to its maximum efficiency. The methodologies followed and analytical techniques employed by the researchers to attain their objectives have been discussed. The graphical representations of available literature on current topic with respect to year of publication, topics and location have also been explored. Copyright © 2015 Elsevier Ltd. All rights reserved.

A development of intelligent entertainment robot for home life

NASA Astrophysics Data System (ADS)

Kim, Cheoltaek; Lee, Ju-Jang

2005-12-01

The purpose of this paper was to present the study and design idea for entertainment robot with educational purpose (IRFEE). The robot has been designed for home life considering dependability and interaction. The developed robot has three objectives - 1. Develop autonomous robot, 2. Design robot considering mobility and robustness, 3. Develop robot interface and software considering entertainment and education functionalities. The autonomous navigation was implemented by active vision based SLAM and modified EPF algorithm. The two differential wheels, the pan-tilt were designed mobility and robustness and the exterior was designed considering esthetic element and minimizing interference. The speech and tracking algorithm provided the good interface with human. The image transfer and Internet site connection is needed for service of remote connection and educational purpose.

MER Surface Phase; Blurring the Line Between Fault Protection and What is Supposed to Happen

NASA Technical Reports Server (NTRS)

Reeves, Glenn E.

2008-01-01

An assessment on the limitations of communication with MER rovers and how such constraints drove the system design, flight software and fault protection architecture, blurring the line between traditional fault protection and expected nominal behavior, and requiring the most novel autonomous and semi-autonomous elements of the vehicle software including communication, surface mobility, attitude knowledge acquisition, fault protection, and the activity arbitration service.

The study of heavy metals leaching from waste foundry sands using a one-step extraction

NASA Astrophysics Data System (ADS)

Bożym, Marta

2017-10-01

There are a number of leaching test which are used to evaluate the effect of foundry waste disposal on the environment (TCLP, SPLP, ASTM at al.). Because the spent foundry sand are usually deposited at the ground level and they have a similar structure to the soil, survey mobility of metals using the same methods seems appropriate. One-step extraction allows for the evaluation of the mobility and bioavailability of metals in soil and waste. Waste foundry sands have been successfully used as a component in manufactured soils in U.S., but concern over metal contamination must be eliminated before considering this direction of use. The study evaluated the leaching of heavy metals (Cd, Pb, Cu, Zn, Cr, Ni) from deposited waste foundry sands. The overall, as well as heavy metals were extracted by different type of extractants: H2O, CH3COOH, HCl, EDTA, MgCl2 and NaCOOH. These extractants are most commonly used to study the mobility and bioavailability of metals in soil and waste. In the present study applicable standards and methodology described in the literature in analysis were used. The results allowed to evaluate the bioavailability of metals leached from those wastes.

An Autonomous Mobile Agent-Based Distributed Learning Architecture: A Proposal and Analytical Analysis

ERIC Educational Resources Information Center

Ahmed, Iftikhar; Sadeq, Muhammad Jafar

2006-01-01

Current distance learning systems are increasingly packing highly data-intensive contents on servers, resulting in the congestion of network and server resources at peak service times. A distributed learning system based on faded information field (FIF) architecture that employs mobile agents (MAs) has been proposed and simulated in this work. The…

Computational Mobility: An Overview

NASA Technical Reports Server (NTRS)

Suri, Niranjan

2005-01-01

This viewgraph presentation describes a framework for the autonomous control of robot swarms, which negotiate with each other, delegate authority to their peers, and cooperate in teams to accomplish tasks.

Remote-controlled vision-guided mobile robot system

NASA Astrophysics Data System (ADS)

Ande, Raymond; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Improving mobile robot localization: grid-based approach

NASA Astrophysics Data System (ADS)

Yan, Junchi

2012-02-01

Autonomous mobile robots have been widely studied not only as advanced facilities for industrial and daily life automation, but also as a testbed in robotics competitions for extending the frontier of current artificial intelligence. In many of such contests, the robot is supposed to navigate on the ground with a grid layout. Based on this observation, we present a localization error correction method by exploring the geometric feature of the tile patterns. On top of the classical inertia-based positioning, our approach employs three fiber-optic sensors that are assembled under the bottom of the robot, presenting an equilateral triangle layout. The sensor apparatus, together with the proposed supporting algorithm, are designed to detect a line's direction (vertical or horizontal) by monitoring the grid crossing events. As a result, the line coordinate information can be fused to rectify the cumulative localization deviation from inertia positioning. The proposed method is analyzed theoretically in terms of its error bound and also has been implemented and tested on a customary developed two-wheel autonomous mobile robot.

An Autonomous Distributed Fault-Tolerant Local Positioning System

NASA Technical Reports Server (NTRS)

Malekpour, Mahyar R.

2017-01-01

We describe a fault-tolerant, GPS-independent (Global Positioning System) distributed autonomous positioning system for static/mobile objects and present solutions for providing highly-accurate geo-location data for the static/mobile objects in dynamic environments. The reliability and accuracy of a positioning system fundamentally depends on two factors; its timeliness in broadcasting signals and the knowledge of its geometry, i.e., locations and distances of the beacons. Existing distributed positioning systems either synchronize to a common external source like GPS or establish their own time synchrony using a scheme similar to a master-slave by designating a particular beacon as the master and other beacons synchronize to it, resulting in a single point of failure. Another drawback of existing positioning systems is their lack of addressing various fault manifestations, in particular, communication link failures, which, as in wireless networks, are increasingly dominating the process failures and are typically transient and mobile, in the sense that they typically affect different messages to/from different processes over time.

Control of autonomous robot using neural networks

NASA Astrophysics Data System (ADS)

Barton, Adam; Volna, Eva

2017-07-01

The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.

Creating a Mobile Autonomous Robot Research System (MARRS)

DTIC Science & Technology

1984-12-01

Laboratory was made possible through the energetic support of many individuals and organizations. In particluar, we want to thank our thesis advisor Dr...subsystems. Computer Hardware Until a few years ago autonomous vehicles were unheard of in real life. The advent of the microcomputer has made fact...8217i.vjf/^vf.’ Most software development efforts for MARRS-1 took advantage of Virtual Devices Robo C compiler and Robo Assembler. The next best

Concept for a Micro Autonomous Ultrasonic Instrument (MAUI)

NASA Technical Reports Server (NTRS)

Wilson, William C.; Atkinson, Gary M.

2002-01-01

We investigate a concept for the construction a mobile Micro Optical ElectroMechanical Systems (MOEMS) based laser ultrasonic instrument to serve as a Micro Autonomous Ultrasonic Instrument (MAUI). The system will consist of a laser ultrasonic instrument fabricated using Micro Electro-Mechanical Systems (MEMS) technology, and a MEMS based walking platform like those developed by Pister et al. at Berkeley. This small system will allow for automated remote Non-Destructive Evaluation (NDE) of aerospace vehicles.

On-Line Point Positioning with Single Frame Camera Data

DTIC Science & Technology

1992-03-15

tion algorithms and methods will be found in robotics and industrial quality control. 1. Project data The project has been defined as "On-line point...development and use of the OLT algorithms and meth- ods for applications in robotics , industrial quality control and autonomous vehicle naviga- tion...Of particular interest in robotics and autonomous vehicle navigation is, for example, the task of determining the position and orientation of a mobile

Toward autonomous driving: The CMU Navlab. II - Architecture and systems

NASA Technical Reports Server (NTRS)

Thorpe, Charles; Hebert, Martial; Kanade, Takeo; Shafer, Steven

1991-01-01

A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

Bolts from Orion: Destroying Mobile Surface-to-Air Missile Systems with Lethal Autonomous Aircraft

DTIC Science & Technology

2016-07-01

era SAMs that had been upgraded by Ukrainian contractors . During the operation, Russian aircraft’s 10 electronic countermeasures could not...main SEAD asset is the F-16 CJ equipped with the HARM targeting system ( HTS ). The HTS can autonomously locate and identify threat radars and pass...targeting information to the HARMs before launch. The HTS can also provide targeting 13 information to global positioning system (GPS) guided

Optimal sensor fusion for land vehicle navigation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morrow, J.D.

1990-10-01

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads. The position location system used to define the locations consists of a radio beacon system which triangulates position off two known transponders, and dead reckoning with compass and odometer. Thismore » paper addresses the problem of combining these two measurements to arrive at a best estimate of position. Two algorithms are proposed: the optimal'' algorithm treats the measurements as random variables and minimizes the estimate variance, while the average error'' algorithm considers the bias in dead reckoning and attempts to guarantee an average error. Data collected on the algorithms indicate that both work well in practice. 2 refs., 7 figs.« less

Anticipation of interoceptive threat in highly anxiety sensitive persons.

PubMed

Melzig, Christiane A; Michalowski, Jaroslaw M; Holtz, Katharina; Hamm, Alfons O

2008-10-01

Anticipatory anxiety plays a major role in the etiology of panic disorder. Although anticipatory anxiety elicited by expectation of interoceptive cues is specifically relevant for panic patients, it has rarely been studied. Using a population analogue in high fear of such interoceptive arousal sensations (highly anxiety sensitive persons) we evaluated a new experimental paradigm to assess anticipatory anxiety during anticipation of interoceptive (somatic sensations evoked by hyperventilation) and exteroceptive (electric shock) threat. Symptom reports, autonomic arousal, and defensive response mobilization (startle eyeblink response) were monitored during threat and matched safe conditions in 26 highly anxiety sensitive persons and 22 controls. The anticipation of exteroceptive threat led to a defensive and autonomic mobilization as indexed by a potentiation of the startle response and an increase in skin conductance level in both experimental groups. During interoceptive threat, however, only highly anxiety sensitive persons but not the controls exhibited a startle response potentiation as well as autonomic activation. The anticipation of a hyperventilation procedure thus seems a valid paradigm to investigate anticipatory anxiety elicited by interoceptive cues in the clinical context.

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Battery collection in municipal waste management in Japan: challenges for hazardous substance control and safety.

PubMed

Terazono, Atsushi; Oguchi, Masahiro; Iino, Shigenori; Mogi, Satoshi

2015-05-01

To clarify current collection rules of waste batteries in municipal waste management in Japan and to examine future challenges for hazardous substance control and safety, we reviewed collection rules of waste batteries in the Tokyo Metropolitan Area. We also conducted a field survey of waste batteries collected at various battery and small waste electric and electronic equipment (WEEE) collection sites in Tokyo. The different types of batteries are not collected in a uniform way in the Tokyo area, so consumers need to pay attention to the specific collection rules for each type of battery in each municipality. In areas where small WEEE recycling schemes are being operated after the enforcement of the Act on Promotion of Recycling of Small Waste Electrical and Electronic Equipment in Japan in 2013, consumers may be confused about the need for separating batteries from small WEEE (especially mobile phones). Our field survey of collected waste batteries indicated that 6-10% of zinc carbon and alkaline batteries discarded in Japan currently could be regarded as containing mercury. More than 26% of zinc carbon dry batteries currently being discarded may have a lead content above the labelling threshold of the EU Batteries Directive (2006/66/EC). In terms of safety, despite announcements by producers and municipalities about using insulation (tape) on waste batteries to prevent fires, only 2.0% of discarded cylindrical dry batteries were insulated. Our field study of small WEEE showed that batteries made up an average of 4.6% of the total collected small WEEE on a weight basis. Exchangeable batteries were used in almost all of mobile phones, digital cameras, radios, and remote controls, but the removal rate was as low as 22% for mobile phones. Given the safety issues and the rapid changes occurring with mobile phones or other types of small WEEE, discussion is needed among stakeholders to determine how to safely collect and recycle WEEE and waste batteries. Copyright © 2015 Elsevier Ltd. All rights reserved.

TARDEC Overview: Ground Vehicle Power and Mobility

DTIC Science & Technology

2011-02-04

Fuel & Water Distribution • Force Sustainment • Construction Equipment • Bridging • Assured Mobility Systems Robotics • TALON • PackBot • MARCbot...Equipment • Mechanical Countermine Equipment • Tactical Bridging Intelligent Ground Systems • Autonomous Robotics Systems • Safe Operations...Test Cell • Hybrid Electric Reconfigurable Moveable Integration Testbed (HERMIT) • Electro-chemical Analysis and Research Lab (EARL) • Battery Lab • Air

Leaching of Au, Ag, and Pd from waste printed circuit boards of mobile phone by iodide lixiviant after supercritical water pre-treatment.

PubMed

Xiu, Fu-Rong; Qi, Yingying; Zhang, Fu-Shen

2015-07-01

Precious metals are the most attractive resources in waste printed circuit boards (PCBs) of mobile phones. In this work, an alternative process for recovering Au, Ag, and Pd from waste PCBs of mobile phones by supercritical water oxidation (SCWO) pre-treatment combined with iodine-iodide leaching process was developed. In the process, the waste PCBs of mobile phones were pre-treated in supercritical water, then a diluted hydrochloric acid leaching (HL) process was used to recovery the Cu, whose leaching efficiency was approximately 100%, finally the resulting residue was subjected to the iodine-iodide leaching process for recovering the Au, Ag, and Pd. Experimental results indicated that SCWO pre-treatment temperature, time, and pressure had significant influence on the Au, Ag, and Pd leaching from (SCWO+HL)-treated waste PCBs. The optimal SCWO pre-treatment conditions were 420°C and 60min for Au and Pd, and 410°C and 30min for Ag. The optimum dissolution parameters for Au, Pd, and Ag in (SCWO+HL)-treated PCBs with iodine-iodide system were leaching time of 120min (90min for Ag), iodine/iodide mole ratio of 1:5 (1:6 for Ag), solid-to-liquid ratio (S/L) of 1:10g/mL (1:8g/mL for Ag), and pH of 9, respectively. It is believed that the process developed in this study is environment friendly for the recovery of Au, Ag, and Pd from waste PCBs of mobile phones by SCWO pre-treatment combined with iodine-iodide leaching process. Copyright © 2015 Elsevier Ltd. All rights reserved.

Mobility-Dependent Motion Planning for High Speed Robotic Vehicles

DTIC Science & Technology

2008-07-25

of the vehicle’s mobility in such type of terrain. Moreover, autonomous driv- ing of wheeled vehicles at high speeds adds a new level of complexity due...dynamic effects such as wheel slip, skidding, ballistic behavior, rollover, and vehicle-terrain interaction phenomena. Navigation algorithms must also...description of mobility was defined as the probability that for a given 6 ini ial v 10 ity at an initial po ition h robo will hav a non-n gative ve- loci y

Final Environmental Impact Statement for the Kauai Acoustic Thermometry of Ocean Climate Project and Its Associated Marine Mammal Research Program: Vol 1

DTIC Science & Technology

1995-05-01

at zero source level to allow time for any mobile marine animal who was annoyed by the sound to depart the affected area; and project facilities would...using conventional thermometers); autonomous polar hydrophones; and a dual site experiment using mobile playback experiments. Of the twelve alternatives...HYDROPHONES (ICE NOISE 2-43 MEASUREMENTS) (ALTERNATIVE 11) 2.2.12 DUAL SITE EXPERIMENT; ALTERNATIVE MMRP 2-44 TECHNIQUES -- MOBILE PLAYBACK EXPERIMENTS

[Epidemic status and secular trends of malnutrition among children and adolescents aged 7-18 years from 2005 to 2014 in China].

PubMed

Dong, Y H; Wang, Z H; Yang, Z G; Wang, X J; Chen, Y J; Zou, Z Y; Ma, J

2017-06-18

To understand and analyze the current situation and secular trends for prevalence of malnutrition among Chinese children and adolescents aged 7-18 years from 2005 to 2014, and to provide important scientific basis for students' nutrition improvement. All the subjects aged 7-18 years in both sexes were sampled from 2005, 2010 and 2014 Chinese National Surveys on Students Constitution and Health. According to the new students' health standard of "Screening Standard for Malnutrition of school-age children and adolescents"(WS/T456-2014) in 2014 of China, the nutritional status of children in 31 provinces (autonomous regions and municipalities, excluding Hong Kong, Macao and Taiwan province) were analyzed and compared in different ages, genders, regions and provinces from 2005 to 2014. The Tibetan students was used with the data of Tibetan minority and all the other students from 30 provinces (autonomous regions, municipalities) were Han minority. The prevalence of malnutrition of children and adolescents of Han minority aged 7-18 years in 2014 was 10.0%. The prevalence of malnutrition components, including stunting, mild wasting and moderate severe wasting, were 0.8%, 3.7%, and 5.5%. Compared with 2005 and 2010, the prevalence of malnutrition of Han children and adolescents in 2014 had declined with 5.0 and 2.6 percentage points, respectively, and its components had declined with 1.0, 1.8, 2.2 and 0.4, 1.1, 1.2 percentage points, respectively. The prevalence of malnutrition of 2014 in boys was higher than in girls (11.1% vs.8.9%), the rural was higher than the urban (11.0% vs.9.1%) and the west (11.7%) was higher than the east (9.0%) and the middle (9.2%). Mild wasting of Chinese children and adolescents aged 7-18 years was the main component in malnutrition and the stunting in the Han and Tibetan children and adolescents only accounted for 8.0% and 7.5%, respectively. Compared with 2005 and 2010, the prevalence of malnutrition for Chinese children and adolescents aged 7-18 years in 2014 had declined with various extents constantly, and there was a statistically significant difference among three surveys (P<0.05). Provinces (autonomous regions, municipalities) with high prevalence of malnutrition mainly concentrated in the southwest of China from 2005 to 2014. Compared with 2005 and 2010, the prevalence of malnutrition declined in 31 provinces (autonomous regions, municipalities) of China in 2014. The number of provinces (autonomous regions, municipalities) with high prevalence of malnutrition decreased constantly and increased for the number of province (autonomous regions, municipalities) with low prevalence. The prevalence of malnutrition among Chinese children and adolescents aged 7-18 years had declined from 2005 to 2014, but the total prevalence of malnutrition was still high. Mild wasting was the main component in malnutrition and the prevalence of stunting was low. Provinces (autonomous regions, municipalities) with high prevalence of malnutrition mainly concentrated in the southwest of China.

ARK: Autonomous mobile robot in an industrial environment

NASA Technical Reports Server (NTRS)

Nickerson, S. B.; Jasiobedzki, P.; Jenkin, M.; Jepson, A.; Milios, E.; Down, B.; Service, J. R. R.; Terzopoulos, D.; Tsotsos, J.; Wilkes, D.

1994-01-01

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Navigation strategies for multiple autonomous mobile robots moving in formation

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1991-01-01

The problem of deriving navigation strategies for a fleet of autonomous mobile robots moving in formation is considered. Here, each robot is represented by a particle with a spherical effective spatial domain and a specified cone of visibility. The global motion of each robot in the world space is described by the equations of motion of the robot's center of mass. First, methods for formation generation are discussed. Then, simple navigation strategies for robots moving in formation are derived. A sufficient condition for the stability of a desired formation pattern for a fleet of robots each equipped with the navigation strategy based on nearest neighbor tracking is developed. The dynamic behavior of robot fleets consisting of three or more robots moving in formation in a plane is studied by means of computer simulation.

Storage potential and residual emissions from fresh and stabilized waste samples from a landfill simulation experiment.

PubMed

Morello, Luca; Raga, Roberto; Sgarbossa, Paolo; Rosson, Egle; Cossu, Raffaello

2018-05-01

The storage capacity and the potentially residual emissions of a stabilized waste coming from a landfill simulation experiment were evaluated. The evolution in time of the potential emissions and the mobility of some selected elements or compounds were determined, comparing the results of the stabilized waste samples with the values detected in the related fresh waste samples. Analyses were conducted for the total bulk waste and also for each identified category (under-sieve, kitchen residues, green and wooden materials, plastics, cellulosic material and textiles) to highlight the contribution of the different waste fractions in the total emission potential. The waste characterization was performed through analyses on solids and on leaching test eluates; the chemical speciation of carbon, nitrogen, chlorine and sulfur together with the partitioning of heavy metals through a SCE procedure were carried out. Results showed that the under-sieve is the most environmentally relevant fraction, hosting a consistent part of mobile compounds in fresh waste (40.7% of carbon, 44.0% of nitrogen, 47.6% of chloride and 40.0% of sulfur) and the greater part of potentially residual emissions in stabilized waste (88.4% of carbon, 90.9% of nitrogen, 98.4% of chloride and 91.1% of sulfur). Landfilled Municipal Solid Waste (MSW) proved to be an effective sink, finally storing more than 55% of carbon, 53% of nitrogen, 33% of sulfur and 90% of heavy metals (HM) which were initially present in fresh waste samples. A general decrease in leachable fractions from fresh to stabilized waste was observed for each category. Tests showed that solid waste is not a good sink for chlorine, whose residual non-mobile fraction amounts to 12.3% only. Copyright © 2018 Elsevier Ltd. All rights reserved.

Public Space, Public Waste, and the Right to the City.

PubMed

Chikarmane, Poornima

2016-08-01

I draw on my experiences as an organizer with a waste-pickers collective, Kagad Kach Patra Kashtakari Panchayat in Pune, India, to reflect on the power dynamics in control of public space. The Pune Municipal Corporation (PMC), a public body, has used public resources to facilitate and enable accumulation by private companies, who have not been able to produce what they had committed to in the processing of waste. The waste pickers, in alliance with affected village-based land agitation committees, have mobilized against the dumping that is ruining their way of life, environments, and health, and are fighting for their own integration into waste value chains. The article uses the frame of David Harvey's(1) "right to the city"; a key part of the mobilizing work with waste pickers has been Freirean conscientization methods to spread awareness of the economic importance, to the city and to the planet, of waste recycling. © The Author(s) 2016.

The study of the mobile compressor unit heat losses recovery system waste heat exchanger thermal insulation types influence on the operational efficiency

NASA Astrophysics Data System (ADS)

Yusha, V. L.; Chernov, G. I.; Kalashnikov, A. M.

2017-08-01

The paper examines the mobile compressor unit (MCU) heat losses recovery system waste heat exchanger prototype external thermal insulation types influence on the operational efficiency. The study is conducted by means of the numerical method through the modellingof the heat exchange processes carried out in the waste heat exchanger in ANSUS. Thermaflex, mineral wool, penofol, water and air were applied as the heat exchanger external insulation. The study results showed the waste heat exchanger external thermal insulationexistence or absence to have a significant impact on the heat exchanger operational efficiency.

Heterogeneous redox conditions, arsenic mobility, and groundwater flow in a fractured-rock aquifer near a waste repository site in New Hampshire, USA

EPA Science Inventory

Anthropogenic sources of carbon from landfill or waste leachate can promote reductive dissolution of in situ arsenic (As) and enhance the mobility of As in groundwater. Groundwater from residential-supply wells in a fractured crystalline-rock aquifer adjacent to a Superfund site ...

Microbial transformations of uranium in wastes and implication on its mobility

DOE Office of Scientific and Technical Information (OSTI.GOV)

Suzuki,Y.; Nankawa, T.; Ozaki, T.

2008-09-14

Uranium exists in several chemical forms in mining and mill tailings and in nuclear and weapons production wastes. Under appropriate conditions, microorganisms can affect the stability and mobility of U in wastes by altering the chemical speciation, solubility and sorption properties and thus could increase or decrease the concentrations of U in solution and the bioavailability. Dissolution or immobilization of U is brought about by direct enzymatic action or indirect nonenzymatic action of microorganisms. Although the physical, chemical, and geochemical processes affecting dissolution, precipitation, and mobilization of U have been extensively investigated, we have only limited information on the mechanismsmore » of microbial transformations of various chemical forms of U in the presence of electron donors and acceptors.« less

Effects of short-term W-CDMA mobile phone base station exposure on women with or without mobile phone related symptoms.

PubMed

Furubayashi, Toshiaki; Ushiyama, Akira; Terao, Yasuo; Mizuno, Yoko; Shirasawa, Kei; Pongpaibool, Pornanong; Simba, Ally Y; Wake, Kanako; Nishikawa, Masami; Miyawaki, Kaori; Yasuda, Asako; Uchiyama, Mitsunori; Yamashita, Hitomi Kobayashi; Masuda, Hiroshi; Hirota, Shogo; Takahashi, Miyuki; Okano, Tomoko; Inomata-Terada, Satomi; Sokejima, Shigeru; Maruyama, Eiji; Watanabe, Soichi; Taki, Masao; Ohkubo, Chiyoji; Ugawa, Yoshikazu

2009-02-01

To investigate possible health effects of mobile phone use, we conducted a double-blind, cross-over provocation study to confirm whether subjects with mobile phone related symptoms (MPRS) are more susceptible than control subjects to the effect of electromagnetic fields (EMF) emitted from base stations. We sent questionnaires to 5,000 women and obtained 2,472 valid responses from possible candidates; from these, we recruited 11 subjects with MPRS and 43 controls. There were four EMF exposure conditions, each of which lasted 30 min: continuous, intermittent, and sham exposure with and without noise. Subjects were exposed to EMF of 2.14 GHz, 10 V/m (W-CDMA), in a shielded room to simulate whole-body exposure to EMF from base stations, although the exposure strength we used was higher than that commonly received from base stations. We measured several psychological and cognitive parameters pre- and post-exposure, and monitored autonomic functions. Subjects were asked to report on their perception of EMF and level of discomfort during the experiment. The MPRS group did not differ from the controls in their ability to detect exposure to EMF; nevertheless they consistently experienced more discomfort, regardless of whether or not they were actually exposed to EMF, and despite the lack of significant changes in their autonomic functions. Thus, the two groups did not differ in their responses to real or sham EMF exposure according to any psychological, cognitive or autonomic assessment. In conclusion, we found no evidence of any causal link between hypersensitivity symptoms and exposure to EMF from base stations. Copyright 2008 Wiley-Liss, Inc.

Demonstration of Plasma Arc Environmental Technology Applications for the Demilitrization of DOD Stockpiles

NASA Technical Reports Server (NTRS)

Smith, Ed; Dee, P. E.; Zaghloul, Hany; Filius, Krag; Rivers, Tim

2000-01-01

Since 1989 the US Army Construction Engineering Research Laboratories (USACERL) have been active participants in the research and development towards establishing Plasma Arc Technology (PAT) as an efficient, economical, and safe hazardous waste immobilization tool. A plasma torch capable of generating high temperatures makes this technology a viable and powerful tool for the thermal destruction of various military industrial waste streams into an innocuous ceramic material no longer requiring hazardous waste landfill disposal. The emerging plasma environmental thermal treatment process has been used to safely and efficiently meet the waste disposal needs for various demilitarized components disposal needs, such as: (1) pyrotechnic smoke assemblies, (2) thermal batteries, (3) proximity fuses, (4) cartridge actuated devices (CADs), and (5) propellant actuated devices (PADs). MSE Technology Applications, Inc., (MSE) has proposed and fabricated a Mobile Plasma Treatment System to be a technology demonstrator for pilotscale mobile plasma waste processing. The system is capable of providing small-scale waste remediation services, and conducting waste stream applicability demonstrations. The Mobile Plasma Treatment System's innovative concept provides the flexibility to treat waste streams at numerous sites and sites with only a limited quantity of waste, yet too hazardous to transport to a regional fixed facility. The system was designed to be operated as skid mounted modules; consisting of a furnace module, controls module, offgas module, and ancillary systems module. All system components have been integrated to be operated from a single control station with both semi-continuous feeding and batch slag-pouring capability.

Demonstration of Plasma Arc Environmental Technology Applications for the Demilitarization of DOD Stockpiles

NASA Technical Reports Server (NTRS)

Smith, Ed; Zaghloul, Hany; Filius, Krag; Rivers, Tim

2000-01-01

Since 1989 the U.S. Army Construction Engineering Research Laboratories (USACERL) have been active participants in the research and development toward establishing Plasma Arc Technology (PAT) as an efficient, economical, and safe hazardous waste immobilization tool. A plasma torch capable of generating high temperatures makes this technology a viable and powerful tool for the thermal destruction of various military industrial waste streams into an innocuous ceramic material no longer requiring hazardous waste landfill (Class 1) disposal. The emerging pl asma environmental thermal treatment process, has been used to safely and efficiently meet the waste disposal needs for various demilitarized components disposal needs, such as: pyrotechnic smoke assemblies, thermal batteries, proximity fuses, cartridge actuated devices (CAD's), and propellant actuated devices (PAD's). MSE Technology Applications, Inc., (MSE) has proposed and fabricated a Mobile Plasma Treatment System to be a technology demonstrator for pilot-scale mobile plasma waste processing. The system is capable of providing small-scale waste remediation services, and conducting waste stream applicability demonstrations. The Mobile Plasma Treatment System's innovative concept provides the flexibility to treat waste streams at numerous sites and sites with only a limited quantity of waste, yet too hazardous to transport to a regional fixed facility. The system was designed to be operated as skid mounted modules; consisting of a furnace module, controls module, offgas module, and ancillary systems module. All system components have been integrated to be operated from a single control station with both semi-continuous feeding and batch slag-pouring capability.

Development of High Fidelity Mobility Simulation of an Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics

DTIC Science & Technology

2011-08-04

AND MULTI-BODY DYNAMICS Jayakumar , Smith, Ross, Jategaonkar, Konarzewski 4 August 2011 UNCLASSIFIED: Distribution Statement A. Approved for public...Autonomous Vehicle in an Off-Road Scenario Using Integrated Sensor, Controller, and Multi-Body Dynamics 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM...Cannot neglect vehicle dynamics 4 August 2011 3 UNCLASSIFIED Importance of Simulation Fidelity • Performance evaluation requires entire system

Micro Autonomous Systems Research: Systems Engineering Processes for Micro-Autonomous Systems

DTIC Science & Technology

2015-09-30

detailed geometry that can be sent directly to an automated manufacturing process like a 3D printer . Like traditional design, 3D CAD files were...force REF is stationed. The REF operates mobile manufacturing labs equipped with 3D printers , laser cutters, and CNC mills. The REF takes the...to verify that the 3d printer was cable of printing airfoil sections with sufficient accuracy and consistency while also providing an airfoil that

Multidisciplinary unmanned technology teammate (MUTT)

NASA Astrophysics Data System (ADS)

Uzunovic, Nenad; Schneider, Anne; Lacaze, Alberto; Murphy, Karl; Del Giorno, Mark

2013-01-01

The U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) held an autonomous robot competition called CANINE in June 2012. The goal of the competition was to develop innovative and natural control methods for robots. This paper describes the winning technology, including the vision system, the operator interaction, and the autonomous mobility. The rules stated only gestures or voice commands could be used for control. The robots would learn a new object at the start of each phase, find the object after it was thrown into a field, and return the object to the operator. Each of the six phases became more difficult, including clutter of the same color or shape as the object, moving and stationary obstacles, and finding the operator who moved from the starting location to a new location. The Robotic Research Team integrated techniques in computer vision, speech recognition, object manipulation, and autonomous navigation. A multi-filter computer vision solution reliably detected the objects while rejecting objects of similar color or shape, even while the robot was in motion. A speech-based interface with short commands provided close to natural communication of complicated commands from the operator to the robot. An innovative gripper design allowed for efficient object pickup. A robust autonomous mobility and navigation solution for ground robotic platforms provided fast and reliable obstacle avoidance and course navigation. The research approach focused on winning the competition while remaining cognizant and relevant to real world applications.

A small, cheap, and portable reconnaissance robot

NASA Astrophysics Data System (ADS)

Kenyon, Samuel H.; Creary, D.; Thi, Dan; Maynard, Jeffrey

2005-05-01

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

PubMed

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-04-13

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car.

Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

PubMed Central

Correa, Alejandro; Boquet, Guillem; Morell, Antoni; Lopez Vicario, Jose

2017-01-01

The increasing development of the automotive industry towards a fully autonomous car has motivated the design of new value-added services in Vehicular Sensor Networks (VSNs). Within the context of VSNs, the autonomous car, with an increasing number of on-board sensors, is a mobile node that exchanges sensed and state information within the VSN. Among all the value added services for VSNs, the design of new intelligent parking management architectures where the autonomous car will coexist with traditional cars is mandatory in order to profit from all the opportunities associated with the increasing intelligence of the new generation of cars. In this work, we design a new smart parking system on top of a VSN that takes into account the heterogeneity of cars and provides guidance to the best parking place for the autonomous car based on a collaborative approach that searches for the common good of all of them measured by the accessibility rate, which is the ratio of the free parking places accessible for an autonomous car. Then, we simulate a real parking lot and the results show that the performance of our system is close to the optimum considering different communication ranges and penetration rates for the autonomous car. PMID:28406426

Leaching of Au, Ag, and Pd from waste printed circuit boards of mobile phone by iodide lixiviant after supercritical water pre-treatment

DOE Office of Scientific and Technical Information (OSTI.GOV)

Xiu, Fu-Rong, E-mail: xiu_chem@hotmail.com; Qi, Yingying; Zhang, Fu-Shen

Highlights: • We report a novel process for recovering Au, Ag, and Pd from waste PCBs. • The effect of SCWO on the leaching of Au, Ag, and Pd in waste PCBs was studied. • SCWO was highly efficient for enhancing the leaching of Au, Ag, and Pd. • The optimum leaching parameters for Au, Ag, and Pd in iodine–iodide were studied. - Abstract: Precious metals are the most attractive resources in waste printed circuit boards (PCBs) of mobile phones. In this work, an alternative process for recovering Au, Ag, and Pd from waste PCBs of mobile phones by supercriticalmore » water oxidation (SCWO) pre-treatment combined with iodine–iodide leaching process was developed. In the process, the waste PCBs of mobile phones were pre-treated in supercritical water, then a diluted hydrochloric acid leaching (HL) process was used to recovery the Cu, whose leaching efficiency was approximately 100%, finally the resulting residue was subjected to the iodine–iodide leaching process for recovering the Au, Ag, and Pd. Experimental results indicated that SCWO pre-treatment temperature, time, and pressure had significant influence on the Au, Ag, and Pd leaching from (SCWO + HL)-treated waste PCBs. The optimal SCWO pre-treatment conditions were 420 °C and 60 min for Au and Pd, and 410 °C and 30 min for Ag. The optimum dissolution parameters for Au, Pd, and Ag in (SCWO + HL)-treated PCBs with iodine–iodide system were leaching time of 120 min (90 min for Ag), iodine/iodide mole ratio of 1:5 (1:6 for Ag), solid-to-liquid ratio (S/L) of 1:10 g/mL (1:8 g/mL for Ag), and pH of 9, respectively. It is believed that the process developed in this study is environment friendly for the recovery of Au, Ag, and Pd from waste PCBs of mobile phones by SCWO pre-treatment combined with iodine–iodide leaching process.« less

Acoustic Communications and Navigation for Mobile Under-Ice Sensors

DTIC Science & Technology

2017-02-04

From- To) 04/02/2017 Final Report 4. TITLE AND SUBTITLE 5a. CONTRACT NUMBER Acoustic Communications and Navigation for Mobile Under-Ice Sensors...development and fielding of a new acoustic communications and navigation system for use on autonomous platforms (gliders and profiling floats) under the...contact below the ice. 15. SUBJECT TERMS Arctic Ocean, Undersea Workstations & Vehicles, Signal Processing, Navigation, Underwater Acoustics 16

Integrated mobile robot control

NASA Technical Reports Server (NTRS)

Amidi, Omead; Thorpe, Charles

1991-01-01

This paper describes the structure, implementation, and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation, path specification and tracking, human interfaces, fast communication, and multiple client support. The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Navlab autonomous vehicle. In addition, performance results from positioning and tracking systems are reported and analyzed.

Autonomous Learning in Mobile Cognitive Machines

DTIC Science & Technology

2017-11-25

2016). [18] Liu, Wei, et al. "Ssd: Single shot multibox detector." European conference on computer vision. Springer, Cham, 2016. [19] Vinyals, Oriol...the brain being evolved to support its mobility has been raised. In fact, as the project progressed, the researchers discovered that if one of the...deductive, relies on rule-based programming, and can solve complex problems, however, faces difficulties in learning and adaptability. The latter

Maintaining Limited-Range Connectivity Among Second-Order Agents

DTIC Science & Technology

2016-07-07

we consider ad-hoc networks of robotic agents with double integrator dynamics. For such networks, the connectivity maintenance problems are: (i) do...hoc networks of mobile autonomous agents. This loose ter- minology refers to groups of robotic agents with limited mobility and communica- tion...connectivity can be preserved. 3.1. Networks of robotic agents with second-order dynamics and the connectivity maintenance problem. We begin by

Integrated mobile robot control

NASA Astrophysics Data System (ADS)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

NASA NDE Applications for Mobile MEMS Devices and Sensors

NASA Technical Reports Server (NTRS)

Wilson, William C.; Atkinson, Gary M.; Barclay, R. O.

2008-01-01

NASA would like new devices and sensors for performing nondestructive evaluation (NDE) of aerospace vehicles. These devices must be small in size/volume, mass, and power consumption. The devices must be autonomous and mobile so they can access the internal structures of aircraft and spacecraft and adequately monitor the structural health of these craft. The platforms must be mobile in order to transport NDE sensors for evaluating structural integrity and determining whether further investigations will be required. Microelectromechanical systems (MEMS) technology is crucial to the development of the mobile platforms and sensor systems. This paper presents NASA s needs for micro mobile platforms and MEMS sensors that will enable NDE to be performed on aerospace vehicles.

Autonomic and Apoptotic, Aeronautical and Aerospace Systems, and Controlling Scientific Data Generated Therefrom

NASA Technical Reports Server (NTRS)

Sterritt, Roy (Inventor); Hinchey, Michael G. (Inventor)

2015-01-01

A self-managing system that uses autonomy and autonomicity is provided with the self-* property of autopoiesis (self-creation). In the event of an agent in the system self-destructing, autopoiesis auto-generates a replacement. A self-esteem reward scheme is also provided and can be used for autonomic agents, based on their performance and trust. Art agent with greater self-esteem may clone at a greater rate compared to the rate of an agent with lower self-esteem. A self-managing system is provided for a high volume of distributed autonomic/self-managing mobile agents, and autonomic adhesion is used to attract similar agents together or to repel dissimilar agents from an event horizon. An apoptotic system is also provided that accords an "expiry date" to data and digital objects, for example, that are available on the internet, which finds usefulness not only in general but also for controlling the loaning and use of space scientific data.

Assessment of agro-industrial and composted organic wastes for reducing the potential leaching of triazine herbicide residues through the soil.

PubMed

Fenoll, José; Vela, Nuria; Navarro, Ginés; Pérez-Lucas, Gabriel; Navarro, Simón

2014-09-15

In this study, we examined the effect of four different organic wastes--composted sheep manure (CSM), spent coffee grounds (SCG), composted pine bark (CPB) and coir (CR)--on the sorption, persistence and mobility of eight symmetrical and two asymmetrical-triazine herbicides: atrazine, propazine, simazine, terbuthylazine (chlorotriazines), prometon (methoxytriazine), prometryn, simetryn, terbutryn (methylthiotriazines), metamitron and metribuzin (triazinones). The downward movement of herbicides was monitored using disturbed soil columns packed with a clay loam soil (Hipercalcic calcisol) under laboratory conditions. For unamended and amended soils, the groundwater ubiquity score (GUS) was calculated for each herbicide on the basis of its persistence (as t½) and mobility (as KOC). All herbicides showed medium/high leachability through the unamended soils. The addition of agro-industrial and composted organic wastes at a rate of 10% (w:w) strongly decreased the mobility of herbicides. Sorption coefficients normalized to the total soil organic carbon (KOC) increased in the amended soils. These results suggest that used organic wastes could be used to enhance the retention and reduce the mobility of the studied herbicides in soil. Copyright © 2014 Elsevier B.V. All rights reserved.

Application of autonomous robotized systems for the collection of nearshore topographic changing and hydrodynamic measurements

NASA Astrophysics Data System (ADS)

Belyakov, Vladimir; Makarov, Vladimir; Zezyulin, Denis; Kurkin, Andrey; Pelinovsky, Efim

2015-04-01

Hazardous phenomena in the coastal zone lead to the topographic changing which are difficulty inspected by traditional methods. It is why those autonomous robots are used for collection of nearshore topographic and hydrodynamic measurements. The robot RTS-Hanna is well-known (Wubbold, F., Hentschel, M., Vousdoukas, M., and Wagner, B. Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements. Coastal Engineering Proceedings, 2012, vol. 33, Paper 53). We describe here several constructions of mobile systems developed in Laboratory "Transported Machines and Transported Complexes", Nizhny Novgorod State Technical University. They can be used in the field surveys and monitoring of wave regimes nearshore.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Neuromorphic vision sensors and preprocessors in system applications

NASA Astrophysics Data System (ADS)

Kramer, Joerg; Indiveri, Giacomo

1998-09-01

A partial review of neuromorphic vision sensors that are suitable for use in autonomous systems is presented. Interfaces are being developed to multiplex the high- dimensional output signals of arrays of such sensors and to communicate them in standard formats to off-chip devices for higher-level processing, actuation, storage and display. Alternatively, on-chip processing stages may be implemented to extract sparse image parameters, thereby obviating the need for multiplexing. Autonomous robots are used to test neuromorphic vision chips in real-world environments and to explore the possibilities of data fusion from different sensing modalities. Examples of autonomous mobile systems that use neuromorphic vision chips for line tracking and optical flow matching are described.

Sign detection for autonomous navigation

NASA Astrophysics Data System (ADS)

Goodsell, Thomas G.; Snorrason, Magnus S.; Cartwright, Dustin; Stube, Brian; Stevens, Mark R.; Ablavsky, Vitaly X.

2003-09-01

Mobile robots currently cannot detect and read arbitrary signs. This is a major hindrance to mobile robot usability, since they cannot be tasked using directions that are intuitive to humans. It also limits their ability to report their position relative to intuitive landmarks. Other researchers have demonstrated some success on traffic sign recognition, but using template based methods limits the set of recognizable signs. There is a clear need for a sign detection and recognition system that can process a much wider variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. We are developing a system for Sign Understanding in Support of Autonomous Navigation (SUSAN), that detects signs from various cues common to most signs: vivid colors, compact shape, and text. We have demonstrated the feasibility of our approach on a variety of signs in both indoor and outdoor locations.

Wearable wireless sensor platform for studying autonomic activity and social behavior in non-human primates.

PubMed

Fletcher, Richard Ribón; Amemori, Ken-ichi; Goodwin, Matthew; Graybiel, Ann M

2012-01-01

A portable system has been designed to enable remote monitoring of autonomic nervous system output in non-human primates for the purpose of studying neural function related to social behavior over extended periods of time in an ambulatory setting. In contrast to prior systems which only measure heart activity, are restricted to a constrained laboratory setting, or require surgical attachment, our system is comprised of a multi-sensor self-contained wearable vest that can easily be transferred from one subject to another. The vest contains a small detachable low-power electronic sensor module for measuring electrodermal activity (EDA), electrocardiography (ECG), 3-axis acceleration, and temperature. The wireless transmission is implemented using a standard Bluetooth protocol and a mobile phone, which enables freedom of movement for the researcher as well as for the test subject. A custom Android software application was created on the mobile phone for viewing and recording live data as well as creating annotations. Data from up to seven monkeys can be recorded simultaneously using the mobile phone, with the option of real-time upload to a remote web server. Sample data are presented from two rhesus macaque monkeys showing stimulus-induced response in the laboratory as well as long-term ambulatory data collected in a large monkey cage. This system enables new possibilities for studying underlying mechanisms between autonomic brain function and social behavior with connection to human research in areas such as autism, substance abuse, and mood disorders.

Fuzzy logic control of an AGV

NASA Astrophysics Data System (ADS)

Kelkar, Nikhal; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic approach for steering and speed control, a neuro-fuzzy approach for ultrasound sensing (not discussed in this paper) and an overall expert system. The advantages of a modular system are related to portability and transportability, i.e. any vehicle can become autonomous with minimal modifications. A mobile robot test-bed has been constructed using a golf cart base. This cart has full speed control with guidance provided by a vision system and obstacle avoidance using ultrasonic sensors. The speed and steering fuzzy logic controller is supervised by a 486 computer through a multi-axis motion controller. The obstacle avoidance system is based on a micro-controller interfaced with six ultrasonic transducers. This micro- controller independently handles all timing and distance calculations and sends a steering angle correction back to the computer via the serial line. This design yields a portable independent system in which high speed computer communication is not necessary. Vision guidance is accomplished with a CCD camera with a zoom lens. The data is collected by a vision tracking device that transmits the X, Y coordinates of the lane marker to the control computer. Simulation and testing of these systems yielded promising results. This design, in its modularity, creates a portable autonomous fuzzy logic controller applicable to any mobile vehicle with only minor adaptations.

Section 10: Ground Water - Waste Characteristics & Targets

EPA Pesticide Factsheets

HRS Training. The waste characteristics factor category in the ground water pathway is made up of two components: the toxicity/mobility of the most hazardous substance associated with the site and the hazardous waste quantity at the site.

DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS

EPA Science Inventory

Hazardous and/or tedious functions are often performed by on-site workers during investigation, mitigation and clean-up of hazardous substances. These functions include site surveys, sampling and analysis, excavation, and treatment and preparation of wastes for shipment to chemic...

Acute abdominal pain as the only symptom of a thoracic demyelinating lesion in multiple sclerosis.

PubMed

Nomura, Shohei; Shimakawa, Shuichi; Kashiwagi, Mitsuru; Tanabe, Takuya; Fukui, Miho; Tamai, Hiroshi

2015-11-01

Multiple sclerosis (MS) is a syndrome characterized by complex neurological symptoms resulting from demyelinating lesions in the central nervous system. We report a child with a relapse of MS whose only presenting symptom was severe abdominal pain. Dysfunctional intestinal mobility was assessed by abdominal computed tomography. Findings resembled paralytic ileus resulting from peritonitis. However, the patient demonstrated no other symptoms of peritonitis. A T2-weighted magnetic resonance image revealed a new demyelinating lesion localized to thoracic segments T4-T12. The lesion presumably affected autonomic efferents involved in intestinal mobility. Treatment with a pulse of methylprednisolone reduced both abdominal pain and lesion size. To our knowledge, this is the first reported case of a pediatric MS patient with a demyelinating lesion associated with an autonomic symptom of altered intestinal mobility in the absence of neurological symptoms. This atypical presentation of MS highlights the need for physicians' vigilance when treating this patient population. Copyright © 2015 The Japanese Society of Child Neurology. Published by Elsevier B.V. All rights reserved.

Navigation Architecture For A Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space-based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts.

40 CFR 761.202 - EPA identification numbers.

Code of Federal Regulations, 2012 CFR

2012-07-01

... PROHIBITIONS PCB Waste Disposal Records and Reports § 761.202 EPA identification numbers. (a) General. Any... identification number from EPA. (4) A disposer of PCB waste shall not accept any PCB waste for disposal without... disposal facility or mobile treatment unit shall not accept waste unless the disposer has received an EPA...

76 FR 36129 - Underground Injection Control Program; Hazardous Waste Injection Restrictions; Petition for...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-06-21

... Waste Injection Restrictions; Petition for Exemption--Class I Hazardous Waste Injection; ExxonMobil... final decision on a no migration petition. SUMMARY: Notice is hereby given that an exemption to the land disposal Restrictions, under the 1984 Hazardous and Solid Waste Amendments to the Resource Conservation and...

Use of different organic wastes as strategy to mitigate the leaching potential of phenylurea herbicides through the soil.

PubMed

Fenoll, José; Garrido, Isabel; Hellín, Pilar; Flores, Pilar; Vela, Nuria; Navarro, Simón

2015-03-01

In this study, the leaching of 14 substituted phenylurea herbicides (PUHs) through disturbed soil columns packed with three different soils was investigated in order to determine their potential for groundwater pollution. Simultaneously, a series of experiments were conducted to demonstrate the effect of four different organic wastes (composted sheep manure (CSM), composted pine bark (CPB), spent coffee grounds (SCG) and coir (CR)) on their mobility. All herbicides, except difenoxuron, showed medium/high leachability through the unamended soils. In general, addition of agro-industrial and composted organic wastes at a rate of 10% (w/w) increased the adsorption of PUHs and decreased their mobility in the soil, reducing their leaching. In all cases, the groundwater ubiquity score (GUS) index was calculated for each herbicide on the basis of its persistence (as t ½) and mobility (as K OC). The results obtained point to the interest in the use of agro-industrial and composted organic wastes in reducing the risk of groundwater pollution by pesticide drainage.

Whole genome and transcriptome analyses of environmental antibiotic sensitive and multi-resistant Pseudomonas aeruginosa isolates exposed to waste water and tap water

PubMed Central

Schwartz, Thomas; Armant, Olivier; Bretschneider, Nancy; Hahn, Alexander; Kirchen, Silke; Seifert, Martin; Dötsch, Andreas

2015-01-01

The fitness of sensitive and resistant Pseudomonas aeruginosa in different aquatic environments depends on genetic capacities and transcriptional regulation. Therefore, an antibiotic-sensitive isolate PA30 and a multi-resistant isolate PA49 originating from waste waters were compared via whole genome and transcriptome Illumina sequencing after exposure to municipal waste water and tap water. A number of different genomic islands (e.g. PAGIs, PAPIs) were identified in the two environmental isolates beside the highly conserved core genome. Exposure to tap water and waste water exhibited similar transcriptional impacts on several gene clusters (antibiotic and metal resistance, genetic mobile elements, efflux pumps) in both environmental P. aeruginosa isolates. The MexCD-OprJ efflux pump was overexpressed in PA49 in response to waste water. The expression of resistance genes, genetic mobile elements in PA49 was independent from the water matrix. Consistently, the antibiotic sensitive strain PA30 did not show any difference in expression of the intrinsic resistance determinants and genetic mobile elements. Thus, the exposure of both isolates to polluted waste water and oligotrophic tap water resulted in similar expression profiles of mentioned genes. However, changes in environmental milieus resulted in rather unspecific transcriptional responses than selected and stimuli-specific gene regulation. PMID:25186059

Knowledge/geometry-based Mobile Autonomous Robot Simulator (KMARS)

NASA Technical Reports Server (NTRS)

Cheng, Linfu; Mckendrick, John D.; Liu, Jeffrey

1990-01-01

Ongoing applied research is focused on developing guidance system for robot vehicles. Problems facing the basic research needed to support this development (e.g., scene understanding, real-time vision processing, etc.) are major impediments to progress. Due to the complexity and the unpredictable nature of a vehicle's area of operation, more advanced vehicle control systems must be able to learn about obstacles within the range of its sensor(s). A better understanding of the basic exploration process is needed to provide critical support to developers of both sensor systems and intelligent control systems which can be used in a wide spectrum of autonomous vehicles. Elcee Computek, Inc. has been working under contract to the Flight Dynamics Laboratory, Wright Research and Development Center, Wright-Patterson AFB, Ohio to develop a Knowledge/Geometry-based Mobile Autonomous Robot Simulator (KMARS). KMARS has two parts: a geometry base and a knowledge base. The knowledge base part of the system employs the expert-system shell CLIPS ('C' Language Integrated Production System) and necessary rules that control both the vehicle's use of an obstacle detecting sensor and the overall exploration process. The initial phase project has focused on the simulation of a point robot vehicle operating in a 2D environment.

Evaluation of Redox Conditions and Enhanced Arsenic Mobility from Waste Disposal in a Complex Fractured Crystalline-Rock Aquifer, Raymond, New Hampshire, USA (Note: article rewritten under new title)

EPA Science Inventory

(Note: This entry is no longer valid; the paper was rewritten and submitted to a different journal.) This paper highlights some methods that can be used at a local scale to assess whether waste disposal activities are responsible for enhanced arsenic mobility through redox-contro...

Industrial Technology of Decontamination of Liquid Radioactive Waste in SUE MosSIA 'Radon' - 12371

DOE Office of Scientific and Technical Information (OSTI.GOV)

Adamovich, Dmitry V.; Neveykin, Petr P.; Karlin, Yuri V.

SUE MosSIA 'RADON' - this enterprise was created more than 50 years ago, which deals with the recycling of radioactive waste and conditioning of spent sources of radiation in stationary and mobile systems in the own factory and operating organizations. Here is represented the experience SUE MosSIA 'Radon' in the field of the management with liquid radioactive waste. It's shown, that the activity of SUE MosSIA 'RADON' is developing in three directions - improvement of technical facilities for treatment of radioactive waters into SUE MosSIA 'RADON' development of mobile equipment for the decontamination of radioactive waters in other organizations, developmentmore » of new technologies for decontamination of liquid radioactive wastes as part of various domestic Russian and international projects including those related to the operation of nuclear power and nuclear submarines. SUE MosSIA 'RADON' has processed more than 270 thousand m{sup 3} of radioactive water, at that more than 7000 m{sup 3} in other organizations for more than 50 years. It is shown that a number of directions, particularly, the development of mobile modular units for decontamination of liquid radioactive waste, SUE MosSIA 'RADON' is a leader in the world. (authors)« less

Going mobile: non-cell-autonomous small RNAs shape the genetic landscape of plants.

PubMed

Pyott, Douglas E; Molnar, Attila

2015-04-01

RNA silencing is a form of genetic regulation, which is conserved across eukaryotes and has wide ranging biological functions. Recently, there has been a growing appreciation for the importance of mobility in RNA silencing pathways, particularly in plants. Moreover, in addition to the importance for mobile RNA silencing in an evolutionary context, the potential for utilizing mobile short silencing RNAs in biotechnological applications is becoming apparent. This review aims to set current knowledge of this topic in a historical context and provides examples to illustrate the importance of mobile RNA silencing in both natural and artificially engineered systems in plants. © 2015 Society for Experimental Biology, Association of Applied Biologists and John Wiley & Sons Ltd.

Efforts toward an autonomous wheelchair - biomed 2011.

PubMed

Barrett, Steven; Streeter, Robert

2011-01-01

An autonomous wheelchair is in development to provide mobility to those with significant physical challenges. The overall goal of the project is to develop a wheelchair that is fully autonomous with the ability to navigate about an environment and negotiate obstacles. As a starting point for the project, we have reversed engineered the joystick control system of an off-the-shelf commercially available wheelchair. The joystick control has been replaced with a microcontroller based system. The microcontroller has the capability to interface with a number of subsystems currently under development including wheel odometers, obstacle avoidance sensors, and ultrasonic-based wall sensors. This paper will discuss the microcontroller based system and provide a detailed system description. Results of this study may be adapted to commercial or military robot control.

Development for SSV on a parallel processing system (PARAGON)

NASA Astrophysics Data System (ADS)

Gothard, Benny M.; Allmen, Mark; Carroll, Michael J.; Rich, Dan

1995-12-01

A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.

Terrain Perception for DEMO III

NASA Technical Reports Server (NTRS)

Manduchi, R.; Bellutta, P.; Matthies, L.; Owens, K.; Rankin, A.

2000-01-01

The Demo III program has as its primary focus the development of autonomous mobility for a small rugged cross country vehicle. In this paper we report recent progress on both stereo-based obstacle detection and terrain cover color-based classification.

Teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking

NASA Astrophysics Data System (ADS)

Wojtczyk, Martin; Panin, Giorgio; Röder, Thorsten; Lenz, Claus; Nair, Suraj; Heidemann, Rüdiger; Goudar, Chetan; Knoll, Alois

2010-01-01

After utilizing robots for more than 30 years for classic industrial automation applications, service robots form a constantly increasing market, although the big breakthrough is still awaited. Our approach to service robots was driven by the idea of supporting lab personnel in a biotechnology laboratory. After initial development in Germany, a mobile robot platform extended with an industrial manipulator and the necessary sensors for indoor localization and object manipulation, has been shipped to Bayer HealthCare in Berkeley, CA, USA, a global player in the sector of biopharmaceutical products, located in the San Francisco bay area. The determined goal of the mobile manipulator is to support the off-shift staff to carry out completely autonomous or guided, remote controlled lab walkthroughs, which we implement utilizing a recent development of our computer vision group: OpenTL - an integrated framework for model-based visual tracking.

Simple autonomous Mars walker

NASA Technical Reports Server (NTRS)

Larimer, Stanley J.; Lisec, Thomas R.; Spiessbach, Andrew J.

1989-01-01

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

A CDMA synchronisation scheme

NASA Technical Reports Server (NTRS)

Soprano, C.

1993-01-01

CDMA (Code Division Multiple Access) is known to decrease inter-service interference in Satellite Communication Systems. Its performance is increased by chip quasi-synchronous operation which virtually eliminates the self-noise; however, the theory shows that the time error on the synchronization has to be kept at less than one tenth of a chip which, for 1 Mchip/sec. spreading rate, corresponds to 10(exp -7) sec. This, on the return-link, may only be achieved by means of a closed loop control system which, for mobile communication systems, has to be capable of autonomous operation. Until now some results have been reported on the feasibility of chip quasi-synchronous operation for mobile communication systems only including satellites on GEO (Geostationary Earth Orbit). In what follows, the basic principles are exposed, and results are presented showing how low chip synchronism error may be achieved by means of an autonomous control loop operating through satellites on any Earth orbit.

Physics Simulation Software for Autonomous Propellant Loading and Gas House Autonomous System Monitoring

NASA Technical Reports Server (NTRS)

Regalado Reyes, Bjorn Constant

2015-01-01

1. Kennedy Space Center (KSC) is developing a mobile launching system with autonomous propellant loading capabilities for liquid-fueled rockets. An autonomous system will be responsible for monitoring and controlling the storage, loading and transferring of cryogenic propellants. The Physics Simulation Software will reproduce the sensor data seen during the delivery of cryogenic fluids including valve positions, pressures, temperatures and flow rates. The simulator will provide insight into the functionality of the propellant systems and demonstrate the effects of potential faults. This will provide verification of the communications protocols and the autonomous system control. 2. The High Pressure Gas Facility (HPGF) stores and distributes hydrogen, nitrogen, helium and high pressure air. The hydrogen and nitrogen are stored in cryogenic liquid state. The cryogenic fluids pose several hazards to operators and the storage and transfer equipment. Constant monitoring of pressures, temperatures and flow rates are required in order to maintain the safety of personnel and equipment during the handling and storage of these commodities. The Gas House Autonomous System Monitoring software will be responsible for constantly observing and recording sensor data, identifying and predicting faults and relaying hazard and operational information to the operators.

Electronic waste recovery in Finland: Consumers' perceptions towards recycling and re-use of mobile phones.

PubMed

Ylä-Mella, Jenni; Keiski, Riitta L; Pongrácz, Eva

2015-11-01

This paper examines consumers' awareness and perceptions towards mobile phone recycling and re-use. The results are based on a survey conducted in the city of Oulu, Finland, and analysed in the theoretical framework based on the theories of planned behaviour (TPB) and value-belief-norm (VBN). The findings indicate that consumers' awareness of the importance and existence of waste recovery system is high; however, awareness has not translated to recycling behaviour. The survey reveals that 55% of respondents have two or more unused mobile phones at homes. The more phones stored at homes, the more often reasons 'I don't know where to return' and/or 'have not got to do it yet' were mentioned. This indicates that proximity and the convenience of current waste management system are inadequate in promoting the return of small waste electrical and electronic equipment (WEEE). To facilitate re-use, and the highest level of recovery, consumers will need to be committed to return end-of-use electronics to WEEE collection centres without delays. Further, the supply and demand of refurbished mobile phones do not meet at this moment in Finland due to consumer's storing habits versus expectations of recent features under guarantee and unrealistic low prizes. The study also points out that, in order to change current storing habits of consumers, there is an explicit need for more information and awareness on mobile phone collection in Finland, especially on regarding retailers' take-back. Copyright © 2015 Elsevier Ltd. All rights reserved.

Autonomous telemetry system by using mobile networks for a long-term seismic observation

NASA Astrophysics Data System (ADS)

Hirahara, S.; Uchida, N.; Nakajima, J.

2012-04-01

When a large earthquake occurs, it is important to know the detailed distribution of aftershocks immediately after the main shock for the estimation of the fault plane. The large amount of seismic data is also required to determine the three-dimensional seismic velocity structure around the focal area. We have developed an autonomous telemetry system using mobile networks, which is specialized for aftershock observations. Because the newly developed system enables a quick installation and real-time data transmission by using mobile networks, we can construct a dense online seismic network even in mountain areas where conventional wired networks are not available. This system is equipped with solar panels that charge lead-acid battery, and enables a long-term seismic observation without maintenance. Furthermore, this system enables a continuous observation at low costs with flat-rate or prepaid Internet access. We have tried to expand coverage areas of mobile communication and back up Internet access by configuring plural mobile carriers. A micro server embedded with Linux consists of automatic control programs of the Internet connection and data transmission. A status monitoring and remote maintenance are available via the Internet. In case of a communication failure, an internal storage can back up data for two years. The power consumption of communication device ranges from 2.5 to 4.0 W. With a 50 Ah lead-acid battery, this system continues to record data for four days if the battery charging by solar panels is temporarily unavailable.

Visual guidance of mobile platforms

NASA Astrophysics Data System (ADS)

Blissett, Rodney J.

1993-12-01

Two systems are described and results presented demonstrating aspects of real-time visual guidance of autonomous mobile platforms. The first approach incorporates prior knowledge in the form of rigid geometrical models linking visual references within the environment. The second approach is based on a continuous synthesis of information extracted from image tokens to generate a coarse-grained world model, from which potential obstacles are inferred. The use of these techniques in workplace applications is discussed.

Controls on the Mobility of Antimony in Mine Waste from Three Deposit Types

NASA Astrophysics Data System (ADS)

Jamieson, H.; Radková, A. B.; Fawcett, S.

2017-12-01

Antimony can be considered both a critical metal and an environmental hazard, with a toxicity similar to arsenic. It is concentrated in stibnite deposits, but also present in polymetallic and precious metal ores, frequently accompanied by arsenic. We have studied the mineralogical controls on the mobility of antimony in three types of mine waste: stibnite tailings from an antimony mine, tetrahedrite-bearing waste rock from copper mining, and gold mine tailings and ore roaster waste. Our results demonstrate that the tendency of antimony to leach into the aqueous environment or remain sequestered in solid phases depends on the primary host minerals and conditions governing the precipitation of secondary antimony-hosting phases. In tailings at the Beaver Brook antimony mine in Newfoundland, Canada, stibnite oxidizes rapidly, and secondary minerals such as the relatively insoluble Sb-Fe tripuhyite-like phase and Sb-bearing goethite. However, under dry conditions, the most important secondary Sb host is the Mg-Sb hydroxide brandholzite, but this easily soluble mineral disappears when it rains. Antimony that was originally hosted in tetrahedrite, a complex multi-element sulfosalt, in the historic waste rock piles at Špania Dolina-Piesky, Slovakia, is not as mobile as Cu and As during weathering but reprecipiates to a mixture of tripuhyite and romeite. Finally, the original antimony-hosting minerals, both stibnite and sulphosalts, in the gold ore at Giant Mine, Yellowknife, Canada were completely destroyed during ore roasting. In tailings-contaminated sediments, antimony persists in roaster-generated iron oxide phases, except under reducing conditions where some of the antimony forms a Sb-S phase. The combined presence of antimony and arsenic in mine waste complicates risk assessment but in general, our findings suggest that antimony is less mobile than arsenic in the environment.

Innovative thermal energy harvesting for future autonomous applications

NASA Astrophysics Data System (ADS)

Monfray, Stephane

2013-12-01

As communicating autonomous systems market is booming, the role of energy harvesting will be a key enabler. As example, heat is one of the most abundant energy sources that can be converted into electricity in order to power circuits. Harvesting systems that use wasted heat open new ways to power autonomous sensors when the energy consumption is low, or to create systems of power generators when the conversion efficiency is high. The combination of different technologies (low power μ-processors, μ-batteries, radio, sensors...) with new energy harvesters compatible with large varieties of use-cases with allow to address this booming market. Thanks to the conjunction of ultra-low power electronic development, 3D technologies & Systems in Package approaches, the integration of autonomous sensors and electronics with ambient energy harvesting will be achievable. The applications are very wide, from environment and industrial sensors to medical portable applications, and the Internet of things may also represent in the future a several billions units market.

Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

NASA Astrophysics Data System (ADS)

Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

2017-10-01

Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

New methodology for preventing pressure ulcers using actimetry and autonomous nervous system recording.

PubMed

Meffre, R; Gehin, C; Schmitt, P M; De Oliveira, F; Dittmar, A

2006-01-01

Pressure ulcers constitute an important health problem. They affect lots of people with mobility disorder and they are difficult to detect and prevent because the damage begins on the muscle. This paper proposes a new approach to study pressure ulcers. We aim at developing a methodology to analyse the probability for a patient to develop a pressure ulcer, and that can detect risky situation. The idea is to relate the mobility disorder to autonomic nervous system (ANS) trouble. More precisely, the evaluation of the consequence of the discomfort on the ANS (stress induced by discomfort) can be relevant for the early detection of the pressure ulcer. Mobility is evaluated through movement measurement. This evaluation, at the interface between soft living tissues and any support has to consider the specificity of the human environment. Soft living tissues have non-linear mechanical properties making conventional rigid sensors non suitable for interface parameters measurement. A new actimeter system has been designed in order to study movements of the human body whatever its support while seating. The device is based on elementary active cells. The number of pressure cells can be easily adapted to the application. The spatial resolution is about 4 cm(2). In this paper, we compare activity measurement of a seated subject with his autonomic nervous system activity, recorded by E.motion device. It has been developed in order to record six parameters: skin potential, skin resistance, skin temperature, skin blood rate, instantaneous cardiac frequency and instantaneous respiratory frequency. The design, instrumentation, and first results are presented.

Overview of waste stabilization with cement.

PubMed

Batchelor, B

2006-01-01

Cement can treat a variety of wastes by improving physical characteristics (solidification) and reducing the toxicity and mobility of contaminants (stabilization). Potentially adverse waste-binder interactions are an important consideration because they can limit solidification. Stabilization occurs when a contaminant is converted from the dissolved (mobile) phase to a solid (immobile) phase by reactions, such as precipitation, sorption, or substitution. These reactions are often strongly affected by pH, so the presence of components of the waste that control pH are critical to stabilization reactions. Evaluating environmental impacts can be accomplished in a tiered strategy in which simplest approach would be to measure the maximum amount of contaminant that could be released. Alternatively, the sequence of release can be determined, either by microcosm tests that attempt to simulate conditions in the disposal zone or by mechanistic models that attempt to predict behavior using fundamental characteristics of the treated waste.

Estimation and Control for Autonomous Coring from a Rover Manipulator

NASA Technical Reports Server (NTRS)

Hudson, Nicolas; Backes, Paul; DiCicco, Matt; Bajracharya, Max

2010-01-01

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Whole genome and transcriptome analyses of environmental antibiotic sensitive and multi-resistant Pseudomonas aeruginosa isolates exposed to waste water and tap water.

PubMed

Schwartz, Thomas; Armant, Olivier; Bretschneider, Nancy; Hahn, Alexander; Kirchen, Silke; Seifert, Martin; Dötsch, Andreas

2015-01-01

The fitness of sensitive and resistant Pseudomonas aeruginosa in different aquatic environments depends on genetic capacities and transcriptional regulation. Therefore, an antibiotic-sensitive isolate PA30 and a multi-resistant isolate PA49 originating from waste waters were compared via whole genome and transcriptome Illumina sequencing after exposure to municipal waste water and tap water. A number of different genomic islands (e.g. PAGIs, PAPIs) were identified in the two environmental isolates beside the highly conserved core genome. Exposure to tap water and waste water exhibited similar transcriptional impacts on several gene clusters (antibiotic and metal resistance, genetic mobile elements, efflux pumps) in both environmental P. aeruginosa isolates. The MexCD-OprJ efflux pump was overexpressed in PA49 in response to waste water. The expression of resistance genes, genetic mobile elements in PA49 was independent from the water matrix. Consistently, the antibiotic sensitive strain PA30 did not show any difference in expression of the intrinsic resistance determinants and genetic mobile elements. Thus, the exposure of both isolates to polluted waste water and oligotrophic tap water resulted in similar expression profiles of mentioned genes. However, changes in environmental milieus resulted in rather unspecific transcriptional responses than selected and stimuli-specific gene regulation. © 2014 The Authors. Microbial Biotechnology published by John Wiley & Sons Ltd and Society for Applied Microbiology.

MOBILITY AND DEGRADATION OF RESIDUES AT HAZARDOUS WASTE LAND TREATMENT SITES AT CLOSURE

EPA Science Inventory

Soil treatment systems that are designed and managed based on a knowledge of soil-waste interactions may represent a significant technology for simultaneous treatment and ultimate disposal of selected hazardous wastes in an environmentally acceptable manner. hese soil treatment s...

Experiments in autonomous robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hamel, W.R.

1987-01-01

The Center for Engineering Systems Advanced Research (CESAR) is performing basic research in autonomous robotics for energy-related applications in hazardous environments. The CESAR research agenda includes a strong experimental component to assure practical evaluation of new concepts and theories. An evolutionary sequence of mobile research robots has been planned to support research in robot navigation, world sensing, and object manipulation. A number of experiments have been performed in studying robot navigation and path planning with planar sonar sensing. Future experiments will address more complex tasks involving three-dimensional sensing, dexterous manipulation, and human-scale operations.

Lidar-based door and stair detection from a mobile robot

NASA Astrophysics Data System (ADS)

Bansal, Mayank; Southall, Ben; Matei, Bogdan; Eledath, Jayan; Sawhney, Harpreet

2010-04-01

We present an on-the-move LIDAR-based object detection system for autonomous and semi-autonomous unmanned vehicle systems. In this paper we make several contributions: (i) we describe an algorithm for real-time detection of objects such as doors and stairs in indoor environments; (ii) we describe efficient data structures and algorithms for processing 3D point clouds acquired by laser scanners in a streaming manner, which minimize the memory copying and access. We show qualitative results demonstrating the effectiveness of our approach on runs in an indoor office environment.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Utah State University's T2 ODV mobility analysis

NASA Astrophysics Data System (ADS)

Davidson, Morgan E.; Bahl, Vikas; Wood, Carl G.

2000-07-01

In response to ultra-high maneuverability vehicle requirements, Utah State University (USU) has developed an autonomous vehicle with unique mobility and maneuverability capabilities. This paper describes a study of the mobility of the USU T2 Omni-Directional Vehicle (ODV). The T2 vehicle is a mid-scale (625 kg), second-generation ODV mobile robot with six independently driven and steered wheel assemblies. The six wheel, independent steering system is capable of unlimited steering rotation, presenting a unique solution to enhanced vehicle mobility requirements. This mobility study focuses on energy consumption in three basic experiments, comparing two modes of steering: Ackerman and ODV. The experiments are all performed on the same vehicle without any physical changes to the vehicle itself, providing a direct comparison these two steering methodologies. A computer simulation of the T2 mechanical and control system dynamics is described.

Change of heavy metal speciation, mobility, bioavailability, and ecological risk during potassium ferrate treatment of waste-activated sludge.

PubMed

Yu, Ming; Zhang, Jian; Tian, Yu

2018-05-01

The effects of potassium ferrate treatment on the heavy metal concentrations, speciation, mobility, bioavailability, and environmental risk in waste-activated sludge (WAS) at various dosages of potassium ferrate and different treatment times were investigated. Results showed that the total concentrations of all metals (except Cd) were decreased slightly after treatment and the order of metal concentrations in WAS and treated waste-activated sludge (TWAS) was Mg > Zn > Cu > Cr > Pb > Ni > Cd. Most heavy metals in WAS remained in TWAS after potassium ferrate treatment with metal residual rates over 67.8% in TWAS. The distribution of metal speciation in WAS was affected by potassium ferrate treatment. The bioavailability and the mobility of heavy metals (except Mg) in TWAS were mitigated, compared to those in WAS. Meanwhile, the environmental risk of heavy metals (except Pb and Cu) was alleviated after potassium ferrate treatment.

WESTERN RESEARCH INSTITUTE CONTAINED RECOVERY OF OILY WASTES (CROW) PROCESS - ITER

EPA Science Inventory

This report summarizes the findings of an evaluation of the Contained Recovery of Oily Wastes (CROW) technology developed by the Western Research Institute. The process involves the injection of heated water into the subsurface to mobilize oily wastes, which are removed from the ...

Development and deployment of a low-cost, mobile-ready, air quality sensor system: progress toward distributed networks and autonomous aerial sampling

NASA Astrophysics Data System (ADS)

Hersey, S. P.; DiVerdi, R.; Gadtaula, P.; Sheneman, T.; Flores, K.; Chen, Y. H.; Jayne, J. T.; Cross, E. S.

2017-12-01

Throughout the 2016-2017 academic year, a new partnership between Olin College of Engineering and Aerodyne Research, Inc. developed an affordable, self-contained air quality monitoring instrument called Modulair. The Modulair instrument is based on the same operating principles as Aerodyne's newly-developed ARISense integrated sensor system, employing electrochemical sensors for gas-phase measurements of CO, NO, NO2, and O3 and an off-the-shelf optical particle counter for particle concentration, number, and size distribution information (0.4 < dp < 17 microns). High Dimensional Model Representation (HDMR) has been used to model the interference derived from relative humidity and temperature as well as the cross-sensitivity of the electrochemical sensors to non-target gas-phase species. The aim of the modeling effort is to provide transparent and robust calibration of electrical signals to pollutant concentrations from a set of electrochemical sensors. Modulair was designed from the ground-up, with custom electronics - including a more powerful microcontroller, a fully re-designed housing and a device-specific backend with a mobile, cloud-based data management system for real-time data posting and analysis. Open source tools and software were utilized in the development of the instrument. All initial work was completed by a team of undergraduate students as part of the Senior Capstone Program in Engineering (SCOPE) at Olin College. Deployment strategies for Modulair include distributed, mobile measurements and drone-based aerial sampling. Design goals for the drone integration include maximizing airborne sampling time and laying the foundation for software integration with the drone's autopilot system to allow for autonomous plume sampling across concentration gradients. Modulair and its flexible deployments enable real-time mapping of air quality data at exposure-relevant spatial scales, as well as regular, autonomous characterization of sources and dispersion of atmospheric pollutants. We will present an overview of the Modulair instrument and results from benchtop and field validation, including mobile and drone-based plume sampling in the Boston area.

Autonomous distributed self-organization for mobile wireless sensor networks.

PubMed

Wen, Chih-Yu; Tang, Hung-Kai

2009-01-01

This paper presents an adaptive combined-metrics-based clustering scheme for mobile wireless sensor networks, which manages the mobile sensors by utilizing the hierarchical network structure and allocates network resources efficiently A local criteria is used to help mobile sensors form a new cluster or join a current cluster. The messages transmitted during hierarchical clustering are applied to choose distributed gateways such that communication for adjacent clusters and distributed topology control can be achieved. In order to balance the load among clusters and govern the topology change, a cluster reformation scheme using localized criterions is implemented. The proposed scheme is simulated and analyzed to abstract the network behaviors in a number of settings. The experimental results show that the proposed algorithm provides efficient network topology management and achieves high scalability in mobile sensor networks.

Battery collection in municipal waste management in Japan: Challenges for hazardous substance control and safety

DOE Office of Scientific and Technical Information (OSTI.GOV)

Terazono, Atsushi, E-mail: terazono@nies.go.jp; Oguchi, Masahiro; Iino, Shigenori

Highlights: • Consumers need to pay attention to the specific collection rules for each type of battery in each municipality in Japan. • 6–10% of zinc carbon and alkaline batteries discarded in Japan currently could be regarded as containing mercury. • Despite announcements by producers and municipalities, only 2.0% of discarded cylindrical dry batteries were insulated. • Batteries made up an average of 4.6% of the total collected small WEEE under the small WEEE recycling scheme in Japan. • Exchangeable batteries were used in almost all of mobile phones, but the removal rate was as low as 22% for mobilemore » phones. - Abstract: To clarify current collection rules of waste batteries in municipal waste management in Japan and to examine future challenges for hazardous substance control and safety, we reviewed collection rules of waste batteries in the Tokyo Metropolitan Area. We also conducted a field survey of waste batteries collected at various battery and small waste electric and electronic equipment (WEEE) collection sites in Tokyo. The different types of batteries are not collected in a uniform way in the Tokyo area, so consumers need to pay attention to the specific collection rules for each type of battery in each municipality. In areas where small WEEE recycling schemes are being operated after the enforcement of the Act on Promotion of Recycling of Small Waste Electrical and Electronic Equipment in Japan in 2013, consumers may be confused about the need for separating batteries from small WEEE (especially mobile phones). Our field survey of collected waste batteries indicated that 6–10% of zinc carbon and alkaline batteries discarded in Japan currently could be regarded as containing mercury. More than 26% of zinc carbon dry batteries currently being discarded may have a lead content above the labelling threshold of the EU Batteries Directive (2006/66/EC). In terms of safety, despite announcements by producers and municipalities about using insulation (tape) on waste batteries to prevent fires, only 2.0% of discarded cylindrical dry batteries were insulated. Our field study of small WEEE showed that batteries made up an average of 4.6% of the total collected small WEEE on a weight basis. Exchangeable batteries were used in almost all of mobile phones, digital cameras, radios, and remote controls, but the removal rate was as low as 22% for mobile phones. Given the safety issues and the rapid changes occurring with mobile phones or other types of small WEEE, discussion is needed among stakeholders to determine how to safely collect and recycle WEEE and waste batteries.« less

Physics Features of TRU-Fueled VHTRs

DOE PAGES

Lewis, Tom G.; Tsvetkov, Pavel V.

2009-01-01

The current waste management strategy for spent nuclear fuel (SNF) mandated by the US Congress is the disposal of high-level waste (HLW) in a geological repository at Yucca Mountain. Ongoing efforts on closed-fuel cycle options and difficulties in opening and safeguarding such a repository have led to investigations of alternative waste management strategies. One potential strategy for the US fuel cycle would be to make use of fuel loadings containing high concentrations of transuranic (TRU) nuclides in the next-generation reactors. The use of such fuels would not only increase fuel supply but could also potentially facilitate prolonged operation modes (viamore » fertile additives) on a single fuel loading. The idea is to approach autonomous operation on a single fuel loading that would allow marketing power units as nuclear batteries for worldwide deployment. Studies have already shown that high-temperature gas-cooled reactors (HTGRs) and their Generation IV (GEN IV) extensions, very-high-temperature reactors (VHTRs), have encouraging performance characteristics. This paper is focused on possible physics features of TRU-fueled VHTRs. One of the objectives of a 3-year U.S. DOE NERI project was to show that TRU-fueled VHTRs have the possibility of prolonged operation on a single fuel loading. A 3D temperature distribution was developed based on conceivable operation conditions of the 600 MWth VHTR design. Results of extensive criticality and depletion calculations with varying fuel loadings showed that VHTRs are capable for autonomous operation and HLW waste reduction when loaded with TRU fuel.« less

The Challenge of Planning and Execution for Spacecraft Mobile Robots

NASA Technical Reports Server (NTRS)

Dorais, Gregory A.; Gawdiak, Yuri; Clancy, Daniel (Technical Monitor)

2002-01-01

The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.

ARSENIC LEACHING FROM IRON RICH MINERAL PROCESSING WASTE: INFLUENCE OF PH AND REDOX POTENTIAL

EPA Science Inventory

This paper presents the effect of pH and redox potential on the potential mobility of arsenic (As) from a contaminated mineral processing waste. The selected waste contained about 0.47 g kg^-1 of As and 66.2 g kg^-1 of iron (Fe). The characteristic of the wast...

Cooperative mission execution and planning

NASA Astrophysics Data System (ADS)

Flann, Nicholas S.; Saunders, Kevin S.; Pells, Larry

1998-08-01

Utilizing multiple cooperating autonomous vehicles to perform tasks enhances robustness and efficiency over the use of a single vehicle. Furthermore, because autonomous vehicles can be controlled precisely and their status known accurately in real time, new types of cooperative behaviors are possible. This paper presents a working system called MEPS that plans and executes missions for multiple autonomous vehicles in large structured environments. Two generic spatial tasks are supported, to sweep an area and to visit a location while activating on-board equipment. Tasks can be entered both initially by the user and dynamically during mission execution by both users and vehicles. Sensor data and task achievement data is shared among the vehicles enabling them to cooperatively adapt to changing environmental, vehicle and tasks conditions. The system has been successfully applied to control ATV and micro-robotic vehicles in precision agriculture and waste-site characterization environments.

Resource allocation and supervisory control architecture for intelligent behavior generation

NASA Astrophysics Data System (ADS)

Shah, Hitesh K.; Bahl, Vikas; Moore, Kevin L.; Flann, Nicholas S.; Martin, Jason

2003-09-01

In earlier research the Center for Self-Organizing and Intelligent Systems (CSOIS) at Utah State University (USU) was funded by the US Army Tank-Automotive and Armaments Command's (TACOM) Intelligent Mobility Program to develop and demonstrate enhanced mobility concepts for unmanned ground vehicles (UGVs). As part of our research, we presented the use of a grammar-based approach to enabling intelligent behaviors in autonomous robotic vehicles. With the growth of the number of available resources on the robot, the variety of the generated behaviors and the need for parallel execution of multiple behaviors to achieve reaction also grew. As continuation of our past efforts, in this paper, we discuss the parallel execution of behaviors and the management of utilized resources. In our approach, available resources are wrapped with a layer (termed services) that synchronizes and serializes access to the underlying resources. The controlling agents (called behavior generating agents) generate behaviors to be executed via these services. The agents are prioritized and then, based on their priority and the availability of requested services, the Control Supervisor decides on a winner for the grant of access to services. Though the architecture is applicable to a variety of autonomous vehicles, we discuss its application on T4, a mid-sized autonomous vehicle developed for security applications.

Mexico's Oxbridge.

ERIC Educational Resources Information Center

Haussman, Fay

1979-01-01

For 400 years the National Autonomous University of Mexico has remained at the hub of the country's intellectual and political life. The history of the University from the Mayas and the Aztecs, University expansion, upward mobility of students, and student pressure groups and politics are described. (MLW)

Autonomous intelligent assembly systems LDRD 105746 final report.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

Demonstration and Validation of a Waste-to-Energy Conversion System for Fixed DoD Installations

DTIC Science & Technology

2013-08-01

Corporation (IST Energy) was incorporated as a majority-owned subsidiary of IST to develop, market, manufacture and sell mobile , compact, and fully...provided the necessary infrastructure to support the Demonstration. The GEM WEC system was placed on a concrete pad provided by Edwards AFB near the...the Army Research Office [12, 13]. This program was part of a more inclusive program to develop a mobile waste-to-energy system to convert bulk

Multi-Sensor Based State Prediction for Personal Mobility Vehicles

PubMed Central

Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of “loss of controllability”, change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given. PMID:27732589

Multi-Sensor Based State Prediction for Personal Mobility Vehicles.

PubMed

Abdur-Rahim, Jamilah; Morales, Yoichi; Gupta, Pankaj; Umata, Ichiro; Watanabe, Atsushi; Even, Jani; Suyama, Takayuki; Ishii, Shin

2016-01-01

This paper presents a study on multi-modal human emotional state detection while riding a powered wheelchair (PMV; Personal Mobility Vehicle) in an indoor labyrinth-like environment. The study reports findings on the habituation of human stress response during self-driving. In addition, the effects of "loss of controllability", change in the role of the driver to a passenger, are investigated via an autonomous driving modality. The multi-modal emotional state detector sensing framework consists of four sensing devices: electroencephalograph (EEG), heart inter-beat interval (IBI), galvanic skin response (GSR) and stressor level lever (in the case of autonomous riding). Physiological emotional state measurement characteristics are organized by time-scale, in terms of capturing slower changes (long-term) and quicker changes from moment-to-moment. Experimental results with fifteen participants regarding subjective emotional state reports and commercial software measurements validated the proposed emotional state detector. Short-term GSR and heart signal characterizations captured moment-to-moment emotional state during autonomous riding (Spearman correlation; ρ = 0.6, p < 0.001). Short-term GSR and EEG characterizations reliably captured moment-to-moment emotional state during self-driving (Classification accuracy; 69.7). Finally, long-term GSR and heart characterizations were confirmed to reliably capture slow changes during autonomous riding and also of emotional state during participant resting state. The purpose of this study and the exploration of various algorithms and sensors in a structured framework is to provide a comprehensive background for multi-modal emotional state prediction experiments and/or applications. Additional discussion regarding the feasibility and utility of the possibilities of these concepts are given.

Fractionation of Pb and Cu in the fine fraction (<10 mm) of waste excavated from a municipal landfill.

PubMed

Kaczala, Fabio; Orupõld, Kaja; Augustsson, Anna; Burlakovs, Juris; Hogland, Marika; Bhatnagar, Amit; Hogland, William

2017-11-01

The fractionation of metals in the fine fraction (<10 mm) of excavated waste from an Estonian landfill was carried out to evaluate the metal (Pb and Cu) contents and their potential towards not only mobility but also possibilities of recovery/extraction. The fractionation followed the BCR (Community Bureau of Reference) sequential extraction, and the exchangeable (F1), reducible (F2), oxidizable (F3) and residual fractions were determined. The results showed that Pb was highly associated with the reducible (F2) and oxidizable (F3) fractions, suggesting the potential mobility of this metal mainly when in contact with oxygen, despite the low association with the exchangeable fraction (F1). Cu has also shown the potential for mobility when in contact with oxygen, since high associations with the oxidizable fraction (F3) were observed. On the other hand, the mobility of metals in excavated waste can be seen as beneficial considering the circular economy and recovery of such valuables back into the economy. To conclude, not only the total concentration of metals but also a better understanding of fractionation and in which form metals are bound is very important to bring information on how to manage the fine fraction from excavated waste both in terms of environmental impacts and also recovery of such valuables in the economy.

Extending Your Reach.

ERIC Educational Resources Information Center

Batterman, Christopher T.

2002-01-01

High-density mobile storage (storage units mounted on carriages and rails which move and compact to utilize wasted space) can double the capacity of an existing school library facility. This article describes the benefits of going mobile and looks at the advantages of powered, programmable mobile storage systems. A sidebar describes Michigan…

Sandia National Laboratories proof-of-concept robotic security vehicle

DOE Office of Scientific and Technical Information (OSTI.GOV)

Harrington, J.J.; Jones, D.P.; Klarer, P.R.

1989-01-01

Several years ago Sandia National Laboratories developed a prototype interior robot that could navigate autonomously inside a large complex building to air and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modified andmore » integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities. 2 refs., 3 figs.« less

Solar Thermal Utility-Scale Joint Venture Program (USJVP) Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

MANCINI,THOMAS R.

2001-04-01

Several years ago Sandia National Laboratories developed a prototype interior robot [1] that could navigate autonomously inside a large complex building to aid and test interior intrusion detection systems. Recently the Department of Energy Office of Safeguards and Security has supported the development of a vehicle that will perform limited security functions autonomously in a structured exterior environment. The goal of the first phase of this project was to demonstrate the feasibility of an exterior robotic vehicle for security applications by using converted interior robot technology, if applicable. An existing teleoperational test bed vehicle with remote driving controls was modifiedmore » and integrated with a newly developed command driving station and navigation system hardware and software to form the Robotic Security Vehicle (RSV) system. The RSV, also called the Sandia Mobile Autonomous Navigator (SANDMAN), has been successfully used to demonstrate that teleoperated security vehicles which can perform limited autonomous functions are viable and have the potential to decrease security manpower requirements and improve system capabilities.« less

Trust Management in Swarm-Based Autonomic Computing Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Maiden, Wendy M.; Haack, Jereme N.; Fink, Glenn A.

2009-07-07

Reputation-based trust management techniques can address issues such as insider threat as well as quality of service issues that may be malicious in nature. However, trust management techniques must be adapted to the unique needs of the architectures and problem domains to which they are applied. Certain characteristics of swarms such as their lightweight ephemeral nature and indirect communication make this adaptation especially challenging. In this paper we look at the trust issues and opportunities in mobile agent swarm-based autonomic systems and find that by monitoring the trustworthiness of the autonomic managers rather than the swarming sensors, the trust managementmore » problem becomes much more scalable and still serves to protect the swarms. We also analyze the applicability of trust management research as it has been applied to architectures with similar characteristics. Finally, we specify required characteristics for trust management mechanisms to be used to monitor the trustworthiness of the entities in a swarm-based autonomic computing system.« less

A Mobile and Intelligent Patient Diary for Chronic Disease Self-Management.

PubMed

Van Woensel, William; Roy, Patrice C; Abidi, Samina R; Abidi, Syed S R

2015-01-01

By involving patients in their own long-term care, patient self-management approaches aim to increase self-sufficiency and reduce healthcare costs. For example, electronic patient diaries enable patients to collect health data autonomously, increasing self-reliance and reducing strain on health professionals. By deploying patient diaries on mobile platforms, health data collection can occur at any time and place, increasing the mobility of chronic patients who typically need to enter health data frequently. Importantly, an opportunity also arises for mobile clinical decision support, where health feedback is directly issued to patients without relying on connectivity or remote servers. Regardless of the specific self-management strategy, patient and healthcare provider adoption are crucial. Tailoring the system towards the particular patient and toward institution-specific clinical pathways is essential to increasing acceptance. In this paper we discuss a mobile patient diary realizing both the opportunities and challenges of mobile deployment.

A Rover Mobility Platform with Autonomous Capability to Enable Mars Sample Return

NASA Astrophysics Data System (ADS)

Fulford, P.; Langley, C.; Shaw, A.

2018-04-01

The next step in understanding Mars is sample return. In Fall 2016, the CSA conducted an analogue deployment using the Mars Exploration Science Rover. An objective was to demonstrate the maturity of the rover's guidance, navigation, and control.

The Embudito Mission: A Case Study of the Systematics of Autonomous Ground Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

EICKER,PATRICK J.

2001-02-01

Ground mobile robots are much in the mind of defense planners at this time, being considered for a significant variety of missions with a diversity ranging from logistics supply to reconnaissance and surveillance. While there has been a very large amount of basic research funded in the last quarter century devoted to mobile robots and their supporting component technologies, little of this science base has been fully developed and deployed--notable exceptions being NASA's Mars rover and several terrestrial derivatives. The material in this paper was developed as a first exemplary step in the development of a more systematic approach tomore » the R and D of ground mobile robots.« less

Autonomous Onboard Science Image Analysis for Future Mars Rover Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to transmit only "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these and other algorithms and demonstrate their performance during a recent rover field test.

Beyond NextGen: AutoMax Overview and Update

NASA Technical Reports Server (NTRS)

Kopardekar, Parimal; Alexandrov, Natalia

2013-01-01

Main Message: National and Global Needs - Develop scalable airspace operations management system to accommodate increased mobility needs, emerging airspace uses, mix, future demand. Be affordable and economically viable. Sense of Urgency. Saturation (delays), emerging airspace uses, proactive development. Autonomy is Needed for Airspace Operations to Meet Future Needs. Costs, time critical decisions, mobility, scalability, limits of cognitive workload. AutoMax to Accommodate National and Global Needs. Auto: Automation, autonomy, autonomicity for airspace operations. Max: Maximizing performance of the National Airspace System. Interesting Challenges and Path Forward.

Mobile transporter path planning

NASA Technical Reports Server (NTRS)

Baffes, Paul; Wang, Lui

1990-01-01

The use of a genetic algorithm (GA) for solving the mobile transporter path planning problem is investigated. The mobile transporter is a traveling robotic vehicle proposed for the space station which must be able to reach any point of the structure autonomously. Elements of the genetic algorithm are explored in both a theoretical and experimental sense. Specifically, double crossover, greedy crossover, and tournament selection techniques are examined. Additionally, the use of local optimization techniques working in concert with the GA are also explored. Recent developments in genetic algorithm theory are shown to be particularly effective in a path planning problem domain, though problem areas can be cited which require more research.

ACID-BASE ACCOUNT EFFECTIVENESS FOR DETERMINATION OF MINE WASTE POTENTIAL ACIDITY. (R825549C048)

EPA Science Inventory

The oxidation of sulfide minerals in mine waste is a widespread source of resource degradation, often resulting in the generation of acidic water and mobilization of heavy metals. The quantity of acid forming minerals present in mine waste, dominantly as pyrite (FeS₂

Differences in the mobility of Cd, Cu, Pb and Zn during composting of two types of household bio-waste collected in four seasons.

PubMed

Hanc, Ales; Szakova, Jirina; Ochecova, Pavla

2014-09-01

The objective of this study was to evaluate the mobility of Cd, Cu, Pb and Zn during 3 different compost aeration rates of household bio-waste, originating in urban settlement (U-bio-waste) and family house buildings (F-bio-waste). The first two weeks, when the thermophilic composting phase became, the highest decline of exchangeable content was recorded. After 12 weeks of composting, lower exchangeable content was found in the case of U-bio-waste composts than F-bio-waste composts, despite higher loss of fresh mass. The order of fractions in both final composts was as follows: residual>oxidizable>reducible>exchangeable. The exchangeable portion of total content in final composts decreased in this order: Zn (17%), Cd (11%), Pb (4%) and Cu (3%). Regarding the low exchangeable content of heavy metals and high-quality organic matter, these types of composts could be used not only as fertilizer, but for remediation of metals contaminated land. Copyright © 2014 Elsevier Ltd. All rights reserved.

Using imaging spectroscopy to map acidic mine waste

USGS Publications Warehouse

Swayze, G.A.; Smith, K.S.; Clark, R.N.; Sutley, S.J.; Pearson, R.M.; Vance, J.S.; Hageman, P.L.; Briggs, P.H.; Meier, A.L.; Singleton, M.J.; Roth, S.

2000-01-01

The process of pyrite oxidation at the surface of mine waste may produce acidic water that is gradually neutralized as it drains away from the waste, depositing different Fe-bearing secondary minerals in roughly concentric zones that emanate from mine-waste piles. These Fe-bearing minerals are indicators of the geochemical conditions under which they form. Airborne and orbital imaging spectrometers can be used to map these mineral zones because each of these Fe-bearing secondary minerals is spectrally unique. In this way, imaging spectroscopy can be used to rapidly screen entire mining districts for potential sources of surface acid drainage and to detect acid producing minerals in mine waste or unmined rock outcrops. Spectral data from the AVIRIS instrument were used to evaluate mine waste at the California Gulch Superfund Site near Leadville, CO. Laboratory leach tests of surface samples show that leachate pH is most acidic and metals most mobile in samples from the inner jarosite zone and that leachate pH is near-neutral and metals least mobile in samples from the outer goethite zone.

Alternative Fuels Data Center: Houston Energizes Deployment of Plug-In

Science.gov Websites

and other pollutant emissions: buildings and structures, mobile sources, and waste (also read more recent reports). Vehicle electrification became a key focus of mobile source emissions-reduction

A Mechanism to Avoid Collusion Attacks Based on Code Passing in Mobile Agent Systems

NASA Astrophysics Data System (ADS)

Jaimez, Marc; Esparza, Oscar; Muñoz, Jose L.; Alins-Delgado, Juan J.; Mata-Díaz, Jorge

Mobile agents are software entities consisting of code, data, state and itinerary that can migrate autonomously from host to host executing their code. Despite its benefits, security issues strongly restrict the use of code mobility. The protection of mobile agents against the attacks of malicious hosts is considered the most difficult security problem to solve in mobile agent systems. In particular, collusion attacks have been barely studied in the literature. This paper presents a mechanism that avoids collusion attacks based on code passing. Our proposal is based on a Multi-Code agent, which contains a different variant of the code for each host. A Trusted Third Party is responsible for providing the information to extract its own variant to the hosts, and for taking trusted timestamps that will be used to verify time coherence.

A Tree Based Self-routing Scheme for Mobility Support in Wireless Sensor Networks

NASA Astrophysics Data System (ADS)

Kim, Young-Duk; Yang, Yeon-Mo; Kang, Won-Seok; Kim, Jin-Wook; An, Jinung

Recently, WSNs (Wireless Sensor Networks) with mobile robot is a growing technology that offer efficient communication services for anytime and anywhere applications. However, the tiny sensor node has very limited network resources due to its low battery power, low data rate, node mobility, and channel interference constraint between neighbors. Thus, in this paper, we proposed a tree based self-routing protocol for autonomous mobile robots based on beacon mode and implemented in real test-bed environments. The proposed scheme offers beacon based real-time scheduling for reliable association process between parent and child nodes. In addition, it supports smooth handover procedure by reducing flooding overhead of control packets. Throughout the performance evaluation by using a real test-bed system and simulation, we illustrate that our proposed scheme demonstrates promising performance for wireless sensor networks with mobile robots.

A design strategy for autonomous systems

NASA Technical Reports Server (NTRS)

Forster, Pete

1989-01-01

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

Environmental risk assessment of CRT and PCB workshops in a mobile e-waste recycling plant.

PubMed

Song, Qingbin; Zeng, Xianlai; Li, Jinhui; Duan, Huabo; Yuan, Wenyi

2015-08-01

The mobile e-waste recycling equipment was chosen as the object of this study, including manual dismantling, mechanical separation of cathode ray tubes (CRTs), and printed circuit boards (PCBs) in the two independent workshops. To determine the potential environmental contamination, the noise, the heavy metals (Cu, Cd, Pb), and the environmental impacts of the e-waste recycling processes in the two workshops of the mobile plant have been evaluated in this paper. This study determined that when control measures are employed, the noise within the two workshops (<80 dB) will meet the national standards. In the CRT workshop, Pb was the most polluting metal, with 2.3 μg/m(3) and 10.53 mg/g in the air and floor dust, respectively. The result of a health risk assessment shows that noncancerous effects are possible for Pb (hazard index (HI) = 3.54 in the CRT workshop and HI = 1.27 in the PCB workshop). The carcinogenic risks to workers for Cd are relatively light in both the workshops. From the results of life cycle assessment (LCA), it can be seen that there was an environmental benefit from the e-waste recycling process as a whole.

Recent CESAR (Center for Engineering Systems Advanced Research) research activities in sensor based reasoning for autonomous machines

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, F.G.; de Saussure, G.; Spelt, P.F.

1988-01-01

This paper describes recent research activities at the Center for Engineering Systems Advanced Research (CESAR) in the area of sensor based reasoning, with emphasis being given to their application and implementation on our HERMIES-IIB autonomous mobile vehicle. These activities, including navigation and exploration in a-priori unknown and dynamic environments, goal recognition, vision-guided manipulation and sensor-driven machine learning, are discussed within the framework of a scenario in which an autonomous robot is asked to navigate through an unknown dynamic environment, explore, find and dock at the panel, read and understand the status of the panel's meters and dials, learn the functioningmore » of a process control panel, and successfully manipulate the control devices of the panel to solve a maintenance emergency problems. A demonstration of the successful implementation of the algorithms on our HERMIES-IIB autonomous robot for resolution of this scenario is presented. Conclusions are drawn concerning the applicability of the methodologies to more general classes of problems and implications for future work on sensor-driven reasoning for autonomous robots are discussed. 8 refs., 3 figs.« less

DOE Office of Scientific and Technical Information (OSTI.GOV)

None

In an important step toward advancing intelligent, efficient, and autonomous electric vehicles, the National Renewable Energy Laboratory (NREL) plans to partner on research and development efforts with EasyMile, a smart mobility solutions company. EasyMile provided a demo of its driverless EZ10 shuttle on the NREL campus in September 2017.

Autonomous Decentralized Voltage Profile Control of Super Distributed Energy System using Multi-agent Technology

NASA Astrophysics Data System (ADS)

Tsuji, Takao; Hara, Ryoichi; Oyama, Tsutomu; Yasuda, Keiichiro

A super distributed energy system is a future energy system in which the large part of its demand is fed by a huge number of distributed generators. At one time some nodes in the super distributed energy system behave as load, however, at other times they behave as generator - the characteristic of each node depends on the customers' decision. In such situation, it is very difficult to regulate voltage profile over the system due to the complexity of power flows. This paper proposes a novel control method of distributed generators that can achieve the autonomous decentralized voltage profile regulation by using multi-agent technology. The proposed multi-agent system employs two types of agent; a control agent and a mobile agent. Control agents generate or consume reactive power to regulate the voltage profile of neighboring nodes and mobile agents transmit the information necessary for VQ-control among the control agents. The proposed control method is tested through numerical simulations.

Autonomous stair-climbing with miniature jumping robots.

PubMed

Stoeter, Sascha A; Papanikolopoulos, Nikolaos

2005-04-01

The problem of vision-guided control of miniature mobile robots is investigated. Untethered mobile robots with small physical dimensions of around 10 cm or less do not permit powerful onboard computers because of size and power constraints. These challenges have, in the past, reduced the functionality of such devices to that of a complex remote control vehicle with fancy sensors. With the help of a computationally more powerful entity such as a larger companion robot, the control loop can be closed. Using the miniature robot's video transmission or that of an observer to localize it in the world, control commands can be computed and relayed to the inept robot. The result is a system that exhibits autonomous capabilities. The framework presented here solves the problem of climbing stairs with the miniature Scout robot. The robot's unique locomotion mode, the jump, is employed to hop one step at a time. Methods for externally tracking the Scout are developed. A large number of real-world experiments are conducted and the results discussed.

Autonomous robotic platforms for locating radio sources buried under rubble

NASA Astrophysics Data System (ADS)

Tasu, A. S.; Anchidin, L.; Tamas, R.; Paun, M.; Danisor, A.; Petrescu, T.

2016-12-01

This paper deals with the use of autonomous robotic platforms able to locate radio signal sources such as mobile phones, buried under collapsed buildings as a result of earthquakes, natural disasters, terrorism, war, etc. This technique relies on averaging position data resulting from a propagation model implemented on the platform and the data acquired by robotic platforms at the disaster site. That allows us to calculate the approximate position of radio sources buried under the rubble. Based on measurements, a radio map of the disaster site is made, very useful for locating victims and for guiding specific rubble lifting machinery, by assuming that there is a victim next to a mobile device detected by the robotic platform; by knowing the approximate position, the lifting machinery does not risk to further hurt the victims. Moreover, by knowing the positions of the victims, the reaction time is decreased, and the chances of survival for the victims buried under the rubble, are obviously increased.

Robot soccer anywhere: achieving persistent autonomous navigation, mapping, and object vision tracking in dynamic environments

NASA Astrophysics Data System (ADS)

Dragone, Mauro; O'Donoghue, Ruadhan; Leonard, John J.; O'Hare, Gregory; Duffy, Brian; Patrikalakis, Andrew; Leederkerken, Jacques

2005-06-01

The paper describes an ongoing effort to enable autonomous mobile robots to play soccer in unstructured, everyday environments. Unlike conventional robot soccer competitions that are usually held on purpose-built robot soccer "fields", in our work we seek to develop the capability for robots to demonstrate aspects of soccer-playing in more diverse environments, such as schools, hospitals, or shopping malls, with static obstacles (furniture) and dynamic natural obstacles (people). This problem of "Soccer Anywhere" presents numerous research challenges including: (1) Simultaneous Localization and Mapping (SLAM) in dynamic, unstructured environments, (2) software control architectures for decentralized, distributed control of mobile agents, (3) integration of vision-based object tracking with dynamic control, and (4) social interaction with human participants. In addition to the intrinsic research merit of these topics, we believe that this capability would prove useful for outreach activities, in demonstrating robotics technology to primary and secondary school students, to motivate them to pursue careers in science and engineering.

Applying Utility Functions to Adaptation Planning for Home Automation Applications

NASA Astrophysics Data System (ADS)

Bratskas, Pyrros; Paspallis, Nearchos; Kakousis, Konstantinos; Papadopoulos, George A.

A pervasive computing environment typically comprises multiple embedded devices that may interact together and with mobile users. These users are part of the environment, and they experience it through a variety of devices embedded in the environment. This perception involves technologies which may be heterogeneous, pervasive, and dynamic. Due to the highly dynamic properties of such environments, the software systems running on them have to face problems such as user mobility, service failures, or resource and goal changes which may happen in an unpredictable manner. To cope with these problems, such systems must be autonomous and self-managed. In this chapter we deal with a special kind of a ubiquitous environment, a smart home environment, and introduce a user-preference-based model for adaptation planning. The model, which dynamically forms a set of configuration plans for resources, reasons automatically and autonomously, based on utility functions, on which plan is likely to best achieve the user's goals with respect to resource availability and user needs.

Autonomous microfluidic system for phosphate detection.

PubMed

McGraw, Christina M; Stitzel, Shannon E; Cleary, John; Slater, Conor; Diamond, Dermot

2007-02-28

Miniaturization of analytical devices through the advent of microfluidics and micro total analysis systems is an important step forward for applications such as medical diagnostics and environmental monitoring. The development of field-deployable instruments requires that the entire system, including all necessary peripheral components, be miniaturized and packaged in a portable device. A sensor for long-term monitoring of phosphate levels has been developed that incorporates sampling, reagent and waste storage, detection, and wireless communication into a complete, miniaturized system. The device employs a low-power detection and communication system, so the entire instrument can operate autonomously for 7 days on a single rechargeable, 12V battery. In addition, integration of a wireless communication device allows the instrument to be controlled and results to be downloaded remotely. This autonomous system has a limit of detection of 0.3mg/L and a linear dynamic range between 0 and 20mg/L.

How to improve WEEE management? Novel approach in mobile collection with application of artificial intelligence.

PubMed

Król, Aleksander; Nowakowski, Piotr; Mrówczyńska, Bogna

2016-04-01

In global demand of improvement of electrical and electronic waste management systems, stakeholders look for effective collection systems that generate minimal costs. In this study we propose a novel model for application in mobile collection schemes - on demand that waste be taken back from household residents. This type of the waste equipment collection is comfortable for residents as they can indicate day and time windows for the take-back. Collecting companies are interested in lowering operational costs required for service. This lowering includes selection of a sufficient number of vehicles and employees, and then minimising the routes' length in order to achieve savings in fuel consumption, and lowering of emissions. In the proposed model we use a genetic algorithm for optimisation of the route length and number of vehicles and fuzzy logic for representation of the household residents' satisfaction on the take-back service provided by collection companies. Also, modern communication channels like websites or mobile phone applications can be used to send the waste equipment take-back request from the household, so it has the potential to be developed in future applications. The operation of the model has been presented in the case study of a city in southern Poland. The results can be useful for collecting companies and software producers for preparation of new applications to be used in waste collection. Copyright © 2016 Elsevier Ltd. All rights reserved.

Impact of technological innovation and regulation development on e-waste toxicity: a case study of waste mobile phones.

PubMed

Chen, Yu; Chen, Mengjun; Li, Yungui; Wang, Bin; Chen, Shu; Xu, Zhonghui

2018-05-08

Technology innovation has accelerated progress in Information and Communications Technology (ICT), especially in the mobile phones sector. Concurrently, local, national, and international governments are enforcing stricter regulations to protect natural resources and human health. The paper attempts to address the question: Have technological innovations and regulation development had a positive impact on ecosystems and public health? We identified 36 waste mobile phones (WMPs) manufactured between 2002 and 2013, assessed their metals concentration, leachability, and potential impact on environment and human health using digestion, Toxicity Characteristic Leaching Procedure (TCLP), and USEtox model, respectively. The results highlight that regulations did not have significant impact on total metal content, except some heavy metals, while technology innovation recorded stronger impact. WMPs should be classified as hazardous due to excessive lead content. Copper posed the most significant ecotoxicity risk, and chromium showed the most significant risk for both cancerous and non-cancerous diseases. Additionally, we demonstrated that WMPs toxicity increased with technology innovation.

Chemical tailoring of steam to remediate underground mixed waste contaminents

DOEpatents

Aines, Roger D.; Udell, Kent S.; Bruton, Carol J.; Carrigan, Charles R.

1999-01-01

A method to simultaneously remediate mixed-waste underground contamination, such as organic liquids, metals, and radionuclides involves chemical tailoring of steam for underground injection. Gases or chemicals are injected into a high pressure steam flow being injected via one or more injection wells to contaminated soil located beyond a depth where excavation is possible. The injection of the steam with gases or chemicals mobilizes contaminants, such as metals and organics, as the steam pushes the waste through the ground toward an extraction well having subatmospheric pressure (vacuum). The steam and mobilized contaminants are drawn in a substantially horizontal direction to the extraction well and withdrawn to a treatment point above ground. The heat and boiling action of the front of the steam flow enhance the mobilizing effects of the chemical or gas additives. The method may also be utilized for immobilization of metals by using an additive in the steam which causes precipitation of the metals into clusters large enough to limit their future migration, while removing any organic contaminants.

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System

PubMed Central

Qian, Jun; Zi, Bin; Ma, Yangang; Zhang, Dan

2017-01-01

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields. PMID:28891964

The Design and Development of an Omni-Directional Mobile Robot Oriented to an Intelligent Manufacturing System.

PubMed

Qian, Jun; Zi, Bin; Wang, Daoming; Ma, Yangang; Zhang, Dan

2017-09-10

In order to transport materials flexibly and smoothly in a tight plant environment, an omni-directional mobile robot based on four Mecanum wheels was designed. The mechanical system of the mobile robot is made up of three separable layers so as to simplify its combination and reorganization. Each modularized wheel was installed on a vertical suspension mechanism, which ensures the moving stability and keeps the distances of four wheels invariable. The control system consists of two-level controllers that implement motion control and multi-sensor data processing, respectively. In order to make the mobile robot navigate in an unknown semi-structured indoor environment, the data from a Kinect visual sensor and four wheel encoders were fused to localize the mobile robot using an extended Kalman filter with specific processing. Finally, the mobile robot was integrated in an intelligent manufacturing system for material conveying. Experimental results show that the omni-directional mobile robot can move stably and autonomously in an indoor environment and in industrial fields.

Eliminating Medical Waste Liabilities Through Mobile Maceration and Disinfection

DOE Office of Scientific and Technical Information (OSTI.GOV)

R. A. Rankin; N. R. Soelberg; K. M. Klingler

2006-02-01

Commercial medical waste treatment technologies include incineration, melting, autoclaving, and chemical disinfection. Incineration disinfects, destroys the original nature of medical waste, and reduces the waste volume by converting organic waste content to carbon dioxide and water, leaving only residual inorganic ash. However, medical waste incinerator numbers have plummeted from almost 2,400 in 1995 to 115 in 2003 and to about 62 in 2005, due to negative public perception and escalating compliance costs associated with increasingly strict regulations. High-temperature electric melters have been designed and marketed as incinerator alternatives, but they are also costly and generally must comply with the samemore » incinerator emissions regulations and permitting requirements. Autoclave processes disinfect medical waste at much lower operating temperatures than incinerators operate at, but are sometimes subject to limitations such as waste segregration requirements to be effective. Med-Shred, Inc. has developed a patented mobile shredding and chemical disinfecting process for on-site medical waste treatment. Medical waste is treated on-site at customer facilities by shredding and disinfecting the waste. The treated waste can then be transported in compliance with Health Insurance Portability and Accountability Act of 1996 (HIPAA) requirements to a landfill for disposal as solid municipal waste. A team of Idaho National Laboratory engineers evaluated the treatment process design. The process effectiveness has been demonstrated in mycobacterium tests performed by Analytical Services Incorporated. A process description and the technical and performance evaluation results are presented in the paper. A treatment demonstration and microbiological disinfecting tests show that the processor functions as it was intended.« less

Fraction distribution and risk assessment of heavy metals in waste clay sediment discharged through the phosphate beneficiation process in Jordan.

PubMed

Al-Hwaiti, Mohammad Salem; Brumsack, Hans Jurgen; Schnetger, Bernhard

2015-07-01

Heavy metal contamination of clay waste through the phosphate beneficiation process is a serious problem faced by scientists and regulators worldwide. Through the beneficiation process, heavy metals naturally present in the phosphate rocks became concentrated in the clay waste. This study evaluated the concentration of heavy metals and their fractions in the clay waste in order to assess the risk of environmental contamination. A five-step sequential extraction method, the risk assessment code (RAC), effects range low (ERL), effects range medium (ERM), the lowest effect level (LEL), the severe effect level (SEL), the redistribution index (U tf), the reduced partition index (I), residual partition index (I R), and the Nemerow multi-factor index (PC) were used to assess for clay waste contamination. Heavy metals were analyzed using high-resolution inductively coupled plasma mass spectrometry (HR-ICP-MS) and inductively coupled plasma optical emission spectroscopy (ICP-OES). Correlation analyses were carried out to better understand the relationships between the chemical characteristics and the contents of the different phase fractions. Concentrations of Cd and Cu confirmed that both were bound to the exchangeable fraction (F1) and the carbonate fraction (F2), presenting higher mobility, whereas Pb was most abundant in the Fe-Mn oxide fraction (F3) and organic matter fraction (F4). The residual fraction (F5) contained the highest concentrations (>60%) of As, Cr, Mo, V, and Zn, with lower mobility. Application of the RAC index showed that Cd and Cu should be considered a moderate risk, whereas As, Cr, Mo, Pb, and Zn presented a low risk. Cadmium and Cu contents in mobile fractions F1 and F2 were higher than ERL but lower than ERM. On the other hand, As, Pb, and Zn contents of mobile fractions F1 and F2 were lower than ERL and ERM guideline values. Moreover, total Pb concentrations in the clay waste were below the lowest effect level (LEL) threshold value period, Cr and Zn values in the clay waste were determined to have exceeded the severe effect level (SEL) limit values, whereas Cd and Cu level ranges between LEL and SEL indicate moderate contamination. I R values of heavy metals in the clay waste confirmed that Cd and Cu were bound to the exchangeable and carbonate fractions and presented higher mobility, whereas As, Cr, Mo, Pb, V, and Zn were bound to organic or residual fractions and consequently exhibit lower mobility. A Nemerow multi-factor index revealed that the mine site contains high levels of Cd, Cu, V, and Zn pollution. As and Cr were found at a moderate level of contamination, whereas Pb was present at a safe level of contamination. The order of the comprehensive contamination indices was Cd > Cu > Mo > Zn > V > Cr > As > Pb, indicating that the assessment of clay waste, especially with Cd and Cu, should be undertaken to control heavy metal contamination in adjacent urban and mine areas at the Eshidiya mines.

Mobilizing Community Museum Networks in Mexico--and Beyond.

ERIC Educational Resources Information Center

Healy, Kevin

2003-01-01

Since the late 1980s, a network of community museums has spread throughout Oaxaca (Mexico), serving as an autonomous force for broad-based cultural development, supporting the maintenance and revitalization of local Indigenous cultures, countering Western cultural hegemony, and involving Indigenous communities in museum development and related…

Work Uncertainty and the Promotion of Professional Women: The Case of Law Firm Partnership

ERIC Educational Resources Information Center

Gorman, Elizabeth H.

2006-01-01

Work uncertainty may affect gender disparities in professionals' upward mobility in organizational hierarchies. Professional work involves three forms of uncertainty--problem variability, strategic indeterminacy and dependence on autonomous actors--that weaken the association between performance and ability, leading organizational decision-makers…

Neural Network-Based Landmark Recognition and Navigation with IAMRs. Understanding the Principles of Thought and Behavior.

ERIC Educational Resources Information Center

Doty, Keith L.

1999-01-01

Research on neural networks and hippocampal function demonstrating how mammals construct mental maps and develop navigation strategies is being used to create Intelligent Autonomous Mobile Robots (IAMRs). Such robots are able to recognize landmarks and navigate without "vision." (SK)

Cancellation of the Army’s Autonomous Navigation System

DTIC Science & Technology

2012-08-02

Auto/Truck Various Vehicle Leader/Follower, Road Following Google Driverless Vehicle Google Road Following Source: GAO presentation of data from Red...both of which are estimated to cost over $300,000 per system. However, Google’s Driverless Vehicle and the Southwest Research Institute’s Mobile

SWARMS: Scalable sWarms of Autonomous Robots and Mobile Sensors

DTIC Science & Technology

2013-03-18

Pasqualetti, Antonio Franchi , Francesco Bullo. On optimal cooperative patrolling, 2010 49th IEEE Conference on Decision and Control (CDC). 2010/12/15 00...exhibits “ global stability” Provided a complete convergence proof for the adaptive version of the range only station keeping problem. Graph Theoretic

Dynamic Agent Classification and Tracking Using an Ad Hoc Mobile Acoustic Sensor Network

NASA Astrophysics Data System (ADS)

Friedlander, David; Griffin, Christopher; Jacobson, Noah; Phoha, Shashi; Brooks, Richard R.

2003-12-01

Autonomous networks of sensor platforms can be designed to interact in dynamic and noisy environments to determine the occurrence of specified transient events that define the dynamic process of interest. For example, a sensor network may be used for battlefield surveillance with the purpose of detecting, identifying, and tracking enemy activity. When the number of nodes is large, human oversight and control of low-level operations is not feasible. Coordination and self-organization of multiple autonomous nodes is necessary to maintain connectivity and sensor coverage and to combine information for better understanding the dynamics of the environment. Resource conservation requires adaptive clustering in the vicinity of the event. This paper presents methods for dynamic distributed signal processing using an ad hoc mobile network of microsensors to detect, identify, and track targets in noisy environments. They seamlessly integrate data from fixed and mobile platforms and dynamically organize platforms into clusters to process local data along the trajectory of the targets. Local analysis of sensor data is used to determine a set of target attribute values and classify the target. Sensor data from a field test in the Marine base at Twentynine Palms, Calif, was analyzed using the techniques described in this paper. The results were compared to "ground truth" data obtained from GPS receivers on the vehicles.

MOBILE ON-SITE RECYCLING OF METALWORKING FLUIDS

EPA Science Inventory

This evaluation addresses the product quality, waste reduction, and economic issues involved in recycling metalworking fluids through a mobile recycling unit. The specific recycling unit evaluated is based on the technology of filtration, pasteurization, and centrifugation. Metal...

Thermoelectric energy harvesting for a solid waste processing toilet

NASA Astrophysics Data System (ADS)

Stokes, C. David; Baldasaro, Nicholas G.; Bulman, Gary E.; Stoner, Brian R.

2014-06-01

Over 2.5 billion people do not have access to safe and effective sanitation. Without a sanitary sewer infrastructure, self-contained modular systems can provide solutions for these people in the developing world and remote areas. Our team is building a better toilet that processes human waste into burnable fuel and disinfects the liquid waste. The toilet employs energy harvesting to produce electricity and does not require external electrical power or consumable materials. RTI has partnered with Colorado State University, Duke University, and Roca Sanitario under a Bill and Melinda Gates Foundation Reinvent the Toilet Challenge (RTTC) grant to develop an advanced stand-alone, self-sufficient toilet to effectively process solid and liquid waste. The system operates through the following steps: 1) Solid-liquid separation, 2) Solid waste drying and sizing, 3) Solid waste combustion, and 4) Liquid waste disinfection. Thermoelectric energy harvesting is a key component to the system and provides the electric power for autonomous operation. A portion of the exhaust heat is captured through finned heat-sinks and converted to electricity by thermoelectric (TE) devices to provide power for the electrochemical treatment of the liquid waste, pumps, blowers, combustion ignition, and controls.

Development of Proposals for Solid Municipal Waste Landfill Placing by Example of Regions of the Far North

NASA Astrophysics Data System (ADS)

Oznobihina, L. A.; Pelymskaya, O.

2017-11-01

The sustainable development of each region, the quality of its environment depends to a great extent on the provision of environmental safety, especially in the field of waste management. The growth of industrial production in the Tyumen region and the improvement of the population social base contributes to a significant increase in production and consumption waste. The article is devoted to the problem of the emergence, recycling and utilization of an increasing amount of solid municipal waste every year. The author considers the unresolved issues of the location, processing and disposal of waste in the Nefteyugansk District, the Khanty-Mansi Autonomous Okrug - Yugra, leading to increase in their volumes, the size of the territory they occupy, increase in the number of unauthorized landfills, intensive pollution of soils, surface and groundwaters and atmospheric air. Proposals for the placement of a comprehensive inter-municipal TKO testing ground have been developed. The most favorable territory for the location of the TKO enterprise was determined.

Collection of low-grade waste heat for enhanced energy harvesting

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dede, Ercan M., E-mail: eric.dede@tema.toyota.com; Schmalenberg, Paul; Wang, Chi-Ming

Enhanced energy harvesting through the collection of low-grade waste heat is experimentally demonstrated. A structural optimization technique is exploited in the design of a thermal-composite substrate to guide and gather the heat emanating from multiple sources to a predetermined location. A thermoelectric generator is then applied at the selected focusing region to convert the resulting low-grade waste heat to electrical power. The thermal characteristics of the device are experimentally verified by direct temperature measurements of the system and numerically validated via heat conduction simulations. Electrical performance under natural and forced convection is measured, and in both cases, the device withmore » optimized heat flow control plus energy harvesting demonstrates increased power generation when compared with a baseline waste heat recovery system. Electronics applications include energy scavenging for autonomously powered sensor networks or self-actuated devices.« less

"Campus" - An Agent-Based Platform for Distance Education.

ERIC Educational Resources Information Center

Westhoff, Dirk; Unger, Claus

This paper presents "Campus," an environment that allows University of Hagen (Germany) students to connect briefly to the Internet but remain represented by personalized, autonomous agents that can fulfill a variety of information, communication, planning, and cooperation tasks. A brief survey is presented of existing mobile agent system…

Development of a High Reliability Compact Air Independent PEMFC Power System

NASA Technical Reports Server (NTRS)

Wynne, B.; Diffenderfer, C.; Ferguson, S.; Keyser, J.; Miller, M.; Sievers, B.; Song, Y.; Araghi, K.; Vasquez, A.

2013-01-01

Autonomous Underwater Vehicles (AUV's) have received increased attention in recent years as military and commercial users look for means to maintain a mobile and persistent presence in the undersea world. Teledyne Energy Systems, Inc. (TESI) is committed to meeting the energy needs for these missions

A non-autonomous insect piggyBac trasposable element is mobile in tobacco

USDA-ARS?s Scientific Manuscript database

The piggyBac transposable element, originally isolated from a virus in an insect cell line, is a valuable molecular tool for transgenesis and mutagenesis of invertebrates. For heterologous transgenesis in a variety of mammals, transfer of the piggyBac transposable element from an ectopic plasmid onl...

Introduction to Autonomous Mobile Robotics Using "Lego Mindstorms" NXT

ERIC Educational Resources Information Center

Akin, H. Levent; Meriçli, Çetin; Meriçli, Tekin

2013-01-01

Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the…

Research and applications: Artificial intelligence

NASA Technical Reports Server (NTRS)

Chaitin, L. J.; Duda, R. O.; Johanson, P. A.; Raphael, B.; Rosen, C. A.; Yates, R. A.

1970-01-01

The program is reported for developing techniques in artificial intelligence and their application to the control of mobile automatons for carrying out tasks autonomously. Visual scene analysis, short-term problem solving, and long-term problem solving are discussed along with the PDP-15 simulator, LISP-FORTRAN-MACRO interface, resolution strategies, and cost effectiveness.

Stochastic Modeling and Uncertainty Cascade of Soil Bearing and Shearing Characteristics for Light-Weight Vehicle Applications

DTIC Science & Technology

2013-11-01

Interaction. Massachusetts Institute of Technology, Cambridge, MA, 2005. [12] C. Senatore, M. Wulfmeier, P. Jayakumar , J. Maclennan, and K. Iagnemma...D. Lamb, P. Jayakumar , M. Letherwood, et al., "Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing

Gyro and Accelerometer Based Navigation System for a Mobile Autonomous Robot.

DTIC Science & Technology

1985-12-02

special thanks goes to our thesis advisor Dr. Matthew Kabrisky for having the confidence to turn us loose on this project. Additionally, we would...Wordmaster Word Processor 1 Wordstar Word Processor 1 Virtual Devices Robo A 6802 Cross Assembler 1 Modem 720 Communication Program 1 CP/M Operating

Working and Learning with Knowledge in the Lobes of a Humanoid's Mind

NASA Technical Reports Server (NTRS)

Ambrose, Robert; Savely, Robert; Bluethmann, William; Kortenkamp, David

2003-01-01

Humanoid class robots must have sufficient dexterity to assist people and work in an environment designed for human comfort and productivity. This dexterity, in particular the ability to use tools, requires a cognitive understanding of self and the world that exceeds contemporary robotics. Our hypothesis is that the sense-think-act paradigm that has proven so successful for autonomous robots is missing one or more key elements that will be needed for humanoids to meet their full potential as autonomous human assistants. This key ingredient is knowledge. The presented work includes experiments conducted on the Robonaut system, a NASA and the Defense Advanced research Projects Agency (DARPA) joint project, and includes collaborative efforts with a DARPA Mobile Autonomous Robot Software technical program team of researchers at NASA, MIT, USC, NRL, UMass and Vanderbilt. The paper reports on results in the areas of human-robot interaction (human tracking, gesture recognition, natural language, supervised control), perception (stereo vision, object identification, object pose estimation), autonomous grasping (tactile sensing, grasp reflex, grasp stability) and learning (human instruction, task level sequences, and sensorimotor association).

Autonomous biomorphic robots as platforms for sensors

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tilden, M.; Hasslacher, B.; Mainieri, R.

1996-10-01

The idea of building autonomous robots that can carry out complex and nonrepetitive tasks is an old one, so far unrealized in any meaningful hardware. Tilden has shown recently that there are simple, processor-free solutions to building autonomous mobile machines that continuously adapt to unknown and hostile environments, are designed primarily to survive, and are extremely resistant to damage. These devices use smart mechanics and simple (low component count) electronic neuron control structures having the functionality of biological organisms from simple invertebrates to sophisticated members of the insect and crab family. These devices are paradigms for the development of autonomousmore » machines that can carry out directed goals. The machine then becomes a robust survivalist platform that can carry sensors or instruments. These autonomous roving machines, now in an early stage of development (several proof-of-concept prototype walkers have been built), can be developed so that they are inexpensive, robust, and versatile carriers for a variety of instrument packages. Applications are immediate and many, in areas as diverse as prosthetics, medicine, space, construction, nanoscience, defense, remote sensing, environmental cleanup, and biotechnology.« less

40 CFR 264.231 - Special requirements for hazardous wastes FO20, FO21, FO22, FO23, FO26, and FO27.

Code of Federal Regulations, 2011 CFR

2011-07-01

... chemical characteristics of the wastes, including their potential to migrate through soil or to volatilize or escape into the atmosphere; (2) The attenuative properties of underlying and surrounding soils or other materials; (3) The mobilizing properties of other materials co-disposed with these wastes; and (4...

Speciation and Oxidative Stability of Alkaline Soluble, Non-Pertechnetate Technetium

DOE Office of Scientific and Technical Information (OSTI.GOV)

Levitskaia, Tatiana G.; Rapko, Brian M.; Anderson, Amity

2014-09-30

The long half-life, complex chemical behavior in tank waste, limited incorporation in mid- to high-temperature immobilization processes, and high mobility in subsurface environments make technetium (Tc) one of the most difficult contaminants to dispose of and/or remediate. Technetium exists predominantly in the liquid tank waste phase as the relatively mobile form of pertechnetate, TcO 4 -. However, based on experimentation to date a significant fraction of the soluble Tc cannot be effectively separated from the wastes and may be present as a non- pertechnetate species. The presence of a non-pertechnetate species significantly complicates disposition of low-activity waste (LAW), and themore » development of methods to either convert them to pertechnetate or to separate directly is needed. The challenge is the uncertainty regarding the chemical form of the alkaline-soluble low-valent non-pertechnetate species in the liquid tank waste. This report summarizes work done in fiscal year (FY) 2014 exploring the chemistry of a low-valence technetium(I) species, [(CO) 3Tc(H 2O) 3] +, a compound of interest due to its implication in the speciation of alkaline-soluble technetium in several Hanford tank waste supernatants.« less

Evaluation of Flygt Propeller Xixers for Double Shell Tank (DST) High Level Waste Auxiliary Solids Mobilization

DOE Office of Scientific and Technical Information (OSTI.GOV)

PACQUET, E.A.

The River Protection Project (RPP) is planning to retrieve radioactive waste from the single-shell tanks (SST) and double-shell tanks (DST) underground at the Hanford Site. This waste will then be transferred to a waste treatment plant to be immobilized (vitrified) in a stable glass form. Over the years, the waste solids in many of the tanks have settled to form a layer of sludge at the bottom. The thickness of the sludge layer varies from tank to tank, from no sludge or a few inches of sludge to about 15 ft of sludge. The purpose of this technology and engineeringmore » case study is to evaluate the Flygt{trademark} submersible propeller mixer as a potential technology for auxiliary mobilization of DST HLW solids. Considering the usage and development to date by other sites in the development of this technology, this study also has the objective of expanding the knowledge base of the Flygt{trademark} mixer concept with the broader perspective of Hanford Site tank waste retrieval. More specifically, the objectives of this study delineated from the work plan are described.« less

ECONOMICS OF GROUND FREEZING FOR MANAGEMENT OF UNCONTROLLED HAZARDOUS WASTE SITES

EPA Science Inventory

Ground freezing for hazardous waste containment is an alternative to the traditional and expensive slurry wall or grout curtain barrier technologies. The parameters quantified in this analysis of it include thermal properties, refrigeration line spacing, equipment mobilization an...

Model-based Executive Control through Reactive Planning for Autonomous Rovers

NASA Technical Reports Server (NTRS)

Finzi, Alberto; Ingrand, Felix; Muscettola, Nicola

2004-01-01

This paper reports on the design and implementation of a real-time executive for a mobile rover that uses a model-based, declarative approach. The control system is based on the Intelligent Distributed Execution Architecture (IDEA), an approach to planning and execution that provides a unified representational and computational framework for an autonomous agent. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting agents, each with the same fundamental structure. We show that planning and real-time response are compatible if the executive minimizes the size of the planning problem. We detail the implementation of this approach on an exploration rover (Gromit an RWI ATRV Junior at NASA Ames) presenting different IDEA controllers of the same domain and comparing them with more classical approaches. We demonstrate that the approach is scalable to complex coordination of functional modules needed for autonomous navigation and exploration.

Evolutionary Computation for the Identification of Emergent Behavior in Autonomous Systems

NASA Technical Reports Server (NTRS)

Terrile, Richard J.; Guillaume, Alexandre

2009-01-01

Over the past several years the Center for Evolutionary Computation and Automated Design at the Jet Propulsion Laboratory has developed a technique based on Evolutionary Computational Methods (ECM) that allows for the automated optimization of complex computationally modeled systems. An important application of this technique is for the identification of emergent behaviors in autonomous systems. Mobility platforms such as rovers or airborne vehicles are now being designed with autonomous mission controllers that can find trajectories over a solution space that is larger than can reasonably be tested. It is critical to identify control behaviors that are not predicted and can have surprising results (both good and bad). These emergent behaviors need to be identified, characterized and either incorporated into or isolated from the acceptable range of control characteristics. We use cluster analysis of automatically retrieved solutions to identify isolated populations of solutions with divergent behaviors.

HERMIES-3: A step toward autonomous mobility, manipulation, and perception

NASA Technical Reports Server (NTRS)

Weisbin, C. R.; Burks, B. L.; Einstein, J. R.; Feezell, R. R.; Manges, W. W.; Thompson, D. H.

1989-01-01

HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omni-directional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

Environmental assessment of cement/foundry sludge products.

PubMed

Ruiz, M C; Andrés, A; Irabien, A

2003-05-01

This work deals with the environmental assessment of products based on cement and a waste from a cast iron activity. The waste is a foundry sludge from wastewater treatment previously characterized. This industrial waste shows a high water content (62.4%) and a hazardous behavior due to its metallic content mainly Zn (16.5%), together with a low fraction of organic pollutants, mainly phenolic compounds. The feasibility of immobilizing both typs of contaminants was studied using Portland cement as binder at different cement/waste ratios. The parameters of environmental control were the ecotoxicity and mobilization of zinc and phenolic compounds, all determined on the basis of compliance leaching tests. The acid neutralization capacity of the cement/waste products was measured in order to obtain information on their buffering capacity. Experimental results from chemical analysis of leachates led to a non ecotoxic character of cement/waste products Although the metallic ions were mobilized within the cement mattices, the organic matter did not allow the formation of monolithic forms and an efficient immobilization of phenolic compounds. Concerning the acid neutralization capacity, this parameter was shown to depend mainly on the quantity of cement, although a decrease in alkalinity was observed when the amount of water in the cement/waste products increased.

A study of waste liquid crystal display generation in mainland China.

PubMed

Liu, Zhifeng; Xu, Zeying; Huang, Haihong; Li, Bingbing

2016-01-01

The generation of liquid crystal display waste is becoming a serious social problem. Predicting liquid crystal display waste status is the foundation for establishing a recycling network; however, the difficulty in predicting liquid crystal display waste quantity lies in data mining. In order to determine the quantity and the distribution of liquid crystal display waste in China, the four top-selling liquid crystal display products (liquid crystal display TVs, desktop PCs, notebook PCs, and mobile phones) were selected as study objects. Then, the extended logistic model and market supply A method was used to predict the quantity of liquid crystal display waste products. Moreover, the distribution of liquid crystal display waste products in different regions was evaluated by examining the consumption levels of household equipment. The results revealed that the quantity of waste liquid crystal displays would increase rapidly in the next decade. In particular, the predicted quantity of waste liquid crystal displays would rise to approximately 4.262 × 10(9) pieces in 2020, and the total display area (i.e. the surface area of liquid crystal display panels) of waste liquid crystal displays would reach 5.539 × 10(7) m(2). The prediction on the display area of waste liquid crystal display TVs showed that it would account for 71.5% of the total display area by 2020. Meanwhile, the quantity of waste mobile phones would significantly grow, increasing 5.8 times from 2012 to 2020. In terms of distribution, Guangdong is the top waste liquid crystal display-generating province in China, followed by Jiangsu, Shandong, Henan, Zhejiang, and Sichuan. Considering its regional characteristics, Guangdong has been proposed to be the most important location of the recycling network. © The Author(s) 2015.

The cytoskeleton in cell-autonomous immunity: structural determinants of host defence

PubMed Central

Mostowy, Serge; Shenoy, Avinash R.

2016-01-01

Host cells use antimicrobial proteins, pathogen-restrictive compartmentalization and cell death in their defence against intracellular pathogens. Recent work has revealed that four components of the cytoskeleton — actin, microtubules, intermediate filaments and septins, which are well known for their roles in cell division, shape and movement — have important functions in innate immunity and cellular self-defence. Investigations using cellular and animal models have shown that these cytoskeletal proteins are crucial for sensing bacteria and for mobilizing effector mechanisms to eliminate them. In this Review, we highlight the emerging roles of the cytoskeleton as a structural determinant of cell-autonomous host defence. PMID:26292640

Experiments with a small behaviour controlled planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Desai, Rajiv S.; Gat, Erann; Ivlev, Robert; Loch, John

1993-01-01

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

A comparative study on per capita waste generation according to a waste collecting system in Korea.

PubMed

Oh, Jung Hwan; Lee, Eui-Jong; Oh, Jeong Ik; Kim, Jong-Oh; Jang, Am

2016-04-01

As cities are becoming increasingly aware of problems related to conventional mobile collection systems, automated pipeline-based vacuum collection (AVAC) systems have been introduced in some densely populated urban areas. The reasons are that in addition to cost savings, AVAC systems can be efficient, hygienic, and environmentally friendly. Despite difficulties in making direct comparisons of municipal waste between a conventional mobile collection system and an AVAC system, it is meaningful to measure the quantities in each of these collection methods either in total or on a per capita generation of waste (PCGW, g/(day*capita)) basis. Thus, the aim of this study was to assess the difference in per capita generation of household waste according to the different waste collection methods in Korea. Observations on household waste show that there were considerable differences according to waste collection methods. The value of per capita generation of food waste (PCGF) indicates that a person in a city using AVAC produces 60 % of PCGF (109.58 g/(day*capita)), on average, compared with that of a truck system (173.10 g/(day*capita)) as well as 23 %p less moisture component than that with trucks. The value of per capita generation of general waste (PCGG) in a city with an AVAC system showed 147.73 g/(day*capita), which is 20 % less than that with trucks delivered (185 g/(day*capita)). However, general waste sampled from AVAC showed a 35 %p increased moisture content versus truck delivery.

A leptin-regulated circuit controls glucose mobilization during noxious stimuli.

PubMed

Flak, Jonathan N; Arble, Deanna; Pan, Warren; Patterson, Christa; Lanigan, Thomas; Goforth, Paulette B; Sacksner, Jamie; Joosten, Maja; Morgan, Donald A; Allison, Margaret B; Hayes, John; Feldman, Eva; Seeley, Randy J; Olson, David P; Rahmouni, Kamal; Myers, Martin G

2017-08-01

Adipocytes secrete the hormone leptin to signal the sufficiency of energy stores. Reductions in circulating leptin concentrations reflect a negative energy balance, which augments sympathetic nervous system (SNS) activation in response to metabolically demanding emergencies. This process ensures adequate glucose mobilization despite low energy stores. We report that leptin receptor-expressing neurons (LepRb neurons) in the periaqueductal gray (PAG), the largest population of LepRb neurons in the brain stem, mediate this process. Application of noxious stimuli, which often signal the need to mobilize glucose to support an appropriate response, activated PAG LepRb neurons, which project to and activate parabrachial nucleus (PBN) neurons that control SNS activation and glucose mobilization. Furthermore, activating PAG LepRb neurons increased SNS activity and blood glucose concentrations, while ablating LepRb in PAG neurons augmented glucose mobilization in response to noxious stimuli. Thus, decreased leptin action on PAG LepRb neurons augments the autonomic response to noxious stimuli, ensuring sufficient glucose mobilization during periods of acute demand in the face of diminished energy stores.

Automatic control of a mobile Viking lander on the surface of Mars

NASA Technical Reports Server (NTRS)

Moore, J.; Scofield, W.; Tobey, W.

1976-01-01

A mobile lander system is being considered for use in a possible follow-on mission to the Viking '75 landings on Mars. A mobile Viking lander, which could be launched as early as the 1979 opportunity, would be capable of traversing 100 m to 1 km per day on a commanded heading while sensing hazards and performing avoidance maneuvers. The degree of autonomous control, and consequently the daily traverse range, is still under study. The mobility concept requires the addition of: (1) track-laying or wheel units in place of the Viking Lander footpads, (2) a set of hazard and navigation sensors, and (3) a mobility control computer capability. The technology required to develop these three subsystems is available today. The principal objective of current design studies, as described in this paper, is to define a mobile lander system that will demonstrate high reliability and fail-safe hazard avoidance while achieving range- and terrain-handling capabilities which satisfy the Mars exploration science requirements.

Radioactive Wastes.

PubMed

Choudri, B S; Charabi, Yassine; Baawain, Mahad; Ahmed, Mushtaque

2017-10-01

Papers reviewed herein present a general overview of radioactive waste related activities around the world in 2016. The current reveiw include studies related to safety assessments, decommission and decontamination of nuclear facilities, fusion facilities, transportation. Further, the review highlights on management solutions for the final disposal of low and high level radioactive wastes (LLW and HLW), interim storage and final disposal options for spent fuel (SF), and tritiated wastes, with a focus on environmental impacts due to the mobility of radionuclides in ecosystem, water and soil alongwith other progress made in the management of radioactive wastes.

Parallel-distributed mobile robot simulator

NASA Astrophysics Data System (ADS)

Okada, Hiroyuki; Sekiguchi, Minoru; Watanabe, Nobuo

1996-06-01

The aim of this project is to achieve an autonomous learning and growth function based on active interaction with the real world. It should also be able to autonomically acquire knowledge about the context in which jobs take place, and how the jobs are executed. This article describes a parallel distributed movable robot system simulator with an autonomous learning and growth function. The autonomous learning and growth function which we are proposing is characterized by its ability to learn and grow through interaction with the real world. When the movable robot interacts with the real world, the system compares the virtual environment simulation with the interaction result in the real world. The system then improves the virtual environment to match the real-world result more closely. This the system learns and grows. It is very important that such a simulation is time- realistic. The parallel distributed movable robot simulator was developed to simulate the space of a movable robot system with an autonomous learning and growth function. The simulator constructs a virtual space faithful to the real world and also integrates the interfaces between the user, the actual movable robot and the virtual movable robot. Using an ultrafast CG (computer graphics) system (FUJITSU AG series), time-realistic 3D CG is displayed.

A Guide for Environmental Health Planning

ERIC Educational Resources Information Center

Crawford, Gene M.

1972-01-01

Outlines objectives and resources to be assessed in a community environmental health plan. Considers: water; liquid waste disposal; housing maintenance; solid waste disposal; air pollution; food and food protection; rodent control; insect control; migrant labor camps; recreation sites; mobile homes - trailer parks; schools, institutions - public…

Unexploded Ordnance Characterization And Detection in Muddy Estuarine Environments

NASA Astrophysics Data System (ADS)

Trembanis, A. C.; DuVal, C.

2017-12-01

There is recognized need for better quantitative understanding of the impact of coastal environments on UXO mobility, burial, and detection. Current efforts are underway to address aspects of UXO mobility and detection in sandy coastal areas. However, a significant data gap has been identified regarding UXO in shallow, muddy environments; 139 Formally Used Defense Sites (FUDS), in U.S. tidal waters alone, have been identified as containing muddy sediments. This study works to address this data gap. Using a shallow estuarine site in the Delaware Bay, this study 1) monitors the mobility and behavior of sensor-integrated surrogate munitions in muddy environments using a high-accuracy acoustic positioning system, 2) directly observes surrogate munition response to hydrodynamic forcing through instrumented bottom frame time-lapse hydrodynamic data and sonar imagery, and 3) monitors site changes through repetitive site surveying autonomous underwater vehicle (AUV) using both sonar and magnetometry. Surrogate UXO, modified with acoustic tracking devices and inertial motion units (IMU), are being deployed at a previously characterized muddy estuarine site. The surrogates are being monitored for changes in mobility and burial using the VEMCO positioning system, an off-the-shelf acoustic positioning system that is capable of tracking the position of multiple acoustic tags with accuracies down to 10 cm. Concurrently, time-series acoustic imagery and hydrodynamic sensors are being deployed to characterize UXO response to varied hydrodynamic conditions and compared to site-wide surrogate behavior. A series of repetitive surveys are being conducted using a magnetometer specifically designed for UXO detection on an autonomous underwater vehicle (AUV). Survey results will be compared to long-term acoustic positioning of the surrogate UXO to determine the effectiveness of the magnetometer for efficiently and effectively locating UXO in shallow, muddy environments. Additionally, this study will help inform parameters for UXO mobility and behavior in storms and muddy environments for integration into existing expert system models of UXO burial and mobility.

Autonomous Rovers for Polar Science Campaigns

NASA Astrophysics Data System (ADS)

Lever, J. H.; Ray, L. E.; Williams, R. M.; Morlock, A. M.; Burzynski, A. M.

2012-12-01

We have developed and deployed two over-snow autonomous rovers able to conduct remote science campaigns on Polar ice sheets. Yeti is an 80-kg, four-wheel-drive (4WD) battery-powered robot with 3 - 4 hr endurance, and Cool Robot is a 60-kg 4WD solar-powered robot with unlimited endurance during Polar summers. Both robots navigate using GPS waypoint-following to execute pre-planned courses autonomously, and they can each carry or tow 20 - 160 kg instrument payloads over typically firm Polar snowfields. In 2008 - 12, we deployed Yeti to conduct autonomous ground-penetrating radar (GPR) surveys to detect hidden crevasses to help establish safe routes for overland resupply of research stations at South Pole, Antarctica, and Summit, Greenland. We also deployed Yeti with GPR at South Pole in 2011 to identify the locations of potentially hazardous buried buildings from the original 1950's-era station. Autonomous surveys remove personnel from safety risks posed during manual GPR surveys by undetected crevasses or buried buildings. Furthermore, autonomous surveys can yield higher quality and more comprehensive data than manual ones: Yeti's low ground pressure (20 kPa) allows it to cross thinly bridged crevasses or other voids without interrupting a survey, and well-defined survey grids allow repeated detection of buried voids to improve detection reliability and map their extent. To improve survey efficiency, we have automated the mapping of detected hazards, currently identified via post-survey manual review of the GPR data. Additionally, we are developing machine-learning algorithms to detect crevasses autonomously in real time, with reliability potentially higher than manual real-time detection. These algorithms will enable the rover to relay crevasse locations to a base station for near real-time mapping and decision-making. We deployed Cool Robot at Summit Station in 2005 to verify its mobility and power budget over Polar snowfields. Using solar power, this zero-emissions rover could travel more than 500 km per week during Polar summers and provide 100 - 200 W to power instrument payloads to help investigate the atmosphere, magnetosphere, glaciology and sub-glacial geology in Antarctica and Greenland. We are currently upgrading Cool Robot's navigation and solar-power systems and will deploy it during 2013 to map the emissions footprint around Summit Station to demonstrate its potential to execute long-endurance Polar science campaigns. These rovers could assist science traverses to chart safe routes into the interior of Antarctica and Greenland or conduct autonomous, remote science campaigns to extend spatial and temporal coverage for data collection. Our goals include 1,000 - 2,000-km summertime traverses of Antarctica and Greenland, safe navigation through 0.5-m amplitude sastrugi fields, survival in blizzards, and rover-network adaptation to research events of opportunity. We are seeking Polar scientists interested in autonomous, mobile data collection and can adapt the rovers to meet their requirements.

The VIPER project (Visualization Integration Platform for Exploration Research): a biologically inspired autonomous reconfigurable robotic platform for diverse unstructured environments

NASA Astrophysics Data System (ADS)

Schubert, Oliver J.; Tolle, Charles R.

2004-09-01

Over the last decade the world has seen numerous autonomous vehicle programs. Wheels and track designs are the basis for many of these vehicles. This is primarily due to four main reasons: a vast preexisting knowledge base for these designs, energy efficiency of power sources, scalability of actuators, and the lack of control systems technologies for handling alternate highly complex distributed systems. Though large efforts seek to improve the mobility of these vehicles, many limitations still exist for these systems within unstructured environments, e.g. limited mobility within industrial and nuclear accident sites where existing plant configurations have been extensively changed. These unstructured operational environments include missions for exploration, reconnaissance, and emergency recovery of objects within reconfigured or collapsed structures, e.g. bombed buildings. More importantly, these environments present a clear and present danger for direct human interactions during the initial phases of recovery operations. Clearly, the current classes of autonomous vehicles are incapable of performing in these environments. Thus the next generation of designs must include highly reconfigurable and flexible autonomous robotic platforms. This new breed of autonomous vehicles will be both highly flexible and environmentally adaptable. Presented in this paper is one of the most successful designs from nature, the snake-eel-worm (SEW). This design implements shape memory alloy (SMA) actuators which allow for scaling of the robotic SEW designs from sub-micron scale to heavy industrial implementations without major conceptual redesigns as required in traditional hydraulic, pneumatic, or motor driven systems. Autonomous vehicles based on the SEW design posses the ability to easily move between air based environments and fluid based environments with limited or no reconfiguration. Under a SEW designed vehicle, one not only achieves vastly improved maneuverability within a highly unstructured environment, but also gains robotic manipulation abilities, normally relegated as secondary add-ons within existing vehicles, all within one small condensed package. The prototype design presented includes a Beowulf style computing system for advanced guidance calculations and visualization computations. All of the design and implementation pertaining to the SEW robot discussed in this paper is the product of a student team under the summer fellowship program at the DOEs INEEL.

Autonomous Image Analysis for Future Mars Missions

NASA Technical Reports Server (NTRS)

Gulick, V. C.; Morris, R. L.; Ruzon, M. A.; Bandari, E.; Roush, T. L.

1999-01-01

To explore high priority landing sites and to prepare for eventual human exploration, future Mars missions will involve rovers capable of traversing tens of kilometers. However, the current process by which scientists interact with a rover does not scale to such distances. Specifically, numerous command cycles are required to complete even simple tasks, such as, pointing the spectrometer at a variety of nearby rocks. In addition, the time required by scientists to interpret image data before new commands can be given and the limited amount of data that can be downlinked during a given command cycle constrain rover mobility and achievement of science goals. Experience with rover tests on Earth supports these concerns. As a result, traverses to science sites as identified in orbital images would require numerous science command cycles over a period of many weeks, months or even years, perhaps exceeding rover design life and other constraints. Autonomous onboard science analysis can address these problems in two ways. First, it will allow the rover to preferentially transmit "interesting" images, defined as those likely to have higher science content. Second, the rover will be able to anticipate future commands. For example, a rover might autonomously acquire and return spectra of "interesting" rocks along with a high-resolution image of those rocks in addition to returning the context images in which they were detected. Such approaches, coupled with appropriate navigational software, help to address both the data volume and command cycle bottlenecks that limit both rover mobility and science yield. We are developing fast, autonomous algorithms to enable such intelligent on-board decision making by spacecraft. Autonomous algorithms developed to date have the ability to identify rocks and layers in a scene, locate the horizon, and compress multi-spectral image data. We are currently investigating the possibility of reconstructing a 3D surface from a sequence of images acquired by a robotic arm camera. This would then allow the return of a single completely in focus image constructed only from those portions of individual images that lie within the camera's depth of field. Output from these algorithms could be used to autonomously obtain rock spectra, determine which images should be transmitted to the ground, or to aid in image compression. We will discuss these algorithms and their performance during a recent rover field test.

Limited mobility of dioxins near San Jacinto super fund site (waste pit) in the Houston Ship Channel, Texas due to strong sediment sorption.

PubMed

Louchouarn, Patrick; Seward, Shaya M; Cornelissen, Gerard; Arp, Hans Peter H; Yeager, Kevin M; Brinkmeyer, Robin; Santschi, Peter H

2018-07-01

Sediments from a waste pit in Houston Ship Channel (HSC) were characterized using a number of molecular markers of natural organic matter fractions (e.g., pyrogenic carbon residues, PAHs, lignins), in addition to dioxins, in order to test the hypothesis that the dispersal and mobility of dioxins from the waste pit in the San Jacinto River is minimal. Station SG-6, sampled at the site of the submerged waste pit, had the highest dioxin/furan concentrations reported for the Houston Ship Channel/Galveston Bay (HSC/GB) system (10,000-46,000 pg/g), which translated into some of the highest reported World Health Organization Toxic Equivalents (TEQs: 2000-11,000 pg/g) in HSC sediments. Using a multi-tracer approach, this study confirmed our hypothesis that sludges from chlorinated pulps are a very likely source of dioxins/furans to this pit. However, this material also contained large quantities of additional hydrophobic organic contaminants (PAHs) and pyrogenic markers (soot-BC, levoglucosan), pointing to the co-occurrence of petroleum hydrocarbons and combustion byproducts. Comparison of dioxin/furan signatures in the waste pit with those from sediments of the HSC and a control site suggests that the remobilization of contaminated particles did not occur beyond the close vicinity of the pit itself. The dioxins/furans in sediments outside the waste pit within the HSC are rather from other diffuse inputs, entering the sedimentary environment through the air and water, and which are comprised of a mixture of industrial and municipal sources. Fingerprinting of waste pit dioxins indicates that their composition is typical of pulp and paper sources. Measured pore water concentrations were 1 order of magnitude lower than estimated values, calculated from a multiphase sorption model, indicating low mobility of dioxins within the waste pit. This is likely accomplished by co-occurring and strong sorbing pyrogenic and petrogenic residues in the waste pit, which tend to keep dioxins strongly sorbed to particles. Copyright © 2018 The Authors. Published by Elsevier Ltd.. All rights reserved.

POLLUTION PREVENTION OPPORTUNITY ASSESSMENT - U.S. COAST GUARD AVIATION TRAINING CENTER - MOBILE, AL

EPA Science Inventory

An assessment of pollution prevention opportunities at the U.S. Coast Guard Aviation Training Center in Mobile, AL, identified waste reduction opportunities in five major processing areas: flight simulator operation, aircraft maintenance, aircraft fueling, aircraft washing, and...

Colloid formation during waste form reaction: Implications for nuclear waste disposal

USGS Publications Warehouse

Bates, J. K.; Bradley, J.; Teetsov, A.; Bradley, C. R.; Buchholtz ten Brink, Marilyn R.

1992-01-01

Insoluble plutonium- and americium-bearing colloidal particles formed during simulated weathering of a high-level nuclear waste glass. Nearly 100 percent of the total plutonium and americium in test ground water was concentrated in these submicrometer particles. These results indicate that models of actinide mobility and repository integrity, which assume complete solubility of actinides in ground water, underestimate the potential for radionuclide release into the environment. A colloid-trapping mechanism may be necessary for a waste repository to meet long-term performance specifications.

Mobile sociology. 2000.

PubMed

Urry, John

2010-01-01

This article seeks to develop a manifesto for a sociology concerned with the diverse mobilities of peoples, objects, images, information, and wastes; and of the complex interdependencies between, and social consequences of, such diverse mobilities. A number of key concepts relevant for such a sociology are elaborated: 'gamekeeping', networks, fluids, scapes, flows, complexity and iteration. The article concludes by suggesting that a 'global civil society' might constitute the social base of a sociology of mobilities as we move into the twenty-first century.

A Mobile Sensor Network System for Monitoring of Unfriendly Environments.

PubMed

Song, Guangming; Zhou, Yaoxin; Ding, Fei; Song, Aiguo

2008-11-14

Observing microclimate changes is one of the most popular applications of wireless sensor networks. However, some target environments are often too dangerous or inaccessible to humans or large robots and there are many challenges for deploying and maintaining wireless sensor networks in those unfriendly environments. This paper presents a mobile sensor network system for solving this problem. The system architecture, the mobile node design, the basic behaviors and advanced network capabilities have been investigated respectively. A wheel-based robotic node architecture is proposed here that can add controlled mobility to wireless sensor networks. A testbed including some prototype nodes has also been created for validating the basic functions of the proposed mobile sensor network system. Motion performance tests have been done to get the positioning errors and power consumption model of the mobile nodes. Results of the autonomous deployment experiment show that the mobile nodes can be distributed evenly into the previously unknown environments. It provides powerful support for network deployment and maintenance and can ensure that the sensor network will work properly in unfriendly environments.

Estimation of retired mobile phones generation in China: A comparative study on methodology.

PubMed

Li, Bo; Yang, Jianxin; Lu, Bin; Song, Xiaolong

2015-01-01

Due to the rapid development of economy and technology, China has the biggest production and possession of mobile phones around the world. In general, mobile phones have relatively short life time because the majority of users replace their mobile phones frequently. Retired mobile phones represent the most valuable electrical and electronic equipment (EEE) in the main waste stream because of such characteristics as large quantity, high reuse/recovery value and fast replacement frequency. Consequently, the huge amount of retired mobile phones in China calls for a sustainable management system. The generation estimation can provide fundamental information to construct the sustainable management system of retired mobile phones and other waste electrical and electronic equipment (WEEE). However, the reliable estimation result is difficult to get and verify. The priority aim of this paper is to provide proper estimation approach for the generation of retired mobile phones in China, by comparing some relevant methods. The results show that the sales&new method is in the highest priority in estimation of the retired mobile phones. The result of sales&new method shows that there are 47.92 million mobile phones retired in 2002, and it reached to 739.98 million in China in 2012. It presents an increasing tendency with some fluctuations clearly. Furthermore, some discussions on methodology, such as the selection of improper approach and error in the input data, are also conducted in order to improve generation estimation of retired mobile phones and other WEEE. Copyright © 2014 Elsevier Ltd. All rights reserved.

Diffusion of Radionuclides in Concrete and Soil

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mattigod, Shas V.; Wellman, Dawn M.; Bovaird, Chase C.

2012-04-25

One of the methods being considered for safely disposing of Category 3 low-level radioactive wastes is to encase the waste in concrete. Such concrete encasement would contain and isolate the waste packages from the hydrologic environment and would act as an intrusion barrier. Any failure of concrete encasement may result in water intrusion and consequent mobilization of radionuclides from the waste packages. The mobilized radionuclides may escape from the encased concrete by mass flow and/or diffusion and move into the surrounding subsurface environment. Therefore, it is necessary to assess the performance of the concrete encasement structure and the ability ofmore » the surrounding soil to retard radionuclide migration. The objective of our study was to measure the diffusivity of Re, Tc and I in concrete containment and the surrounding vadose zone soil. Effects of carbonation, presence of metallic iron, and fracturing of concrete and the varying moisture contents in soil on the diffusivities of Tc and I were evaluated.« less

Creation of Technosols to decrease metal availability in pyritic tailings with addition of biochar and marble waste

NASA Astrophysics Data System (ADS)

Moreno-Barriga, Fabián; Acosta, José A.; Ángeles Muñoz, María; Faz, Ángel; Zornoza, Raúl

2017-04-01

Creation of Technosols with the use of different materials is a sustainable strategy to reclaim mine tailings and reduce metal mobility. For this purpose, a short-term incubation experiment was designed with biochars derived from pig manure (PM), crop residues (CR) and municipal solid waste (MSW) added to tailings alone or in combination with marble waste (MaW). We aimed to assess the efficiency of the different amendments to decrease Cd, Pb and Zn availability in the Technosols and the fractions where metals were retained. Results showed that all amendments reduced metal mobility, directly related to increases in pH. Those materials with higher content of carbonates were more effective to immobilize metals ( 99%). MSW was highly effective to decrease metal mobility owing to the higher carbonate content, but addition of MaW was needed to enhance metal immobilization with PM and CR. Decreases in Cd mobility were related to retention by the carbonate, Mn/Fe oxides and oxidizable (organic compounds) fractions. Decreases in Pb mobility were related to retention in the Mn/Fe oxides and residual fractions, while decreases in Zn mobility were related to retention in Mn/Fe oxides and oxidizable fractions. The increase in the retention of metals in all fractions was directly associated to increases in pH. Association of Zn and Pb with the oxidizable fraction was also related to the recalcitrance of the organic compounds, and so dependent on biochar type. SEM/EDX showed that biochar showed great affinity to interact with iron oxides, calcium sulfates and phyllosilicates. Acknowledgements This work was supported by Fundación Séneca (Agency of Science and Technology of the Region of Murcia, Spain) [grant number 18920/JLI/13].

Constructing a Real-Time Mobile Robot Software System

DTIC Science & Technology

1994-09-01

forces to rely more on automation to fill the gap of reduced personnel and equipment. One key element to this move to more automation, is autonomous ... vehicles . These vehicles will continue to play a greater role in this nation’s defense. At the Naval Postgraduate School (NPS), the Yamabico robot is an

Using Ontologies to Interlink Linguistic Annotations and Improve Their Accuracy

ERIC Educational Resources Information Center

Pareja-Lora, Antonio

2016-01-01

For the new approaches to language e-learning (e.g. language blended learning, language autonomous learning or mobile-assisted language learning) to succeed, some automatic functions for error correction (for instance, in exercises) will have to be included in the long run in the corresponding environments and/or applications. A possible way to…

Learning Processes and Social Mobilization in a Swedish Metropolitan Hip-Hop Collective

ERIC Educational Resources Information Center

Beach, Dennis; Sernhede, Ove

2012-01-01

Based on ethnographic research on the encounter between local culture and schools in multicultural suburban areas, this article explores possibilities suggested by autonomous learning activities in a hip-hop collective that may have a potential to break urban segregation patterns. The collective's artistic production raises questions that have not…

Making Sense by Building Sense: Kindergarten Children's Construction and Understanding of Adaptive Robot Behaviors

ERIC Educational Resources Information Center

Mioduser, David; Levy, Sharona T.

2010-01-01

This study explores young children's ability to construct and explain adaptive behaviors of a behaving artifact, an autonomous mobile robot with sensors. A central component of the behavior construction environment is the RoboGan software that supports children's construction of spatiotemporal events with an a-temporal rule structure. Six…

WLAN Positioning Methods and Supporting Learning Technologies for Mobile Platforms

ERIC Educational Resources Information Center

Melkonyan, Arsen

2013-01-01

Location technologies constitute an essential component of systems design for autonomous operations and control. The Global Positioning System (GPS) works well in outdoor areas, but the satellite signals are not strong enough to penetrate inside most indoor environments. As a result, a new strain of indoor positioning technologies that make use of…

Investigating the Mobility of Light Autonomous Tracked Vehicles using a High Performance Computing Simulation Capability

DTIC Science & Technology

2012-08-01

Madison, WI 53706 David Lamb Paramsothy Jayakumar Michael Letherwood U.S. Army TARDEC Warren, MI 48397 Abhinandan Jain Marco Quadrelli Jet Propulsion...PROGRAM ELEMENT NUMBER 6. AUTHOR(S) David Lamb; Paramsothy Jayakumar ; Mike Letherwood; Dan Negrut; Abhinandan Jain 5d. PROJECT NUMBER 5e. TASK

Experimental Study and Optimization of Thermoelectricity-Driven Autonomous Sensors for the Chimney of a Biomass Power Plant

NASA Astrophysics Data System (ADS)

Rodríguez, A.; Astrain, D.; Martínez, A.; Aranguren, P.

2014-06-01

In the work discussed in this paper a thermoelectric generator was developed to harness waste heat from the exhaust gas of a boiler in a biomass power plant and thus generate electric power to operate a flowmeter installed in the chimney, to make it autonomous. The main objective was to conduct an experimental study to optimize a previous design obtained after computational work based on a simulation model for thermoelectric generators. First, several places inside and outside the chimney were considered as sites for the thermoelectricity-driven autonomous sensor. Second, the thermoelectric generator was built and tested to assess the effect of the cold-side heat exchanger on the electric power, power consumption by the flowmeter, and transmission frequency. These tests provided the best configuration for the heat exchanger, which met the transmission requirements for different working conditions. The final design is able to transmit every second and requires neither batteries nor electric wires. It is a promising application in the field of thermoelectric generation.

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Fujimura, K.; Unseren, M.A.

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR)at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of positionmore » and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace. 15 refs., 3 figs.« less

Behavior generation strategy of artificial behavioral system by self-learning paradigm for autonomous robot tasks

NASA Astrophysics Data System (ADS)

Dağlarli, Evren; Temeltaş, Hakan

2008-04-01

In this study, behavior generation and self-learning paradigms are investigated for the real-time applications of multi-goal mobile robot tasks. The method is capable to generate new behaviors and it combines them in order to achieve multi goal tasks. The proposed method is composed from three layers: Behavior Generating Module, Coordination Level and Emotion -Motivation Level. Last two levels use Hidden Markov models to manage dynamical structure of behaviors. The kinematics and dynamic model of the mobile robot with non-holonomic constraints are considered in the behavior based control architecture. The proposed method is tested on a four-wheel driven and four-wheel steered mobile robot with constraints in simulation environment and results are obtained successfully.

Social participation and independent mobility in children: the effects of two implementations of "we go to school alone".

PubMed

Prezza, Miretta; Alparone, Francesca Romana; Renzi, Daniela; Pietrobono, Annalisa

2010-01-01

The aim of this research was to determine the outcomes of the "We go to school alone" program in two Districts of Rome through a longitudinal study involving 392 children (mean age = 8.37 years) and 270 parents. The outcomes of the program in the two Districts were very different. Only one resulted in an increase in children's autonomous mobility on the home-school journey, a reduction in the number of times a child was taken to school by car, and, even more important, in an increase in the general level of children's independent mobility in their neighborhood. The findings are discussed in terms of a process evaluation that enabled us to understand the differing results.

A Petri-net coordination model for an intelligent mobile robot

NASA Technical Reports Server (NTRS)

Wang, F.-Y.; Kyriakopoulos, K. J.; Tsolkas, A.; Saridis, G. N.

1990-01-01

The authors present a Petri net model of the coordination level of an intelligent mobile robot system (IMRS). The purpose of this model is to specify the integration of the individual efforts on path planning, supervisory motion control, and vision systems that are necessary for the autonomous operation of the mobile robot in a structured dynamic environment. This is achieved by analytically modeling the various units of the system as Petri net transducers and explicitly representing the task precedence and information dependence among them. The model can also be used to simulate the task processing and to evaluate the efficiency of operations and the responsibility of decisions in the coordination level of the IMRS. Some simulation results on the task processing and learning are presented.

Evolution of a radio communication relay system

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Pezeshkian, Narek; Hart, Abraham; Burmeister, Aaron; Holz, Kevin; Neff, Joseph; Roth, Leif

2013-05-01

Providing long-distance non-line-of-sight control for unmanned ground robots has long been recognized as a problem, considering the nature of the required high-bandwidth radio links. In the early 2000s, the DARPA Mobile Autonomous Robot Software (MARS) program funded the Space and Naval Warfare Systems Center (SSC) Pacific to demonstrate a capability for autonomous mobile communication relaying on a number of Pioneer laboratory robots. This effort also resulted in the development of ad hoc networking radios and software that were later leveraged in the development of a more practical and logistically simpler system, the Automatically Deployed Communication Relays (ADCR). Funded by the Joint Ground Robotics Enterprise and internally by SSC Pacific, several generations of ADCR systems introduced increasingly more capable hardware and software for automatic maintenance of communication links through deployment of static relay nodes from mobile robots. This capability was finally tapped in 2010 to fulfill an urgent need from theater. 243 kits of ruggedized, robot-deployable communication relays were produced and sent to Afghanistan to extend the range of EOD and tactical ground robots in 2012. This paper provides a summary of the evolution of the radio relay technology at SSC Pacific, and then focuses on the latest two stages, the Manually-Deployed Communication Relays and the latest effort to automate the deployment of these ruggedized and fielded relay nodes.

A mobile phone-based program to promote healthy behaviors among adults with prediabetes: study protocol for a pilot randomized controlled trial.

PubMed

Griauzde, Dina H; Kullgren, Jeffrey T; Liestenfeltz, Brad; Richardson, Caroline; Heisler, Michele

2018-01-01

Rates of participation in Diabetes Prevention Programs (DPPs) are low. This may be due, in part, to low levels of autonomous motivation (i.e., motivation that arises from internal sources and sustains healthy behaviors over time) to prevent type 2 diabetes (T2DM) among many individuals with prediabetes. Mobile health (mHealth) technologies that incorporate principles from the Self-Determination Theory offer an effective and scalable approach to increase autonomous motivation levels. One promising mobile phone-based application is JOOL Health, which aims to help users connect certain health behaviors (e.g., sleep and diet) with personal values in specific life domains (e.g., family and work). The first aim of this study is to estimate whether JOOL Health can increase autonomous motivation to prevent T2DM among individuals with prediabetes who declined DPP participation. The second aim of this pilot study is to examine the intervention's feasibility and acceptability. This is a 12-week, three-arm pilot randomized controlled trial. We will recruit 105 individuals with prediabetes who did not engage in a DPP despite invitation from their health plan to participate in face-to-face or web-based programs at no out-of-pocket-cost. Participants will be randomized to one of three study arms: (1) a group that receives information on prediabetes, evidence-based strategies to decrease progression to T2DM, and a list of resources for mHealth tools for monitoring diet, physical activity, and weight (comparison group); (2) a group that receives the JOOL Health application; and (3) a group that receives the JOOL Health application as well as a Fitbit activity tracker and wireless-enabled scale. Our primary outcome is change in autonomous motivation to prevent T2DM (measured using the Treatment Self-Regulation Questionnaire). We will also collect data related to the intervention's feasibility (recruitment and retention rates) and acceptability (adherence and qualitative experience) as well as changes in psychosocial outcomes, hemoglobin A1c, and weight. To our knowledge, this is the first study that aims to promote positive health behaviors among individuals with prediabetes who previously declined to participate in a DPP. Our results will inform a larger trial to test the effect of JOOL Health on clinically relevant outcomes, including weight loss, physical activity, and DPP engagement. NCT03025607. Registered February 2017.

DEVELOPMENT AND DEPLOYMENT OF THE MOBILE ARM RETRIEVAL SYSTEM (MARS) - 12187

DOE Office of Scientific and Technical Information (OSTI.GOV)

BURKE CA; LANDON MR; HANSON CE

Washington River Protection Solutions (WRPS) is developing and deploying Mobile Arm Retrieval System (MARS) technologies solutions to support retrieval of radioactive and chemical waste from underground single shell storage tanks (SST) located at the Hanford Site, which is near Richland, Washington. WRPS has developed the MARS using a standardized platform that is capable of deploying multiple retrieval technologies. To date, WRPS, working with their mentor-protege company, Columbia Energy and Environmental Services (CEES), has developed two retrieval mechanisms, MARS-Sluicing (MARS-S) and MARS-Vacuum (MARS-V). MARS-S uses pressurized fluids routed through spray nozzles to mobilize waste materials to a centrally located slurry pumpmore » (deployed in 2011). MARS-V uses pressurized fluids routed through an eductor nozzle. The eductor nozzle allows a vacuum to be drawn on the waste materials. The vacuum allows the waste materials to be moved to an in-tank vessel, then extracted from the SST and subsequently pumped to newer and safer double shell tanks (DST) for storage until the waste is treated for disposal. The MARS-S system is targeted for sound SSTs (i.e., non leaking tanks). The MARS-V is targeted for assumed leaking tanks or those tanks that are of questionable integrity. Both versions of MARS are beinglhave been developed in compliance with WRPS's TFC-PLN-90, Technology Development Management Plan [1]. TFC-PLN-90 includes a phased approach to design, testing, and ultimate deployment of new technologies. The MARS-V is scheduled to be deployed in tank 241-C-105 in late 2012.« less

Development and Deployment of the Mobile Arm Retrieval System (MARS) - 12187

DOE Office of Scientific and Technical Information (OSTI.GOV)

Burke, Christopher A.; Landon, Matthew R.; Hanson, Carl E.

Washington River Protection Solutions (WRPS) is developing and deploying Mobile Arm Retrieval System (MARS) technologies solutions to support retrieval of radioactive and chemical waste from underground single shell storage tanks (SST) located at the Hanford Site, which is near Richland, Washington. WRPS has developed the MARS using a standardized platform that is capable of deploying multiple retrieval technologies. To date, WRPS, working with their mentor-protege company, Columbia Energy and Environmental Services (CEES), has developed two retrieval mechanisms, MARS-Sluicing (MARS-S) and MARS-Vacuum (MARS-V). MARS-S uses pressurized fluids routed through spray nozzles to mobilize waste materials to a centrally located slurry pumpmore » (deployed in 2011). MARS-V uses pressurized fluids routed through an eductor nozzle. The eductor nozzle allows a vacuum to be drawn on the waste materials. The vacuum allows the waste materials to be moved to an in-tank vessel, then extracted from the SST and subsequently pumped to newer and safer double shell tanks (DST) for storage until the waste is treated for disposal. The MARS-S system is targeted for sound SSTs (i.e., non leaking tanks). The MARS-V is targeted for assumed leaking tanks or those tanks that are of questionable integrity. Both versions of MARS are being/have been developed in compliance with WRPS's TFC-PLN-90, Technology Development Management Plan [1]. TFC-PLN-90 includes a phased approach to design, testing, and ultimate deployment of new technologies. The MARS-V is scheduled to be deployed in tank 241-C-105 in late 2012. (authors)« less

DEVELOPMENT AND DEPLOYMENT OF THE MOBILE ARM RETRIEVAL SYSTEM (MARS) - 12187

DOE Office of Scientific and Technical Information (OSTI.GOV)

BURKE CA; LANDON MR; HANSON CE

Washington River Protection Solutions (WRPS) is developing and deploying Mobile Arm Retrieval System (MARS) technologies solutions to support retrieval of radioactive and chemical waste from underground single shell storage tanks (SST) located at the Hanford Site, which is near Richland, Washington. WRPS has developed the MARS using a standardized platform that is capable of deploying multiple retrieval technologies. To date, WRPS, working with their mentor-protege company, Columbia Energy and Environmental Services (CEES), has developed two retrieval mechanisms, MARS-Sluicing (MARS-S) and MARS-Vacuum (MARS-V). MARS-S uses pressurized fluids routed through spray nozzles to mobilize waste materials to a centrally located slurry pumpmore » (deployed in 2011). MARS-V uses pressurized fluids routed through an eductor nozzle. The eductor nozzle allows a vacuum to be drawn on the waste materials. The vacuum allows the waste materials to be moved to an in-tank vessel, then extracted from the SST and subsequently pumped to newer and safer double shell tanks (DST) for storage until the waste is treated for disposal. The MARS-S system is targeted for sound SSTs (i.e., non leaking tanks). The MARS-V is targeted for assumed leaking tanks or those tanks that are of questionable integrity. Both versions of MARS are being/have been developed in compliance with WRPS's TFC-PLN-90, Technology Development Management Plan. TFC-PLN-90 includes a phased approach to design, testing, and ultimate deployment of new technologies. The MARS-V is scheduled to be deployed in tank 241-C-105 in late 2012.« less

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Toxic element mobility assessment and modeling for regional geo-scientific survey to support Risk Assessment in a European Union context

NASA Astrophysics Data System (ADS)

Abdaal, Ahmed; Jordan, Gyozo; Bartha, Andras; Fugedi, Ubul

2013-04-01

The Mine Waste Directive 2006/21/EC requires the risk-based inventory of all mine waste sites in Europe. The geochemical documentation concerning inert classification and ranking of the mine wastes requires detailed field study and laboratory testing and analyses of waste material to assess the Acid Mine Drainage potential and toxic element mobility. The procedure applied in this study used a multi-level decision support scheme including: 1) expert judgment, 2) data review, 3) representative field sampling and laboratory analysis of formations listed in the Inert Mining Waste List, and 4) requesting available laboratory analysis data from selected operating mines. Based on expert judgment, the listed formations were classified into three categories. A: inert B: probably inert, but has to be checked, C: probably not inert, has to be examined. This paper discusses the heavy metal contamination risk assessment (RA) in leached quarry-mine waste sites in Hungary. In total 34 mine waste sites (including tailing lagoons and heaps of both abandoned mines and active quarries) have been selected for scientific testing using the EU Pre-selection Protocol. Over 93 field samples have been collected from the mine sites including Ore (Andesite and Ryolite), Coal (Lignite, black and brown coals), Peat, Alginite, Bauxite, Clay and Limestone. Laboratory analyses of the total toxic element content (aqua regia extraction), the mobile toxic element content (deionized water leaching) and the analysis of different forms of sulfur (sulfuric acid potential) ) on the base of Hungarian GKM Decree No. 14/2008. (IV. 3) concerning mining waste management. A detailed geochemical study together with spatial analysis and GIS has been performed to derive a geochemically sound contamination RA of the mine waste sites. Key parameters such as heavy metal and sulphur content, in addition to the distance to the nearest surface and ground water bodies, or to sensitive receptors such as settlements and protected areas are calculated and statistically evaluated using STATGRAPHICS® in order to calibrate the RA methods. Results show that some of the waste rock materials assumed to be inert were found non/inert. Thus, regional RA needs more spatial and petrological examination with special care to rock and mineral deposit genetics.

Mobilization and transport of pollutants in an abandoned dump in tropical conditions

NASA Astrophysics Data System (ADS)

Pelinson, Natalia; Shinzato, Marjolly; Wendland, Edson

2017-04-01

The valuation and treatment techniques of municipal solid waste (MSW) in developing countries are not sufficiently developed, and therefore, the volume of waste destined for disposal still presents significant amounts. In Brazil, the more common practice of final destination is the deposition on the soil, due to its simple operation and low cost compared to other techniques. One of the most serious negative environmental impacts in the irregular disposal of solid waste is the contamination of soil and groundwater by waste leachates. The final disposal in dumps is forbidden by Brazilian law since 2010, nevertheless, the public administration is not prepared to monitor waste disposal areas and the risk of contamination of water. In this sense, a research has been developed in an abandoned dump installed over an outcrop of the Botucatu Formation, which is part of the Guarani Aquifer System (SAG) and therefore, is an area of high water vulnerability. In this dump, an old gully was used as a final waste disposal area for urban, construction and demolition, medical and industrial waste from 1980 to 1996. Since the end of the deposition, the waste body is kept with inefficient hydraulic control. The water infiltration due to rainfall promotes the mobility of contaminant in the deposit. The present water quality in the dump has been monitored through physical and chemical analysis of samples collected in the unsaturated zone (inside the waste mass using vacuum lysimeters) and in the saturated zone (monitoring wells). The rainfall variation observed in the years 2014 (dry year) and 2015 (wet year) contributed significantly to evaluate the mobilization of pollutants within the dump. The reduction of the water volume that infiltrates the waste mass affected the quality of the leachate collected in the lysimeters. The groundwater collected in monitoring wells outside the dump area presents low turbidity values (<1.50 NTU) in relation to wells located downstream of the dump showed values greater than 10, a similar behavior was observed for the conductivity (>1000 µS.cma-1 in leachate) and chlorides values (>800 mg.L-1). Contaminated water flows through the bottom of the dump. In addition, this research also indicates amendments of surface water downstream of the dump area.

Collective search by mobile robots using alpha-beta coordination

DOE Office of Scientific and Technical Information (OSTI.GOV)

Goldsmith, S.Y.; Robinett, R. III

1998-04-01

One important application of mobile robots is searching a geographical region to locate the origin of a specific sensible phenomenon. Mapping mine fields, extraterrestrial and undersea exploration, the location of chemical and biological weapons, and the location of explosive devices are just a few potential applications. Teams of robotic bloodhounds have a simple common goal; to converge on the location of the source phenomenon, confirm its intensity, and to remain aggregated around it until directed to take some other action. In cases where human intervention through teleoperation is not possible, the robot team must be deployed in a territory withoutmore » supervision, requiring an autonomous decentralized coordination strategy. This paper presents the alpha beta coordination strategy, a family of collective search algorithms that are based on dynamic partitioning of the robotic team into two complementary social roles according to a sensor based status measure. Robots in the alpha role are risk takers, motivated to improve their status by exploring new regions of the search space. Robots in the beta role are motivated to improve but are conservative, and tend to remain aggregated and stationary until the alpha robots have identified better regions of the search space. Roles are determined dynamically by each member of the team based on the status of the individual robot relative to the current state of the collective. Partitioning the robot team into alpha and beta roles results in a balance between exploration and exploitation, and can yield collective energy savings and improved resistance to sensor noise and defectors. Alpha robots waste energy exploring new territory, and are more sensitive to the effects of ambient noise and to defectors reporting inflated status. Beta robots conserve energy by moving in a direct path to regions of confirmed high status.« less

Evaluation of the safety of mobile units for the conditioning of radioactive waste

DOE Office of Scientific and Technical Information (OSTI.GOV)

Filss, Martin; Wallner, Christian

2013-07-01

In Germany mobile units are used to treat and condition radioactive waste. On behalf of the relevant authorities TUV SUD Industrie Service GmbH evaluates their safety. In this paper we outline the general procedure we apply and point out typical results. Generally, a generic safety case evaluates the effects of incidents and accidents and its consequences for the workers and the public. Special care is necessary to define the radioactive inventory, the nuclide composition and the mobility of the radioactive substances. A systems analysis is carried out. Typical aspects to be considered are the handling procedures, the measurement devices andmore » automatic actions. From the various possible malfunctions the critical ones have to be identified. Generally one or only a few scenarios have to be considered in detail. (authors)« less

Mobile Lunar Base Concepts

NASA Astrophysics Data System (ADS)

Cohen, Marc M.

2004-02-01

This paper describes three innovative concepts for a mobile lunar base. These concept combine design research for habitat architecture, mobility systems, habitability, radiation protection, human factors, and living and working environments on the lunar surface. The mobile lunar base presents several key advantages over conventional static base notions. These advantages concern landing zone safety, the requirement to move modules over the lunar surface, and the ability to stage mobile reconnaissance with effective systemic redundancy. All of these concerns lead to the consideration of a mobile walking habitat module and base design. The key issues involve landing zone safety, the ability to transport habitat modules across the surface, and providing reliability and redundancy to exploration traverses in pressurized vehicles. With self-ambulating lunar base modules, it will be feasible to have each module separate itself from its retro-rocket thruster unit, and walk five to ten km away from the LZ to a pre-selected site. These mobile modules can operate in an autonomous or teleoperated mode to navigate the lunar surface. At the site of the base, the mobile modules can combine together; make pressure port connections among themselves, to create a multi-module pressurized lunar base.

Behavior of an MBT waste in monotonic triaxial shear tests

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bhandari, Athma Ram, E-mail: athma.bhandari@beg.utexas.edu; Powrie, William, E-mail: w.powrie@soton.ac.uk

2013-04-15

Highlights: ► We studied the stress–strain–strength characteristics of an MBT waste. ► Rate of mobilization of strength with strain depends on initial density. ► Image analysis technique was used to determine whole-specimen displacement fields. ► Initial mode of deformation of a loose specimen is one-dimensional compression. ► Reinforcing elements enhance the resistance to lateral and volumetric deformation. - Abstract: Legislation in some parts of the world now requires municipal solid waste (MSW) to be processed prior to landfilling to reduce its biodegradability and hence its polluting potential through leachate and fugitive emission of greenhouse gases. This pre-processing may be achievedmore » through what is generically termed mechanical–biological-treatment (MBT). One of the major concerns relating to MBT wastes is that the strength of the material may be less than for raw MSW, owing to the removal of sheet, stick and string-like reinforcing elements during processing. Also, the gradual increase in mobilized strength over strains of 30% or so commonly associated with unprocessed municipal solid waste may not occur with treated wastes. This paper describes a series of triaxial tests carried out to investigate the stress–strain–strength characteristics of an MBT waste, using a novel digital image analysis technique for the determination of detailed displacement fields over the whole specimen. New insights gained into the mechanical behavior of MBT waste include the effect of density on the stress–strain response, the initial 1-D compression of lightly consolidated specimens, and the likely reinforcing effect of small sheet like particles remaining in the waste.« less

Evaluation of Technetium Getters to Improve the Performance of Cast Stone

DOE Office of Scientific and Technical Information (OSTI.GOV)

Neeway, James J.; Qafoku, Nikolla P.; Serne, R. Jeffrey

2015-11-01

Cast Stone has been selected as the preferred waste form for solidification of aqueous secondary liquid effluents from the Hanford Tank Waste Treatment and Immobilization Plant (WTP) process condensates and low-activity waste (LAW) melter off-gas caustic scrubber effluents. Cast Stone is also being evaluated as a supplemental immobilization technology to provide the necessary LAW treatment capacity to complete the Hanford tank waste cleanup mission in a timely and cost effective manner. One of the major radionuclides that Cast Stone has the potential to immobilize is technetium (Tc). The mechanism for immobilization is through the reduction of the highly mobile Tc(VII)more » species to the less mobile Tc(IV) species by the blast furnace slag (BFS) used in the Cast Stone formulation. Technetium immobilization through this method would be beneficial because Tc is one of the most difficult contaminants to address at the U.S. Department of Energy (DOE) Hanford Site due to its complex chemical behavior in tank waste, limited incorporation in mid- to high-temperature immobilization processes (vitrification, steam reformation, etc.), and high mobility in subsurface environments. In fact, the Tank Closure and Waste Management Environmental Impact Statement for the Hanford Site, Richland, Washington (TC&WM EIS) identifies technetium-99 ( 99Tc) as one of the radioactive tank waste components contributing the most to the environmental impact associated with the cleanup of the Hanford Site. The TC&WM EIS, along with an earlier supplemental waste-form risk assessment, used a diffusion-limited release model to estimate the release of different contaminants from the WTP process waste forms. In both of these predictive modeling exercises, where effective diffusivities based on grout performance data available at the time, groundwater at the 100-m down-gradient well exceeded the allowable maximum permissible concentrations for 99Tc. (900 pCi/L). Recent relatively short-term (63 day) leach tests conducted on both LAW and secondary waste Cast Stone monoliths indicated that 99Tc diffusivities were at or near diffusivities where the groundwater at the 100-m down-gradient well would exceed the allowable maximum permissible 99Tc concentrations. There is, therefore, a need and an opportunity to improve the retention of Tc in the Cast Stone waste form. One method to improve the performance of the Cast Stone waste form is through the addition of “getters” that selectively sequester Tc inside Cast Stone.« less

Hazardous Waste Cleanup: Kinder Morgan Liquid Terminals, LLC in Staten Island, New York

EPA Pesticide Factsheets

Exxon Mobil Port Mobil Terminal is a petroleum bulk storage and distribution facility which began operations in 1934 and continues today. The facility is located on the eastern shoreline of the Arthur Kill, Staten Island, City of New York, and is bounded

Immobilization of metals in contaminated soil from E-waste recycling site by dairy-manure-derived biochar.

PubMed

Chen, Zhiliang; Zhang, Jianqiang; Liu, Minchao; Wu, Yingxin; Yuan, Zhihui

2017-08-24

E-waste is a growing concern around the world and varieties of abandoned E-waste recycling sites, especially in urban area, need to remediate immediately. The impacts of dairy-manure-derived biochars (BCs) on the amelioration of soil properties, the changes in the morphologies as well as the mobility of metals were studied to test their efficacy in immobilization of metals for a potential restoration of vegetation landscape in abandoned E-waste recycling site. The amendment with BCs produced positive effects on bioavailability and mobility reduction for Pb, Cd, Zn and Cu depending on BC ratio and incubation time. The BCs promoted the transformation of species of heavy metals to a more stable fraction, and the metals concentrations in Toxicity Characteristic Leaching Procedure extract declined significantly, especially Pb and Cu. Besides, the BCs ameliorated the substrate with increasing the soil pH, cations exchangeable capacity and available phosphorous, which suggested BC as a potential amendment material for abandoned E-waste recycling sites before restoration of vegetation landscape. Generally, the BC modified by alkaline treatment has a higher efficacy, probably due to increase of specific surface area and porosity as well as the functional groups after alkaline treatment.

Designing of routing algorithms in autonomous distributed data transmission system for mobile computing devices with ‘WiFi-Direct’ technology

NASA Astrophysics Data System (ADS)

Nikitin, I. A.; Sherstnev, V. S.; Sherstneva, A. I.; Botygin, I. A.

2017-02-01

The results of the research of existent routing protocols in wireless networks and their main features are discussed in the paper. Basing on the protocol data, the routing protocols in wireless networks, including search routing algorithms and phone directory exchange algorithms, are designed with the ‘WiFi-Direct’ technology. Algorithms without IP-protocol were designed, and that enabled one to increase the efficiency of the algorithms while working only with the MAC-addresses of the devices. The developed algorithms are expected to be used in the mobile software engineering with the Android platform taken as base. Easier algorithms and formats of the well-known route protocols, rejection of the IP-protocols enables to use the developed protocols on more primitive mobile devices. Implementation of the protocols to the engineering industry enables to create data transmission networks among working places and mobile robots without any access points.

Ambient intelligence application based on environmental measurements performed with an assistant mobile robot.

PubMed

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-03-27

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile.

Ambient Intelligence Application Based on Environmental Measurements Performed with an Assistant Mobile Robot

PubMed Central

Martinez, Dani; Teixidó, Mercè; Font, Davinia; Moreno, Javier; Tresanchez, Marcel; Marco, Santiago; Palacín, Jordi

2014-01-01

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile. PMID:24681671

Navigation system for a mobile robot with a visual sensor using a fish-eye lens

NASA Astrophysics Data System (ADS)

Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu

1998-02-01

Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.

Adding navigation, artificial audition and vital sign monitoring capabilities to a telepresence mobile robot for remote home care applications.

PubMed

Laniel, Sebastien; Letourneau, Dominic; Labbe, Mathieu; Grondin, Francois; Polgar, Janice; Michaud, Francois

2017-07-01

A telepresence mobile robot is a remote-controlled, wheeled device with wireless internet connectivity for bidirectional audio, video and data transmission. In health care, a telepresence robot could be used to have a clinician or a caregiver assist seniors in their homes without having to travel to these locations. Many mobile telepresence robotic platforms have recently been introduced on the market, bringing mobility to telecommunication and vital sign monitoring at reasonable costs. What is missing for making them effective remote telepresence systems for home care assistance are capabilities specifically needed to assist the remote operator in controlling the robot and perceiving the environment through the robot's sensors or, in other words, minimizing cognitive load and maximizing situation awareness. This paper describes our approach adding navigation, artificial audition and vital sign monitoring capabilities to a commercially available telepresence mobile robot. This requires the use of a robot control architecture to integrate the autonomous and teleoperation capabilities of the platform.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration. [performance tests of remote control equipment for roving vehicles

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the design and control of an autonomous rover for the purpose of unmanned exploration of the planets were considered. Building on the basis of prior studies, a four wheeled rover of unusual mobility and maneuverability was further refined and tested under both laboratory and field conditions. A second major effort was made to develop autonomous guidance. Path selection systems capable of dealing with relatively formidable hazard and terrains involving various short range (1.0-3.0 meters), hazard detection systems using a triangulation detection concept were simulated and evaluated. The mechanical/electronic systems required to implement such a scheme were constructed and tested. These systems include: laser transmitter, photodetectors, the necessary data handling/controlling systems and a scanning mast. In addition, a telemetry system to interface the vehicle, the off-board computer and a remote control module for operator intervention were developed. Software for the autonomous control concept was written. All of the systems required for complete autonomous control were shown to be satisfactory except for that portion of the software relating to the handling of interrupt commands.

Detecting submerged features in water: modeling, sensors, and measurements

NASA Astrophysics Data System (ADS)

Bostater, Charles R., Jr.; Bassetti, Luce

2004-11-01

It is becoming more important to understand the remote sensing systems and associated autonomous or semi-autonomous methodologies (robotic & mechatronics) that may be utilized in freshwater and marine aquatic environments. This need comes from several issues related not only to advances in our scientific understanding and technological capabilities, but also from the desire to insure that the risk associated with UXO (unexploded ordnance), related submerged mines, as well as submerged targets (such as submerged aquatic vegetation) and debris left from previous human activities are remotely sensed and identified followed by reduced risks through detection and removal. This paper will describe (a) remote sensing systems, (b) platforms (fixed and mobile, as well as to demonstrate (c) the value of thinking in terms of scalability as well as modularity in the design and application of new systems now being constructed within our laboratory and other laboratories, as well as future systems. New remote sensing systems - moving or fixed sensing systems, as well as autonomous or semi-autonomous robotic and mechatronic systems will be essential to secure domestic preparedness for humanitarian reasons. These remote sensing systems hold tremendous value, if thoughtfully designed for other applications which include environmental monitoring in ambient environments.

An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis

ERIC Educational Resources Information Center

Sadiig, I. Ahmed M. J.

2005-01-01

The traditional learning paradigm involving face-to-face interaction with students is shifting to highly data-intensive electronic learning with the advances in Information and Communication Technology. An important component of the e-learning process is the delivery of the learning contents to their intended audience over a network. A distributed…

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2009-09-30

will take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of Blainville’s beaked whale, Mesoplodon...whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd, Holland, April, 2008. [non-refereed] Beedholm K., Madsen P., Johnson M

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2011-09-30

For beaked whales, field testing will take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of...beaked whales off El Hierro , Canary Islands,” European Research on Cetaceans 22nd. Holland, April, 2008. Baumgartner, M. F., and S. E. Mussoline

Promoting Learner Autonomy through Schoology M-Learning Platform in an EAP Class at an Indonesian University

ERIC Educational Resources Information Center

Ardi, Priyatno

2017-01-01

The advent of mobile learning platforms and Web 2.0 technologies is believed to provide an autonomous learning space that minimizes the power structure between the teacher and students in Indonesian EFL classes, accommodating the students to display their capacity to navigate their own learning. "Schoology" m-learning platform, a social…

Can Apple's iPhone Help to Improve English Pronunciation Autonomously? State of the App

ERIC Educational Resources Information Center

González, Jonás Fouz

2012-01-01

This paper is part of a larger project that examines some of the best-selling iPhone apps designed to learn English pronunciation. Informed by the literature on pronunciation teaching/acquisition, Computer Assisted Pronunciation Teaching (CAPT), Computer Assisted Language Learning (CALL) and Mobile-learning (M-learning), it provides a critical…

AMBIENT POLLUTANT CONCENTRATIONS MEASURED BY A MOBILE LABORATORY IN SOUTH BRONX, NY (R827351)

EPA Science Inventory

The objective of this study is to characterize the ambient air quality of the South Bronx, New York City (NYC), having high concentrations of diesel trucks and waste transfer facilities. We employed a mobile laboratory for continuous measurements of concentrations of fine part...

Engineering Sensorial Delay to Control Phototaxis and Emergent Collective Behaviors

NASA Astrophysics Data System (ADS)

Mijalkov, Mite; McDaniel, Austin; Wehr, Jan; Volpe, Giovanni

2016-01-01

Collective motions emerging from the interaction of autonomous mobile individuals play a key role in many phenomena, from the growth of bacterial colonies to the coordination of robotic swarms. For these collective behaviors to take hold, the individuals must be able to emit, sense, and react to signals. When dealing with simple organisms and robots, these signals are necessarily very elementary; e.g., a cell might signal its presence by releasing chemicals and a robot by shining light. An additional challenge arises because the motion of the individuals is often noisy; e.g., the orientation of cells can be altered by Brownian motion and that of robots by an uneven terrain. Therefore, the emphasis is on achieving complex and tunable behaviors from simple autonomous agents communicating with each other in robust ways. Here, we show that the delay between sensing and reacting to a signal can determine the individual and collective long-term behavior of autonomous agents whose motion is intrinsically noisy. We experimentally demonstrate that the collective behavior of a group of phototactic robots capable of emitting a radially decaying light field can be tuned from segregation to aggregation and clustering by controlling the delay with which they change their propulsion speed in response to the light intensity they measure. We track this transition to the underlying dynamics of this system, in particular, to the ratio between the robots' sensorial delay time and the characteristic time of the robots' random reorientation. Supported by numerics, we discuss how the same mechanism can be applied to control active agents, e.g., airborne drones, moving in a three-dimensional space. Given the simplicity of this mechanism, the engineering of sensorial delay provides a potentially powerful tool to engineer and dynamically tune the behavior of large ensembles of autonomous mobile agents; furthermore, this mechanism might already be at work within living organisms such as chemotactic cells.

Inhalation of 7.5% carbon dioxide increases threat processing in humans.

PubMed

Garner, Matthew; Attwood, Angela; Baldwin, David S; James, Alexandra; Munafò, Marcus R

2011-07-01

Inhalation of 7.5% CO(2) increases anxiety and autonomic arousal in humans, and elicits fear behavior in animals. However, it is not known whether CO(2) challenge in humans induces dysfunction in neurocognitive processes that characterize generalized anxiety, notably selective attention to environmental threat. Healthy volunteers completed an emotional antisaccade task in which they looked toward or away from (inhibited) negative and neutral stimuli during inhalation of 7.5% CO(2) and air. CO(2) inhalation increased anxiety, autonomic arousal, and erroneous eye movements toward threat on antisaccade trials. Autonomic response to CO(2) correlated with hypervigilance to threat (speed to initiate prosaccades) and reduced threat inhibition (increased orienting toward and slower orienting away from threat on antisaccade trials) independent of change in mood. Findings extend evidence that CO(2) triggers fear behavior in animals via direct innervation of a distributed fear network that mobilizes the detection of and allocation of processing resources toward environmental threat in humans.

Caring for the Environment While Teaching Organic Chemistry

NASA Astrophysics Data System (ADS)

Santos Santos, Elvira; Cruz Gavilan Garcia, Irma; Florencia Lejarazo Gomez, Eva

2004-02-01

In laboratory experiments it is common for students to acquire knowledge and develop the basic abilities needed to solve different types of problems related to synthesis and analysis. The students are so interested in this objective that they do not generally pay any attention to the wastes generated during their lab experiments. It is well known that experiments usually generate small quantities of a large variety of wastes. Nevertheless, the complexity of the wastes generated in the laboratories of educational institutions is large. Thus, detailed studies of their treatment should be undertaken. In North American and European universities the problem has been solved by sending these wastes to specialized companies that treat and dispose of them; however, in Mexico, such alternatives are not available owing to the high cost for waste disposal. Therefore, the Organic Chemistry Department of the Chemistry School at the National Autonomous University of Mexico has started a project concerned with the management and treatment of wastes generated during experimental lab sessions. In the United States and Europe, students do not generally treat their wastes. Therefore, it would be convenient to include this treatment as part of the educational aspects in organic experiments in all parts of the world to develop an environmentally conscience culture among them.

Does performance evaluation help public managers? A Balanced Scorecard approach in urban waste services.

PubMed

Guimarães, Bernardo; Simões, Pedro; Marques, Rui Cunha

2010-12-01

The urban waste market has evolved significantly in the past decades, which among other changes, has led to the creation of new utilities and new business models. However, very few things have changed for the users. Urban waste collection remains mainly under the responsibility of local authorities and the charges paid by the users in most countries are very low compared to the provision costs. This situation forces the injection of public money into the system, encouraging the 'quiet-life' within the utilities and, therefore, inefficiency. The present study intends to analyze the potential for the application of the Balanced Scorecard (BSc) methodology into the waste utilities. After a comprehensive revision of the urban waste sector in Portugal, the methodology of BSc and its application in local public services is described and discussed. Focusing on implementation rather than on strategy, a set of performance indicators is proposed to be utilized in the different management models of waste utilities in Portugal: the municipalities, semi-autonomous utilities, municipal companies and mixed companies. This implementation is then exemplified through four case studies, one for each type of utility. This paper provides a flexible framework proposal to be applied to waste utilities operating both in Portugal and abroad. Copyright © 2010 Elsevier Ltd. All rights reserved.

E-waste scenario in India, its management and implications.

PubMed

Wath, Sushant B; Dutt, P S; Chakrabarti, T

2011-01-01

Electronic waste or E-waste comprises of old, end-of-life electronic appliances such as computers, laptops, TVs, DVD players, refrigerators, freezers, mobile phones, MP3 players, etc., which have been disposed of by their original users. E-waste contains many hazardous constituents that may negatively impact the environment and affect human health if not properly managed. Various organizations, bodies, and governments of many countries have adopted and/or developed the environmentally sound options and strategies for E-waste management to tackle the ever growing threat of E-waste to the environment and human health. This paper presents E-waste composition, categorization, Global and Indian E-waste scenarios, prospects of recoverable, recyclable, and hazardous materials found in the E-waste, Best Available Practices, recycling, and recovery processes followed, and their environmental and occupational hazards. Based on the discussion, various challenges for E-waste management particularly in India are delineated, and needed policy interventions were discussed.

Estimation of retired mobile phones generation in China: A comparative study on methodology

DOE Office of Scientific and Technical Information (OSTI.GOV)

Li, Bo; Yang, Jianxin, E-mail: yangjx@rcees.ac.cn; Lu, Bin

Highlights: • The sales data of mobile phones in China was revised by considering the amount of smuggled and counterfeit mobile phones. • The estimation of retired mobile phones in China was made by comparing some relevant methods. • The advanced result of estimation can help improve the policy-making. • The method suggested in this paper can be also used in other countries. • Some discussions on methodology are also conducted in order for the improvement. - Abstract: Due to the rapid development of economy and technology, China has the biggest production and possession of mobile phones around the world.more » In general, mobile phones have relatively short life time because the majority of users replace their mobile phones frequently. Retired mobile phones represent the most valuable electrical and electronic equipment (EEE) in the main waste stream because of such characteristics as large quantity, high reuse/recovery value and fast replacement frequency. Consequently, the huge amount of retired mobile phones in China calls for a sustainable management system. The generation estimation can provide fundamental information to construct the sustainable management system of retired mobile phones and other waste electrical and electronic equipment (WEEE). However, the reliable estimation result is difficult to get and verify. The priority aim of this paper is to provide proper estimation approach for the generation of retired mobile phones in China, by comparing some relevant methods. The results show that the sales and new method is in the highest priority in estimation of the retired mobile phones. The result of sales and new method shows that there are 47.92 million mobile phones retired in 2002, and it reached to 739.98 million in China in 2012. It presents an increasing tendency with some fluctuations clearly. Furthermore, some discussions on methodology, such as the selection of improper approach and error in the input data, are also conducted in order to improve generation estimation of retired mobile phones and other WEEE.« less

Control of an automated mobile manipulator using artificial immune system

NASA Astrophysics Data System (ADS)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

Autonomous Mobile Platform for Research in Cooperative Robotics

NASA Technical Reports Server (NTRS)

Daemi, Ali; Pena, Edward; Ferguson, Paul

1998-01-01

This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.

Research and development at ORNL/CESAR towards cooperating robotic systems for hazardous environments

NASA Technical Reports Server (NTRS)

Mann, R. C.; Fujimura, K.; Unseren, M. A.

1992-01-01

One of the frontiers in intelligent machine research is the understanding of how constructive cooperation among multiple autonomous agents can be effected. The effort at the Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory (ORNL) focuses on two problem areas: (1) cooperation by multiple mobile robots in dynamic, incompletely known environments; and (2) cooperating robotic manipulators. Particular emphasis is placed on experimental evaluation of research and developments using the CESAR robot system testbeds, including three mobile robots, and a seven-axis, kinematically redundant mobile manipulator. This paper summarizes initial results of research addressing the decoupling of position and force control for two manipulators holding a common object, and the path planning for multiple robots in a common workspace.

The Influence of LINE-1 and SINE Retrotransposons on Mammalian Genomes.

PubMed

Richardson, Sandra R; Doucet, Aurélien J; Kopera, Huira C; Moldovan, John B; Garcia-Perez, José Luis; Moran, John V

2015-04-01

Transposable elements have had a profound impact on the structure and function of mammalian genomes. The retrotransposon Long INterspersed Element-1 (LINE-1 or L1), by virtue of its replicative mobilization mechanism, comprises ∼17% of the human genome. Although the vast majority of human LINE-1 sequences are inactive molecular fossils, an estimated 80-100 copies per individual retain the ability to mobilize by a process termed retrotransposition. Indeed, LINE-1 is the only active, autonomous retrotransposon in humans and its retrotransposition continues to generate both intra-individual and inter-individual genetic diversity. Here, we briefly review the types of transposable elements that reside in mammalian genomes. We will focus our discussion on LINE-1 retrotransposons and the non-autonomous Short INterspersed Elements (SINEs) that rely on the proteins encoded by LINE-1 for their mobilization. We review cases where LINE-1-mediated retrotransposition events have resulted in genetic disease and discuss how the characterization of these mutagenic insertions led to the identification of retrotransposition-competent LINE-1s in the human and mouse genomes. We then discuss how the integration of molecular genetic, biochemical, and modern genomic technologies have yielded insight into the mechanism of LINE-1 retrotransposition, the impact of LINE-1-mediated retrotransposition events on mammalian genomes, and the host cellular mechanisms that protect the genome from unabated LINE-1-mediated retrotransposition events. Throughout this review, we highlight unanswered questions in LINE-1 biology that provide exciting opportunities for future research. Clearly, much has been learned about LINE-1 and SINE biology since the publication of Mobile DNA II thirteen years ago. Future studies should continue to yield exciting discoveries about how these retrotransposons contribute to genetic diversity in mammalian genomes.

Mobile site safety review for the transuranic (TRU) waste characterization program

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1996-11-01

This Safety Review Document (SRD) applies to the Active/Passive Neutron Examination and Assay (APNEA) system installed on a Lockheed Martin Specialty Components, Inc., (Specialty Components) trailer. The APNEA is designed to perform nuclear waste drum assay. The purpose of this document is to describe the safety features of the APNEA system.

Power Sources for Micro-Autonomous Vehicles- Challenges and Prospects

NASA Technical Reports Server (NTRS)

Narayan, S. R.; Kisor, A.; Valdez, T. I.; Manohara, H.

2009-01-01

Micro-autonomous vehicle systems are expected to have expanded role in military missions by providing full spectrum intelligence, surveillance and reconnaissance support on the battlefield, suppression of enemy defenses, and enabling co-operative (swarm-like) configurations. Of the numerous demanding requirements of autonomy, sensing, navigation, mobility, etc., meeting the requirement of mission duration or endurance is a very challenging one. This requirement is demanding because of the constraints of mass and volume that limit the quantity of energy that can be stored on-board. Energy is required for mobility, payload operation, information processing, and communication. Mobility requirements typically place an extraordinary demand on the specific energy (Wh/kg) and specific power (W/kg) of the power source; the actual distribution of the energy between mobility and other system functions could vary substantially with the mission type. The power requirements for continuous mobility can vary from 100-1000 W/kg depending on the terrain, ground speed and flight speed. Even with the power source accounting for 30% of the mass of the vehicle, the best of rechargeable batteries can provide only up to 1-2 hours of run-time for a continuous power demand at 100W/kg. In the case of micro-aerial vehicles with flight speed requirements in the range of 5-15 m s-1, the mission times rarely exceed 20 minutes [2]. Further, the power required during take-off and hover can be twice or thrice that needed for steady level flight, and thus the number and sequence of such events is also limited by the mass and size of the power source. For operations such as "perch and stare" or "silent watch" the power demand is often only a tenth of that required during continuous flight. Thus, variation in power demand during various phases of the mission importantly affects the power source selection.

Web Based Autonomous Geophysical/Hydrological Monitoring of the Gilt Edge Mine Site: Implementation and Results

NASA Astrophysics Data System (ADS)

Versteeg, R. J.; Wangerud, K.; Mattson, E.; Ankeny, M.; Richardson, A.; Heath, G.

2005-05-01

The Ruby Gulch repository at the Gilt Edge Mine Superfund site is a capped waste rock repository. Early in the system design EPA and its subcontractor, Bureau of Reclamation, recognized the need for long-term monitoring system to provide information on the repository behavior with the following objectives: 1 Provide information on the integrity of the newly constructed surface cover and diversion system 2 Continually assess the waste's hydrological and geochemical behavior, such that rational decisions can be made for the operation of this cover and liner system 3 Easily access of information pertaining to the system performance to stakeholders 4 Integration of a variety of data sources to produce information which could be used to enhance future cover designs. Through discussions between EPA, the Bureau of Reclamation and Idaho National Laboratory a long-term monitoring system was designed and implemented allowing EPA to meet these objectives. This system was designed to provide a cost effective way to deal with massive amounts of data and information, subject to the following specifications: 1 Data acquisition should occur autonomously and automatically, 2 Data management, processing and presentation should be automated as much as possible, 3 Users should be able to access all data and information remotely through a web browser. The INL long-term monitoring system integrates the data from a set of 522 electrodes resistivity electrodes consisting of 462 surface electrodes and 60 borehole electrodes (in 4 wells with 15 electrodes each), an outflow meter at the toe of the repository, an autonomous, remotely accessible weather station, and four wells (average depths of 250 feet) with thermocouples, pressure transducers and sampling ports for water and air. The monitoring system has currently been in operation for over a year, and has collected data continuously over this period. Results from this system have shown both the diurnal variation in rockmass behavior, movement of water through the waste (allowing estimated in residence time) and are leading to a comprehensive model of the repository behavior. Due to the sheer volume of data, a user driven interface allows users to create their own views of the different datasets.

Fluvial transport and surface enrichment of arsenic in semi-arid mining regions: examples from the Mojave Desert, California.

PubMed

Kim, Christopher S; Stack, David H; Rytuba, James J

2012-07-01

As a result of extensive gold and silver mining in the Mojave Desert, southern California, mine wastes and tailings containing highly elevated arsenic (As) concentrations remain exposed at a number of former mining sites. Decades of weathering and erosion have contributed to the mobilization of As-enriched tailings, which now contaminate surrounding communities. Fluvial transport plays an intermittent yet important and relatively undocumented role in the migration and dispersal of As-contaminated mine wastes in semi-arid climates. Assessing the contribution of fluvial systems to tailings mobilization is critical in order to assess the distribution and long-term exposure potential of tailings in a mining-impacted environment. Extensive sampling, chemical analysis, and geospatial mapping of dry streambed (wash) sediments, tailings piles, alluvial fans, and rainwater runoff at multiple mine sites have aided the development of a conceptual model to explain the fluvial migration of mine wastes in semi-arid climates. Intense and episodic precipitation events mobilize mine wastes downstream and downslope as a series of discrete pulses, causing dispersion both down and lateral to washes with exponential decay behavior as distance from the source increases. Accordingly a quantitative model of arsenic concentrations in wash sediments, represented as a series of overlapping exponential power-law decay curves, results in the acceptable reproducibility of observed arsenic concentration patterns. Such a model can be transferable to other abandoned mine lands as a predictive tool for monitoring the fate and transport of arsenic and related contaminants in similar settings. Effective remediation of contaminated mine wastes in a semi-arid environment requires addressing concurrent changes in the amounts of potential tailings released through fluvial processes and the transport capacity of a wash.

Fluvial transport and surface enrichment of arsenic in semi-arid mining regions: examples from the Mojave Desert, California

USGS Publications Warehouse

Kim, Christopher S.; Slack, David H.; Rytuba, James J.

2012-01-01

As a result of extensive gold and silver mining in the Mojave Desert, southern California, mine wastes and tailings containing highly elevated arsenic (As) concentrations remain exposed at a number of former mining sites. Decades of weathering and erosion have contributed to the mobilization of As-enriched tailings, which now contaminate surrounding communities. Fluvial transport plays an intermittent yet important and relatively undocumented role in the migration and dispersal of As-contaminated mine wastes in semi-arid climates. Assessing the contribution of fluvial systems to tailings mobilization is critical in order to assess the distribution and long-term exposure potential of tailings in a mining-impacted environment. Extensive sampling, chemical analysis, and geospatial mapping of dry streambed (wash) sediments, tailings piles, alluvial fans, and rainwater runoff at multiple mine sites have aided the development of a conceptual model to explain the fluvial migration of mine wastes in semi-arid climates. Intense and episodic precipitation events mobilize mine wastes downstream and downslope as a series of discrete pulses, causing dispersion both down and lateral to washes with exponential decay behavior as distance from the source increases. Accordingly a quantitative model of arsenic concentrations in wash sediments, represented as a series of overlapping exponential power-law decay curves, results in the acceptable reproducibility of observed arsenic concentration patterns. Such a model can be transferable to other abandoned mine lands as a predictive tool for monitoring the fate and transport of arsenic and related contaminants in similar settings. Effective remediation of contaminated mine wastes in a semi-arid environment requires addressing concurrent changes in the amounts of potential tailings released through fluvial processes and the transport capacity of a wash.

Diffusion and Leaching Behavior of Radionuclides in Category 3 Waste Encasement Concrete and Soil Fill Material – Summary Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mattigod, Shas V.; Wellman, Dawn M.; Bovaird, Chase C.

2011-08-31

One of the methods being considered for safely disposing of Category 3 low-level radioactive wastes is to encase the waste in concrete. Such concrete encasement would contain and isolate the waste packages from the hydrologic environment and would act as an intrusion barrier. The current plan for waste isolation consists of stacking low-level waste packages on a trench floor, surrounding the stacks with reinforced steel, and encasing these packages in concrete. These concrete-encased waste stacks are expected to vary in size with maximum dimensions of 6.4 m long, 2.7 m wide, and 4 m high. The waste stacks are expectedmore » to have a surrounding minimum thickness of 15 cm of concrete encasement. These concrete-encased waste packages are expected to withstand environmental exposure (solar radiation, temperature variations, and precipitation) until an interim soil cover or permanent closure cover is installed, and to remain largely intact thereafter. Any failure of concrete encasement may result in water intrusion and consequent mobilization of radionuclides from the waste packages. The mobilized radionuclides may escape from the encased concrete by mass flow and/or diffusion and move into the surrounding subsurface environment. Therefore, it is necessary to assess the performance of the concrete encasement structure and the ability of the surrounding soil to retard radionuclide migration. The retardation factors for radionuclides contained in the waste packages can be determined from measurements of diffusion coefficients for these contaminants through concrete and fill material. Some of the mobilization scenarios include (1) potential leaching of waste form before permanent closure cover is installed; (2) after the cover installation, long-term diffusion of radionuclides from concrete waste form into surrounding fill material; (3) diffusion of radionuclides from contaminated soils into adjoining concrete encasement and clean fill material. Additionally, the rate of diffusion of radionuclides may be affected by the formation of structural cracks in concrete, the carbonation of the buried waste form, and any potential effect of metallic iron (in the form of rebars) on the mobility of radionuclides. The radionuclides iodine-129 ({sup 129}I), technetium-99 ({sup 99}Tc), and uranium-238 ({sup 238}U) are identified as long-term dose contributors in Category 3 waste (Mann et al. 2001; Wood et al. 1995). Because of their anionic nature in aqueous solutions, {sup 129}I, {sup 99}Tc, and carbonate-complexed {sup 238}U may readily leach into the subsurface environment (Serne et al. 1989, 1992a, b, 1993, and 1995). The leachability and/or diffusion of radionuclide species must be measured to assess the long-term performance of waste grouts when contacted with vadose-zone pore water or groundwater. Although significant research has been conducted on the design and performance of cementitious waste forms, the current protocol conducted to assess radionuclide stability within these waste forms has been limited to the Toxicity Characteristic Leaching Procedure, Method 1311 Federal Registry (EPA 1992) and ANSI/ANS-16.1 leach test (ANSI 1986). These tests evaluate the performance under water-saturated conditions and do not evaluate the performance of cementitious waste forms within the context of waste repositories which are located within water-deficient vadose zones. Moreover, these tests assess only the diffusion of radionuclides from concrete waste forms and neglect evaluating the mechanisms of retention, stability of the waste form, and formation of secondary phases during weathering, which may serve as long-term secondary hosts for immobilization of radionuclides. The results of recent investigations conducted under arid and semi-arid conditions (Al-Khayat et al. 2002; Garrabrants et al. 2002; Garrabrants and Kosson 2003; Garrabrants et al. 2004; Gervais et al. 2004; Sanchez et al. 2002; Sanchez et al. 2003) provide valuable information suggesting structural and chemical changes to concrete waste forms which may affect contaminant containment and waste form performance. However, continued research is necessitated by the need to understand: the mechanism of contaminant release; the significance of contaminant release pathways; how waste form performance is affected by the full range of environmental conditions within the disposal facility; the process of waste form aging under conditions that are representative of processes occurring in response to changing environmental conditions within the disposal facility; the effect of waste form aging on chemical, physical, and radiological properties, and the associated impact on contaminant release. Recent reviews conducted by the National Academies of Science recognized the efficacy of cementitious materials for waste isolation, but further noted the significant shortcomings in our current understanding and testing protocol for evaluating the performance of various formulations.« less

Evaporative oxidation treatability test report

DOE Office of Scientific and Technical Information (OSTI.GOV)

NONE

1995-04-01

In 1992, Congress passed the Federal Facilities Compliance Act that requires the U.S. Department of Energy (DOE) to treat and dispose of its mixed waste in accordance with the Resource Conservation and Recovery Act (RCRA) land disposal restrictions (LDRs). In response to the need for mixed-waste treatment capacity where available off-site commercial treatment facilities do not exist or cannot be used, the DOE Albuquerque Operations Office (DOE-AL) organized a Treatment Selection Team to match mixed wastes with treatment options and develop a strategy for treatment of its mixed wastes. DOE-AL manages operations at nine sites with mixed-waste inventories. The Treatmentmore » Selection Team determined a need to develop mobile treatment capacity to treat wastes at the sites where the wastes are generated. Treatment processes used for mixed waste not only must address the hazardous component (i.e., meet LDRs) but also must contain the radioactive component in a form that allows final disposal while protecting workers, the public, and the environment. On the basis of recommendations of the Treatment Selection Team, DOE-AL assigned projects to the sites to bring mixed-waste treatment capacity on-line. The three technologies assigned to the DOE Grand Junction Projects Office (GJPO) are evaporative oxidation, thermal desorption, and treated wastewater evaporation. Rust Geotech, the DOE-GJPO prime contractor, was assigned to design and fabricate mobile treatment units (MTUs) for these three technologies and to deliver the MTUs to selected DOE-AL sites. To conduct treatability tests at the GJPO, Rust leased a pilot-scale evaporative oxidation unit from the Clemson Technical Center (CTC), Anderson, South Carolina. The purpose of this report is to document the findings and results of tests performed using this equipment.« less

Differential lead retention in zircons: implications for nuclear waste containment.

PubMed

Gentry, R V; Sworski, T J; McKown, H S; Smith, D H; Eby, R E; Christie, W H

1982-04-16

An innovative ultrasensitive technique was used for lead isotopic analysis of individual zircons extracted from granite core samples at depths of 960, 2170, 2900, 3930, and 4310 meters. The results show that lead, a relatively mobile element compared to the nuclear waste-related actinides uranium and thorium, has been highly retained at elevated temperatures (105 degrees to 313 degrees C) under conditions relevant to the burial of synthetic rock waste containers in deep granite holes.

Mapping planetary caves with an autonomous, heterogeneous robot team

NASA Astrophysics Data System (ADS)

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

Human vs autonomous control of planetary roving vehicles

NASA Technical Reports Server (NTRS)

Whitney, W. M.

1974-01-01

Supervisory or semiautonomous control has some compelling advantages over step-by-step human command and verification for the operation of roving vehicles on remote planetary surfaces. There are also disadvantages in relation to the complex system that must be mobilized and the chain of events that must be enacted to conduct a mission. Which of the two control methods is better on technical grounds may not be the deciding factor in its acceptance or rejection. Some of the issues that affect changes in spacecraft design and operation are summarized. To accelerate the movement toward more autonomous machines, it will be necessary to understand and to address the problems that such autonomy will create for other elements of the control system and for the control process.

Mobility of rare earth elements in mine drainage: Influence of iron oxides, carbonates, and phosphates.

PubMed

Edahbi, Mohamed; Plante, Benoît; Benzaazoua, Mostafa; Ward, Matthew; Pelletier, Mia

2018-05-01

The geochemical behavior of rare earth elements (REE) was investigated using weathering cells. The influence of sorption and precipitation on dissolved REE mobility and fractionation is evaluated using synthetic iron-oxides, carbonates, and phosphates. Sorption cell tests are conducted on the main lithologies of the expected waste rocks from the Montviel deposit. The sorbed materials are characterized using a scanning electron microscope (SEM) equipped with a microanalysis system (energy dispersive spectroscopy EDS) (SEM-EDS), X-ray diffraction (XRD), and X-ray absorption near edge structure (XANES) in order to understand the effect of the synthetic minerals on REE mobility. The results confirm that sorption and precipitation control the mobility and fractionation of REE. The main sorbent phases are the carbonates, phosphates (present as accessory minerals in the Montviel waste rocks), and iron oxides (main secondary minerals generated upon weathering of the Montviel lithologies). The XANES results show that REE are present as trivalent species after weathering. Thermodynamic equilibrium calculations results using Visual Minteq suggest that REE could precipitate as secondary phosphates (REEPO 4 ). Copyright © 2018 Elsevier Ltd. All rights reserved.

Recycling-oriented characterization of plastic frames and printed circuit boards from mobile phones by electronic and chemical imaging

DOE Office of Scientific and Technical Information (OSTI.GOV)

Palmieri, Roberta; Bonifazi, Giuseppe; Serranti, Silvia, E-mail: silvia.serranti@uniroma1.it

Highlights: • A recycling oriented characterization of end-of-life mobile phones was carried out. • Characterization was developed in a zero-waste-perspective, aiming to recover all the mobile phone materials. • Plastic frames and printed circuit boards were analyzed by electronic and chemical imaging. • Suitable milling/classification strategies were set up to define specialized-pre-concentrated-streams. • The proposed approach can improve the recovery of polymers, base/precious metals, rare earths and critical raw materials. - Abstract: This study characterizes the composition of plastic frames and printed circuit boards from end-of-life mobile phones. This knowledge may help define an optimal processing strategy for using thesemore » items as potential raw materials. Correct handling of such a waste is essential for its further “sustainable” recovery, especially to maximize the extraction of base, rare and precious metals, minimizing the environmental impact of the entire process chain. A combination of electronic and chemical imaging techniques was thus examined, applied and critically evaluated in order to optimize the processing, through the identification and the topological assessment of the materials of interest and their quantitative distribution. To reach this goal, end-of-life mobile phone derived wastes have been systematically characterized adopting both “traditional” (e.g. scanning electronic microscopy combined with microanalysis and Raman spectroscopy) and innovative (e.g. hyperspectral imaging in short wave infrared field) techniques, with reference to frames and printed circuit boards. Results showed as the combination of both the approaches (i.e. traditional and classical) could dramatically improve recycling strategies set up, as well as final products recovery.« less

A Polypyrimidine Tract Binding Protein, Pumpkin RBP50, Forms the Basis of a Phloem-Mobile Ribonucleoprotein Complex[W

PubMed Central

Ham, Byung-Kook; Brandom, Jeri L.; Xoconostle-Cázares, Beatriz; Ringgold, Vanessa; Lough, Tony J.; Lucas, William J.

2009-01-01

RNA binding proteins (RBPs) are integral components of ribonucleoprotein (RNP) complexes and play a central role in RNA processing. In plants, some RBPs function in a non-cell-autonomous manner. The angiosperm phloem translocation stream contains a unique population of RBPs, but little is known regarding the nature of the proteins and mRNA species that constitute phloem-mobile RNP complexes. Here, we identified and characterized a 50-kD pumpkin (Cucurbita maxima cv Big Max) phloem RNA binding protein (RBP50) that is evolutionarily related to animal polypyrimidine tract binding proteins. In situ hybridization studies indicated a high level of RBP50 transcripts in companion cells, while immunolocalization experiments detected RBP50 in both companion cells and sieve elements. A comparison of the levels of RBP50 present in vascular bundles and phloem sap indicated that this protein is highly enriched in the phloem sap. Heterografting experiments confirmed that RBP50 is translocated from source to sink tissues. Collectively, these findings established that RBP50 functions as a non-cell-autonomous RBP. Protein overlay, coimmunoprecipitation, and cross-linking experiments identified the phloem proteins and mRNA species that constitute RBP50-based RNP complexes. Gel mobility-shift assays demonstrated that specificity, with respect to the bound mRNA, is established by the polypyrimidine tract binding motifs within such transcripts. We present a model for RBP50-based RNP complexes within the pumpkin phloem translocation stream. PMID:19122103

Navigation Architecture for a Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters' Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts. This paper provides an overview of the TASS beacon and its role within the SMN and user community. Supporting navigation analysis is presented for two user mission scenarios: an Earth observing spacecraft in low earth orbit (LEO), and a highly elliptical spacecraft in a lunar resonance orbit. These diverse flight scenarios indicate the breadth of applicability of the TASS beacon for upcoming users within the current network architecture and in the SMN.

A fuzzy logic controller for an autonomous mobile robot

NASA Technical Reports Server (NTRS)

Yen, John; Pfluger, Nathan

1993-01-01

The ability of a mobile robot system to plan and move intelligently in a dynamic system is needed if robots are to be useful in areas other than controlled environments. An example of a use for this system is to control an autonomous mobile robot in a space station, or other isolated area where it is hard or impossible for human life to exist for long periods of time (e.g., Mars). The system would allow the robot to be programmed to carry out the duties normally accomplished by a human being. Some of the duties that could be accomplished include operating instruments, transporting objects, and maintenance of the environment. The main focus of our early work has been on developing a fuzzy controller that takes a path and adapts it to a given environment. The robot only uses information gathered from the sensors, but retains the ability to avoid dynamically placed obstacles near and along the path. Our fuzzy logic controller is based on the following algorithm: (1) determine the desired direction of travel; (2) determine the allowed direction of travel; and (3) combine the desired and allowed directions in order to determine a direciton that is both desired and allowed. The desired direction of travel is determined by projecting ahead to a point along the path that is closer to the goal. This gives a local direction of travel for the robot and helps to avoid obstacles.

Thermoelectric-Driven Autonomous Sensors for a Biomass Power Plant

NASA Astrophysics Data System (ADS)

Rodríguez, A.; Astrain, D.; Martínez, A.; Gubía, E.; Sorbet, F. J.

2013-07-01

This work presents the design and development of a thermoelectric generator intended to harness waste heat in a biomass power plant, and generate electric power to operate sensors and the required electronics for wireless communication. The first objective of the work is to design the optimum thermoelectric generator to harness heat from a hot surface, and generate electric power to operate a flowmeter and a wireless transmitter. The process is conducted by using a computational model, presented in previous papers, to determine the final design that meets the requirements of electric power consumption and number of transmissions per minute. Finally, the thermoelectric generator is simulated to evaluate its performance. The final device transmits information every 5 s. Moreover, it is completely autonomous and can be easily installed, since no electric wires are required.

Greening academia: use and disposal of mobile phones among university students.

PubMed

Ongondo, F O; Williams, I D

2011-07-01

Mobile phones have relatively short lifecycles and are rapidly seen as obsolete by many users within little over a year. However, the reusability of these devices as well as their material composition means that in terms of mass and volume, mobile phones represent the most valuable electronic products that are currently found in large numbers in waste streams. End-of-life mobile phones are a high value (from a reuse and resource perspective), high volume (quantity), low cost (residual monetary value) and transient (short lifecycle) electronic product. There are very large numbers of higher education (mainly university) students in the world--there are>2.4 million in the UK alone, 19 million in Europe and 18.2 million in the USA--and they often replace their mobile phones several times before graduation. Thus, because of the potentially significant environmental and economic impacts, a large scale survey of students at 5 UK universities was conducted to assess the behaviour of students with regard to their use and disposal of mobile phones. Additionally, a small scale trial mobile phone takeback service at one of the universities was carried out. The findings indicate that many students replace their phones at least once a year; replacing broken phones, getting upgrades from network operators, remaining "fashionable" and a desire to have a handset with a longer battery life are the main reasons for such rapid replacement. Almost 60% of replaced phones are not sent to reuse or recycling operations but are stockpiled by students mainly as spare/backup phones. Approximately 61% of students own an extra mobile phone with male students replacing their phones more often than females. In particular, the results highlight the potentially huge stockpile of mobile phones--and consequently valuable supplies of rare metals--being held by the public; we estimate that there are 3.7 million phones stockpiled by students in UK higher education alone (29.3 and 28.1 million stockpiled, respectively, for Europe and USA). Although many students are aware of UK mobile phone takeback services, only a moderate number have previously used the services. Students' recycling of other waste materials such as paper and glass did not have a significant impact on their disposal actions for their unwanted mobile phones, although students who often recycled these waste materials were also the most willing to participate in mobile phone takeback services. Monetary incentives such as cash payments and vouchers have the greatest influence over students' willingness to utilise takeback services, followed by convenience and ease of use of the services. The paper discusses these findings as well as the outcome of the trial mobile phone takeback. It is suggested that universities should partner with established takeback operators to conduct event-based mobile phone takeback services primarily targeting students. Lessons from mobile phone takeback applicable to takeback services for end-of-life gadgets similar to mobile phones are also discussed. Copyright © 2011 Elsevier Ltd. All rights reserved.

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2010-09-30

after each trial. For beaked whales, field testing will take place off the island of El Hierro in the Canary Islands, a site with coastal resident...Johnson, M., “Coastal habitat use by Cuvier´s and Blainville´s beaked whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd

Does It "Want" or "Was It Programmed to..."? Kindergarten Children's Explanations of an Autonomous Robot's Adaptive Functioning

ERIC Educational Resources Information Center

Levy, Sharona T.; Mioduser, David

2008-01-01

This study investigates young children's perspectives in explaining a self-regulating mobile robot, as they learn to program its behaviors from rules. We explore their descriptions of a robot in action to determine the nature of their explanatory frameworks: psychological or technological. We have also studied the role of an adult's intervention…

Mobile Agents for Battlespace Information Exchange

DTIC Science & Technology

2013-05-01

autonomously gather information and coordinate activities (e.g. meetings, e - commerce transactions) on behalf of their owners. Sometime in the...operations where consumer -level infrastructure is not available. The report provides an overview of MA characteristics and follows with a description of...detection for security, telecommunications and the military. With the advent of broadband communication (fixed and wireless) a typical consumer is now

M-Kinyarwanda: Promoting Autonomous Language Learning through a Robust Mobile Application

ERIC Educational Resources Information Center

Bikorimana, Emmanuel; Rutayisire, Joachim; Omar, Mwana Said; Sun, Yi

2017-01-01

Kinyarwanda, the national official language used by the population of Rwanda, was greatly affected by the tragic history that faced the country. The 13th annual national dialogue held at Kigali from 21st to 22nd December 2015, recommended the government of Rwanda, to put in place all measures to enhance and maintain the above mentioned language.…

A Helitron-like Transposon Superfamily from Lepidoptera Disrupts (GAAA)n Microsatellites and is Responsible for Flanking Sequence Similarity within a Microsatellite Family

USDA-ARS?s Scientific Manuscript database

Transposable elements (TEs) are mobile DNA regions that alter host genome structure and gene expression. A novel 588 bp non-autonomous high copy number TE in the Ostrinia nubilalis genome has features in common with miniature inverted-repeat transposable elements (MITEs): high A+T content (62.3%),...

Maintaining the Integrity of Public Education: A Comparative Analysis of School Autonomy in the United States and Australia

ERIC Educational Resources Information Center

Keddie, Amanda

2016-01-01

This article takes a critical comparative approach to examining autonomous schooling in the United States and Australia. Amid the market imperatives currently driving education priorities, its focus is on how autonomy can be mobilized in ways that preserve the integrity of public education. Through reference to key debates and research about…

ATRAN Terrain Sensing Guidance-The Grand-Daddy System

NASA Astrophysics Data System (ADS)

Koch, Richard F.; Evans, Donald C.

1980-12-01

ATRAN was the pioneer terrain sensing guidance system developed in the 1950 era and deployed in Europe on the Air Force's mobile, ground launched TM-76A MACE cruise missile in the late 1950's and early 1960's. The background, principles and technology are described for this system which was the forerunner of todays modern autonomous standoff terrain sensing guided weapons.

Reasoning and planning in dynamic domains: An experiment with a mobile robot

NASA Technical Reports Server (NTRS)

Georgeff, M. P.; Lansky, A. L.; Schoppers, M. J.

1987-01-01

Progress made toward having an autonomous mobile robot reason and plan complex tasks in real-world environments is described. To cope with the dynamic and uncertain nature of the world, researchers use a highly reactive system to which is attributed attitudes of belief, desire, and intention. Because these attitudes are explicitly represented, they can be manipulated and reasoned about, resulting in complex goal-directed and reflective behaviors. Unlike most planning systems, the plans or intentions formed by the system need only be partly elaborated before it decides to act. This allows the system to avoid overly strong expectations about the environment, overly constrained plans of action, and other forms of over-commitment common to previous planners. In addition, the system is continuously reactive and has the ability to change its goals and intentions as situations warrant. Thus, while the system architecture allows for reasoning about means and ends in much the same way as traditional planners, it also posseses the reactivity required for survival in complex real-world domains. The system was tested using SRI's autonomous robot (Flakey) in a scenario involving navigation and the performance of an emergency task in a space station scenario.

Fuzzy Sets in Dynamic Adaptation of Parameters of a Bee Colony Optimization for Controlling the Trajectory of an Autonomous Mobile Robot

PubMed Central

Amador-Angulo, Leticia; Mendoza, Olivia; Castro, Juan R.; Rodríguez-Díaz, Antonio; Melin, Patricia; Castillo, Oscar

2016-01-01

A hybrid approach composed by different types of fuzzy systems, such as the Type-1 Fuzzy Logic System (T1FLS), Interval Type-2 Fuzzy Logic System (IT2FLS) and Generalized Type-2 Fuzzy Logic System (GT2FLS) for the dynamic adaptation of the alpha and beta parameters of a Bee Colony Optimization (BCO) algorithm is presented. The objective of the work is to focus on the BCO technique to find the optimal distribution of the membership functions in the design of fuzzy controllers. We use BCO specifically for tuning membership functions of the fuzzy controller for trajectory stability in an autonomous mobile robot. We add two types of perturbations in the model for the Generalized Type-2 Fuzzy Logic System to better analyze its behavior under uncertainty and this shows better results when compared to the original BCO. We implemented various performance indices; ITAE, IAE, ISE, ITSE, RMSE and MSE to measure the performance of the controller. The experimental results show better performances using GT2FLS then by IT2FLS and T1FLS in the dynamic adaptation the parameters for the BCO algorithm. PMID:27618062

Localization of Non-Linearly Modeled Autonomous Mobile Robots Using Out-of-Sequence Measurements

PubMed Central

Besada-Portas, Eva; Lopez-Orozco, Jose A.; Lanillos, Pablo; de la Cruz, Jesus M.

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost. PMID:22736962

Localization of non-linearly modeled autonomous mobile robots using out-of-sequence measurements.

PubMed

Besada-Portas, Eva; Lopez-Orozco, Jose A; Lanillos, Pablo; de la Cruz, Jesus M

2012-01-01

This paper presents a state of the art of the estimation algorithms dealing with Out-of-Sequence (OOS) measurements for non-linearly modeled systems. The state of the art includes a critical analysis of the algorithm properties that takes into account the applicability of these techniques to autonomous mobile robot navigation based on the fusion of the measurements provided, delayed and OOS, by multiple sensors. Besides, it shows a representative example of the use of one of the most computationally efficient approaches in the localization module of the control software of a real robot (which has non-linear dynamics, and linear and non-linear sensors) and compares its performance against other approaches. The simulated results obtained with the selected OOS algorithm shows the computational requirements that each sensor of the robot imposes to it. The real experiments show how the inclusion of the selected OOS algorithm in the control software lets the robot successfully navigate in spite of receiving many OOS measurements. Finally, the comparison highlights that not only is the selected OOS algorithm among the best performing ones of the comparison, but it also has the lowest computational and memory cost.

Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm.

PubMed

Awad, Fahed; Naserllah, Muhammad; Omar, Ammar; Abu-Hantash, Alaa; Al-Taj, Abrar

2018-01-31

Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point's received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner.

Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm

PubMed Central

Awad, Fahed; Naserllah, Muhammad; Omar, Ammar; Abu-Hantash, Alaa; Al-Taj, Abrar

2018-01-01

Localization of access points has become an important research problem due to the wide range of applications it addresses such as dismantling critical security threats caused by rogue access points or optimizing wireless coverage of access points within a service area. Existing proposed solutions have mostly relied on theoretical hypotheses or computer simulation to demonstrate the efficiency of their methods. The techniques that rely on estimating the distance using samples of the received signal strength usually assume prior knowledge of the signal propagation characteristics of the indoor environment in hand and tend to take a relatively large number of uniformly distributed random samples. This paper presents an efficient and practical collaborative approach to detect the location of an access point in an indoor environment without any prior knowledge of the environment. The proposed approach comprises a swarm of wirelessly connected mobile robots that collaboratively and autonomously collect a relatively small number of non-uniformly distributed random samples of the access point’s received signal strength. These samples are used to efficiently and accurately estimate the location of the access point. The experimental testing verified that the proposed approach can identify the location of the access point in an accurate and efficient manner. PMID:29385042

Agent Collaborative Target Localization and Classification in Wireless Sensor Networks

PubMed Central

Wang, Xue; Bi, Dao-wei; Ding, Liang; Wang, Sheng

2007-01-01

Wireless sensor networks (WSNs) are autonomous networks that have been frequently deployed to collaboratively perform target localization and classification tasks. Their autonomous and collaborative features resemble the characteristics of agents. Such similarities inspire the development of heterogeneous agent architecture for WSN in this paper. The proposed agent architecture views WSN as multi-agent systems and mobile agents are employed to reduce in-network communication. According to the architecture, an energy based acoustic localization algorithm is proposed. In localization, estimate of target location is obtained by steepest descent search. The search algorithm adapts to measurement environments by dynamically adjusting its termination condition. With the agent architecture, target classification is accomplished by distributed support vector machine (SVM). Mobile agents are employed for feature extraction and distributed SVM learning to reduce communication load. Desirable learning performance is guaranteed by combining support vectors and convex hull vectors. Fusion algorithms are designed to merge SVM classification decisions made from various modalities. Real world experiments with MICAz sensor nodes are conducted for vehicle localization and classification. Experimental results show the proposed agent architecture remarkably facilitates WSN designs and algorithm implementation. The localization and classification algorithms also prove to be accurate and energy efficient.

Occurrence and mobility of toxic elements in coals from endemic fluorosis areas in the Three Gorges Region, SW China.

PubMed

Xiong, Yan; Xiao, Tangfu; Liu, Yizhang; Zhu, Jianming; Ning, Zengping; Xiao, Qingxiang

2017-10-01

Fluorine (F) is a topic of great interest in coal-combustion related endemic fluorosis areas. However, little extent research exists regarding the environmental geochemistry of toxic elements that are enriched in coals and coal wastes in traditional endemic fluorosis areas, particularly focusing on their occurrences and mobilities during the weathering-leaching processes of coals and coal wastes in the surface environment. This paper addressed the issue of toxic elements in coals and coal wastes in the Three Gorges Region, Southwest (SW) China, where endemic fluorosis has historically prevailed, and investigated the distribution, occurrence, mobility features, and associated potential health risks. For this purpose, a modified experiment combined with long-term humidity cell test and column leaching trial was applied to elucidate the mobility of toxic elements in coals and coal wastes. In addition, sequential chemical extraction (SCE) was used to ascertain the modes of occurrence of toxic elements. The results demonstrated that the contents of toxic elements in the study area followed the order: stone coals > gangues > coal balls > coals. Furthermore, modes of occurrence of toxic elements were obviously different in coals and coal wastes. For example, cadmium (Cd) was mainly associated with monosulfide fraction in coals, molybdenum (Mo) and arsenic (As) were mainly associated with carbonate and silicate in coal gangues and stone coals, chromium (Cr) mainly existed in silicate and insoluble matter in coal gangues and coal balls, thallium (Tl) mainly occurred in organic matter in stone coals and sulfide in coals, and the occurrence of antimony (Sb) varied with different kinds of samples. Moreover, a large amount of toxic elements released to the leachates during the weathering and leaching process, which might pollute the environment and threaten human health. Based on the geo-accumulation index (I geo ), single factor index (P i ) and Nemerow index (P N ), soils i n the study area were mainly polluted by Cd, which constituted a potential risk to locally planted crops. Copyright © 2017 Elsevier Inc. All rights reserved.

Scenario of solid waste reuse in Khulna city of Bangladesh

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bari, Quazi H., E-mail: qhbari@yahoo.com; Mahbub Hassan, K.; Haque, R.

2012-12-15

The reuse and recycling of waste materials are now sincerely considered to be an integral part of solid waste management in many parts of the world. In this context, a vast number of options ranging from small scale decentralized to larger scale centralized plants have been adopted. This study aimed at investigating the waste reuse schemes in Khulna city located in the southern part of Bangladesh and ranked third largest city in the country. The shops for reusable material (SRM) were mostly situated around railway, waterway, and truck station markets which provided easy transportation to further locations. For the reusesmore » of waste materials and products, a chain system was found to collect reusable wastes under a total number of 310 identified SRM with 859 persons directly or indirectly involved in the scheme. This was a decentralized waste management system with self sufficient (autonomous) management. According to mass balance, about 38.52 tons d{sup -1} solid wastes were reused in Khulna city area, accounting for 7.65% of the total generated wastes. This study revealed that apparently a silent, systematic, smooth, and clean reuse chain has been established in Khulna city area under private initiatives, whose sustainability was confirmed over the years in the country without any official or formal funds. However, proper adjustment between the higher and lower chain in the materials flow path, as well as personal hygiene training for the workers, would further improve the achievements of the established reuse scheme.« less

Scenario of solid waste reuse in Khulna city of Bangladesh.

PubMed

Bari, Quazi H; Mahbub Hassan, K; Haque, R

2012-12-01

The reuse and recycling of waste materials are now sincerely considered to be an integral part of solid waste management in many parts of the world. In this context, a vast number of options ranging from small scale decentralized to larger scale centralized plants have been adopted. This study aimed at investigating the waste reuse schemes in Khulna city located in the southern part of Bangladesh and ranked third largest city in the country. The shops for reusable material (SRM) were mostly situated around railway, waterway, and truck station markets which provided easy transportation to further locations. For the reuses of waste materials and products, a chain system was found to collect reusable wastes under a total number of 310 identified SRM with 859 persons directly or indirectly involved in the scheme. This was a decentralized waste management system with self sufficient (autonomous) management. According to mass balance, about 38.52 tons d(-1) solid wastes were reused in Khulna city area, accounting for 7.65% of the total generated wastes. This study revealed that apparently a silent, systematic, smooth, and clean reuse chain has been established in Khulna city area under private initiatives, whose sustainability was confirmed over the years in the country without any official or formal funds. However, proper adjustment between the higher and lower chain in the materials flow path, as well as personal hygiene training for the workers, would further improve the achievements of the established reuse scheme. Copyright © 2012 Elsevier Ltd. All rights reserved.

An analysis of preferences for hazardous substances free products: manufacturing, use and end of life of mobile phones.

PubMed

Kaushal, Rajendra Kumar; Nema, Arvind K

2012-11-01

Electronic communication devices such as mobile phones pose significant environmental risks when disposed of after the end of their useful life. Mobile communication devices are one of the fastest growing contributors to the electronic waste (e-waste) stream. Recent legislative pressure and increasing awareness about the environmental risk associated with the hazardous components of the electronic products warrants the manufacturers to reduce or replace the hazardous materials with alternatives. The present study analyses the economic consequences of reducing or replacing these hazardous materials and the possible response of the consumers. A strategic game theory model has been applied in this paper for manufacturer and consumers considering the cost difference between hazardous substances free (HSF) and hazardous substance (HS) mobile. Results suggest that the HSF mobiles can be a preferred choice of the manufacturers as well as consumers if the cost of disposal of HS mobiles can be internalized and a marginal incentive (e.g. 0.9% for a cost difference to 5%, and 5.3% for a cost difference to 10%) is given. The study further highlights the need for realizing the fact that passing on the incentives to the consumers in order to promote schemes for return back to manufacturer at its end of life for effective reuse and recycling gives higher returns.

A cognitive robotic system based on the Soar cognitive architecture for mobile robot navigation, search, and mapping missions

NASA Astrophysics Data System (ADS)

Hanford, Scott D.

Most unmanned vehicles used for civilian and military applications are remotely operated or are designed for specific applications. As these vehicles are used to perform more difficult missions or a larger number of missions in remote environments, there will be a great need for these vehicles to behave intelligently and autonomously. Cognitive architectures, computer programs that define mechanisms that are important for modeling and generating domain-independent intelligent behavior, have the potential for generating intelligent and autonomous behavior in unmanned vehicles. The research described in this presentation explored the use of the Soar cognitive architecture for cognitive robotics. The Cognitive Robotic System (CRS) has been developed to integrate software systems for motor control and sensor processing with Soar for unmanned vehicle control. The CRS has been tested using two mobile robot missions: outdoor navigation and search in an indoor environment. The use of the CRS for the outdoor navigation mission demonstrated that a Soar agent could autonomously navigate to a specified location while avoiding obstacles, including cul-de-sacs, with only a minimal amount of knowledge about the environment. While most systems use information from maps or long-range perceptual capabilities to avoid cul-de-sacs, a Soar agent in the CRS was able to recognize when a simple approach to avoiding obstacles was unsuccessful and switch to a different strategy for avoiding complex obstacles. During the indoor search mission, the CRS autonomously and intelligently searches a building for an object of interest and common intersection types. While searching the building, the Soar agent builds a topological map of the environment using information about the intersections the CRS detects. The agent uses this topological model (along with Soar's reasoning, planning, and learning mechanisms) to make intelligent decisions about how to effectively search the building. Once the object of interest has been detected, the Soar agent uses the topological map to make decisions about how to efficiently return to the location where the mission began. Additionally, the CRS can send an email containing step-by-step directions using the intersections in the environment as landmarks that describe a direct path from the mission's start location to the object of interest. The CRS has displayed several characteristics of intelligent behavior, including reasoning, planning, learning, and communication of learned knowledge, while autonomously performing two missions. The CRS has also demonstrated how Soar can be integrated with common robotic motor and perceptual systems that complement the strengths of Soar for unmanned vehicles and is one of the few systems that use perceptual systems such as occupancy grid, computer vision, and fuzzy logic algorithms with cognitive architectures for robotics. The use of these perceptual systems to generate symbolic information about the environment during the indoor search mission allowed the CRS to use Soar's planning and learning mechanisms, which have rarely been used by agents to control mobile robots in real environments. Additionally, the system developed for the indoor search mission represents the first known use of a topological map with a cognitive architecture on a mobile robot. The ability to learn both a topological map and production rules allowed the Soar agent used during the indoor search mission to make intelligent decisions and behave more efficiently as it learned about its environment. While the CRS has been applied to two different missions, it has been developed with the intention that it be extended in the future so it can be used as a general system for mobile robot control. The CRS can be expanded through the addition of new sensors and sensor processing algorithms, development of Soar agents with more production rules, and the use of new architectural mechanisms in Soar.

In-situ groundwater remediation by selective colloid mobilization

DOEpatents

Seaman, J.C.; Bertch, P.M.

1998-12-08

An in-situ groundwater remediation pump and treat technique is described which is effective for reclamation of aquifers that have been contaminated with a mixed, metal-containing waste, and which promotes selective mobilization of metal oxide colloids with a cationic surfactant, preferably a quaternary alkylammonium surfactant, without significantly reducing formation permeability that often accompanies large-scale colloid dispersion, thus increasing the efficiency of the remediation effort by enhancing the capture of strongly sorbing contaminants associated with the oxide phases. The resulting suspension can be separated from the bulk solution with controlled pH adjustments to destabilize the oxide colloids, and a clear supernatant which results that can be recycled through the injection well without further waste treatment. 3 figs.

In-situ groundwater remediation by selective colloid mobilization

DOEpatents

Seaman, John C.; Bertch, Paul M.

1998-01-01

An in-situ groundwater remediation pump and treat technique effective for reclamation of aquifers that have been contaminated with a mixed, metal-containing waste, which promotes selective mobilization of metal oxide colloids with a cationic surfactant, preferably a quaternary alkylammonium surfactant, without significantly reducing formation permeability that often accompanies large-scale colloid dispersion, thus increasing the efficiency of the remediation effort by enhancing the capture of strongly sorbing contaminants associated with the oxide phases. The resulting suspension can be separated from the bulk solution with controlled pH adjustments to destabilize the oxide colloids, and a clear supernatant which results that can be recycled through the injection well without further waste treatment.

Climbing the e-waste mountain.

PubMed

2005-10-01

The benefits of the information revolution are clear for all to see. Devices such as PCs, faxes, mobile phones, music players and a host of others open up exciting possibilities for individuals and businesses alike. Yet there is a downside to this digital era: the growing mountain of electronic waste. How we tackle this dilemma will have major implications for sustainability.

40 CFR 264.259 - Special requirements for hazardous wastes FO20, FO21, FO22, FO23, FO26, and FO27.

Code of Federal Regulations, 2011 CFR

2011-07-01

...) The volume, physical, and chemical characteristics of the wastes, including their potential to migrate through soil or to volatilize or escape into the atmosphere; (2) The attenuative properties of underlying and surrounding soils or other materials; (3) The mobilizing properties of other materials co-disposed...

77 FR 58315 - Hazardous Waste Management System; Identification and Listing of Hazardous Waste; Final Exclusion

Federal Register 2010, 2011, 2012, 2013, 2014

2012-09-20

... E (Phosphorus), and 1613B (Dioxins and Furans). The laboratory Quality Assurance Plan (Attachment 2... fine sand layer that underlies the North Landfarm but overlies a clay liner. Within said sand layer are... Quality Objectives are to demonstrate that samples of the ExxonMobil North Landfarm underflow water are...

Mobile colloid generation induced by a cementitious plume: mineral surface-charge controls on mobilization.

PubMed

Li, Dien; Kaplan, Daniel I; Roberts, Kimberly A; Seaman, John C

2012-03-06

Cementitious materials are increasingly used as engineered barriers and waste forms for radiological waste disposal. Yet their potential effect on mobile colloid generation is not well-known, especially as it may influence colloid-facilitated contaminant transport. Whereas previous papers have studied the introduction of cement colloids into sediments, this study examined the influence of cement leachate chemistry on the mobilization of colloids from a subsurface sediment collected from the Savannah River Site, USA. A sharp mobile colloid plume formed with the introduction of a cement leachate simulant. Colloid concentrations decreased to background concentrations even though the aqueous chemical conditions (pH and ionic strength) remained unchanged. Mobile colloids were mainly goethite and to a lesser extent kaolinite. The released colloids had negative surface charges and the mean particle sizes ranged primarily from 200 to 470 nm. Inherent mineralogical electrostatic forces appeared to be the controlling colloid removal mechanism in this system. In the background pH of ~6.0, goethite had a positive surface charge, whereas quartz (the dominant mineral in the immobile sediment) and kaolinite had negative surface charges. Goethite acted as a cementing agent, holding kaolinite and itself onto the quartz surfaces due to the electrostatic attraction. Once the pH of the system was elevated, as in the cementitious high pH plume front, the goethite reversed to a negative charge, along with quartz and kaolinite, then goethite and kaolinite colloids were mobilized and a sharp spike in turbidity was observed. Simulating conditions away from the cementitious source, essentially no colloids were mobilized at 1:1000 dilution of the cement leachate or when the leachate pH was ≤ 8. Extreme alkaline pH environments of cementitious leachate may change mineral surface charges, temporarily promoting the formation of mobile colloids.

Distance-Based Behaviors for Low-Complexity Control in Multiagent Robotics

NASA Astrophysics Data System (ADS)

Pierpaoli, Pietro

Several biological examples show that living organisms cooperate to collectively accomplish tasks impossible for single individuals. More importantly, this coordination is often achieved with a very limited set of information. Inspired by these observations, research on autonomous systems has focused on the development of distributed control techniques for control and guidance of groups of autonomous mobile agents, or robots. From an engineering perspective, when coordination and cooperation is sought in large ensembles of robotic vehicles, a reduction in hardware and algorithms' complexity becomes mandatory from the very early stages of the project design. The research for solutions capable of lowering power consumption, cost and increasing reliability are thus worth investigating. In this work, we studied low-complexity techniques to achieve cohesion and control on swarms of autonomous robots. Starting from an inspiring example with two-agents, we introduced effects of neighbors' relative positions on control of an autonomous agent. The extension of this intuition addressed the control of large ensembles of autonomous vehicles, and was applied in the form of a herding-like technique. To this end, a low-complexity distance-based aggregation protocol was defined. We first showed that our protocol produced a cohesion aggregation among the agent while avoiding inter-agent collisions. Then, a feedback leader-follower architecture was introduced for the control of the swarm. We also described how proximity measures and probability of collisions with neighbors can also be used as source of information in highly populated environments.

Estimating time available for sensor fusion exception handling

NASA Astrophysics Data System (ADS)

Murphy, Robin R.; Rogers, Erika

1995-09-01

In previous work, we have developed a generate, test, and debug methodology for detecting, classifying, and responding to sensing failures in autonomous and semi-autonomous mobile robots. An important issue has arisen from these efforts: how much time is there available to classify the cause of the failure and determine an alternative sensing strategy before the robot mission must be terminated? In this paper, we consider the impact of time for teleoperation applications where a remote robot attempts to autonomously maintain sensing in the presence of failures yet has the option to contact the local for further assistance. Time limits are determined by using evidential reasoning with a novel generalization of Dempster-Shafer theory. Generalized Dempster-Shafer theory is used to estimate the time remaining until the robot behavior must be suspended because of uncertainty; this becomes the time limit on autonomous exception handling at the remote. If the remote cannot complete exception handling in this time or needs assistance, responsibility is passed to the local, while the remote assumes a `safe' state. An intelligent assistant then facilitates human intervention, either directing the remote without human assistance or coordinating data collection and presentation to the operator within time limits imposed by the mission. The impact of time on exception handling activities is demonstrated using video camera sensor data.

Fabrication and Characterization of Bi2Te3-Based Chip-Scale Thermoelectric Energy Harvesting Devices

NASA Astrophysics Data System (ADS)

Cornett, Jane; Chen, Baoxing; Haidar, Samer; Berney, Helen; McGuinness, Pat; Lane, Bill; Gao, Yuan; He, Yifan; Sun, Nian; Dunham, Marc; Asheghi, Mehdi; Goodson, Ken; Yuan, Yi; Najafi, Khalil

2017-05-01

Thermoelectric energy harvesters convert otherwise wasted heat into electrical energy. As a result, they have the potential to play a critical role in the autonomous wireless sensor network signal chain. In this paper, we present work carried out on the development of Bi2Te3-based thermoelectric chip-scale energy harvesting devices. Process flow, device demonstration and characterization are highlighted.

Robonaut Mobile Autonomy: Initial Experiments

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Goza, S. M.; Tyree, K. S.; Huber, E. L.

2006-01-01

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Semantic Labelling of Road Furniture in Mobile Laser Scanning Data

NASA Astrophysics Data System (ADS)

Li, F.; Oude Elberink, S.; Vosselman, G.

2017-09-01

Road furniture semantic labelling is vital for large scale mapping and autonomous driving systems. Much research has been investigated on road furniture interpretation in both 2D images and 3D point clouds. Precise interpretation of road furniture in mobile laser scanning data still remains unexplored. In this paper, a novel method is proposed to interpret road furniture based on their logical relations and functionalities. Our work represents the most detailed interpretation of road furniture in mobile laser scanning data. 93.3 % of poles are correctly extracted and all of them are correctly recognised. 94.3 % of street light heads are detected and 76.9 % of them are correctly identified. Despite errors arising from the recognition of other components, our framework provides a promising solution to automatically map road furniture at a detailed level in urban environments.

Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation

PubMed Central

Masmoudi, Mohamed Slim; Masmoudi, Mohamed

2016-01-01

This paper describes the design and the implementation of a trajectory tracking controller using fuzzy logic for mobile robot to navigate in indoor environments. Most of the previous works used two independent controllers for navigation and avoiding obstacles. The main contribution of the paper can be summarized in the fact that we use only one fuzzy controller for navigation and obstacle avoidance. The used mobile robot is equipped with DC motor, nine infrared range (IR) sensors to measure the distance to obstacles, and two optical encoders to provide the actual position and speeds. To evaluate the performances of the intelligent navigation algorithms, different trajectories are used and simulated using MATLAB software and SIMIAM navigation platform. Simulation results show the performances of the intelligent navigation algorithms in terms of simulation times and travelled path. PMID:27688748

A hardware/software environment to support R D in intelligent machines and mobile robotic systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.

1990-01-01

The Center for Engineering Systems Advanced Research (CESAR) serves as a focal point at the Oak Ridge National Laboratory (ORNL) for basic and applied research in intelligent machines. R D at CESAR addresses issues related to autonomous systems, unstructured (i.e. incompletely known) operational environments, and multiple performing agents. Two mobile robot prototypes (HERMIES-IIB and HERMIES-III) are being used to test new developments in several robot component technologies. This paper briefly introduces the computing environment at CESAR which includes three hypercube concurrent computers (two on-board the mobile robots), a graphics workstation, VAX, and multiple VME-based systems (several on-board the mobile robots).more » The current software environment at CESAR is intended to satisfy several goals, e.g.: code portability, re-usability in different experimental scenarios, modularity, concurrent computer hardware transparent to applications programmer, future support for multiple mobile robots, support human-machine interface modules, and support for integration of software from other, geographically disparate laboratories with different hardware set-ups. 6 refs., 1 fig.« less

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring

PubMed Central

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-01-01

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper. PMID:27649186

A Movement-Assisted Deployment of Collaborating Autonomous Sensors for Indoor and Outdoor Environment Monitoring.

PubMed

Niewiadomska-Szynkiewicz, Ewa; Sikora, Andrzej; Marks, Michał

2016-09-14

Using mobile robots or unmanned vehicles to assist optimal wireless sensors deployment in a working space can significantly enhance the capability to investigate unknown environments. This paper addresses the issues of the application of numerical optimization and computer simulation techniques to on-line calculation of a wireless sensor network topology for monitoring and tracking purposes. We focus on the design of a self-organizing and collaborative mobile network that enables a continuous data transmission to the data sink (base station) and automatically adapts its behavior to changes in the environment to achieve a common goal. The pre-defined and self-configuring approaches to the mobile-based deployment of sensors are compared and discussed. A family of novel algorithms for the optimal placement of mobile wireless devices for permanent monitoring of indoor and outdoor dynamic environments is described. They employ a network connectivity-maintaining mobility model utilizing the concept of the virtual potential function for calculating the motion trajectories of platforms carrying sensors. Their quality and utility have been justified through simulation experiments and are discussed in the final part of the paper.

Evaluation of a Home Biomonitoring Autonomous Mobile Robot.

PubMed

Dorronzoro Zubiete, Enrique; Nakahata, Keigo; Imamoglu, Nevrez; Sekine, Masashi; Sun, Guanghao; Gomez, Isabel; Yu, Wenwei

2016-01-01

Increasing population age demands more services in healthcare domain. It has been shown that mobile robots could be a potential solution to home biomonitoring for the elderly. Through our previous studies, a mobile robot system that is able to track a subject and identify his daily living activities has been developed. However, the system has not been tested in any home living scenarios. In this study we did a series of experiments to investigate the accuracy of activity recognition of the mobile robot in a home living scenario. The daily activities tested in the evaluation experiment include watching TV and sleeping. A dataset recorded by a distributed distance-measuring sensor network was used as a reference to the activity recognition results. It was shown that the accuracy is not consistent for all the activities; that is, mobile robot could achieve a high success rate in some activities but a poor success rate in others. It was found that the observation position of the mobile robot and subject surroundings have high impact on the accuracy of the activity recognition, due to the variability of the home living daily activities and their transitional process. The possibility of improvement of recognition accuracy has been shown too.

Distributed Sensor Fusion for Scalar Field Mapping Using Mobile Sensor Networks.

PubMed

La, Hung Manh; Sheng, Weihua

2013-04-01

In this paper, autonomous mobile sensor networks are deployed to measure a scalar field and build its map. We develop a novel method for multiple mobile sensor nodes to build this map using noisy sensor measurements. Our method consists of two parts. First, we develop a distributed sensor fusion algorithm by integrating two different distributed consensus filters to achieve cooperative sensing among sensor nodes. This fusion algorithm has two phases. In the first phase, the weighted average consensus filter is developed, which allows each sensor node to find an estimate of the value of the scalar field at each time step. In the second phase, the average consensus filter is used to allow each sensor node to find a confidence of the estimate at each time step. The final estimate of the value of the scalar field is iteratively updated during the movement of the mobile sensors via weighted average. Second, we develop the distributed flocking-control algorithm to drive the mobile sensors to form a network and track the virtual leader moving along the field when only a small subset of the mobile sensors know the information of the leader. Experimental results are provided to demonstrate our proposed algorithms.

Pole-Like Road Furniture Detection in Sparse and Unevenly Distributed Mobile Laser Scanning Data

NASA Astrophysics Data System (ADS)

Li, F.; Lehtomäki, M.; Oude Elberink, S.; Vosselman, G.; Puttonen, E.; Kukko, A.; Hyyppä, J.

2018-05-01

Pole-like road furniture detection received much attention due to its traffic functionality in recent years. In this paper, we develop a framework to detect pole-like road furniture from sparse mobile laser scanning data. The framework is carried out in four steps. The unorganised point cloud is first partitioned. Then above ground points are clustered and roughly classified after removing ground points. A slicing check in combination with cylinder masking is proposed to extract pole-like road furniture candidates. Pole-like road furniture are obtained after occlusion analysis in the last stage. The average completeness and correctness of pole-like road furniture in sparse and unevenly distributed mobile laser scanning data was above 0.83. It is comparable to the state of art in the field of pole-like road furniture detection in mobile laser scanning data of good quality and is potentially of practical use in the processing of point clouds collected by autonomous driving platforms.

Development and Control of Multi-Degree-of-Freedom Mobile Robot for Acquisition of Road Environmental Modes

NASA Astrophysics Data System (ADS)

Murata, Naoya; Katsura, Seiichiro

Acquisition of information about the environment around a mobile robot is important for purposes such as controlling the robot from a remote location and in situations such as that when the robot is running autonomously. In many researches, audiovisual information is used. However, acquisition of information about force sensation, which is included in environmental information, has not been well researched. The mobile-hapto, which is a remote control system with force information, has been proposed, but the robot used for the system can acquire only the horizontal component of forces. For this reason, in this research, a three-wheeled mobile robot that consists of seven actuators was developed and its control system was constructed. It can get information on horizontal and vertical forces without using force sensors. By using this robot, detailed information on the forces in the environment can be acquired and the operability of the robot and its capability to adjust to the environment are expected to improve.

Planning perception and action for cognitive mobile manipulators

NASA Astrophysics Data System (ADS)

Gaschler, Andre; Nogina, Svetlana; Petrick, Ronald P. A.; Knoll, Alois

2013-12-01

We present a general approach to perception and manipulation planning for cognitive mobile manipulators. Rather than hard-coding single purpose robot applications, a robot should be able to reason about its basic skills in order to solve complex problems autonomously. Humans intuitively solve tasks in real-world scenarios by breaking down abstract problems into smaller sub-tasks and use heuristics based on their previous experience. We apply a similar idea for planning perception and manipulation to cognitive mobile robots. Our approach is based on contingent planning and run-time sensing, integrated in our knowledge of volumes" planning framework, called KVP. Using the general-purpose PKS planner, we model information-gathering actions at plan time that have multiple possible outcomes at run time. As a result, perception and sensing arise as necessary preconditions for manipulation, rather than being hard-coded as tasks themselves. We demonstrate the e ectiveness of our approach on two scenarios covering visual and force sensing on a real mobile manipulator.

Challenges for Social Control in Wireless Mobile Grids

NASA Astrophysics Data System (ADS)

Balke, Tina; Eymann, Torsten

The evolution of mobile phones has lead to new wireless mobile grids that lack a central controlling instance and require the cooperation of autonomous entities that can voluntarily commit resources, forming a common pool which can be used in order to achieve common and/or individual goals. The social dilemma in such systems is that it is advantageous for rational users to access the common pool resources without any own commitment, since every commitment has its price (see ? for example). However, if a substantial number of users would follow this selfish strategy, the network itself would be at stake. Thus, the question arises on how cooperation can be fostered in wireless mobile grids. Whereas many papers have dealt with this question from a technical point of view, instead this paper will concentrate on a concept that has lately been discussed a lot with this regard: social control. Thereby social control concepts will be contrasted to technical approaches and resulting challenges (as well as possible solutions to these challenges) for social concepts will be discussed.

Path optimisation of a mobile robot using an artificial neural network controller

NASA Astrophysics Data System (ADS)

Singh, M. K.; Parhi, D. R.

2011-01-01

This article proposed a novel approach for design of an intelligent controller for an autonomous mobile robot using a multilayer feed forward neural network, which enables the robot to navigate in a real world dynamic environment. The inputs to the proposed neural controller consist of left, right and front obstacle distance with respect to its position and target angle. The output of the neural network is steering angle. A four layer neural network has been designed to solve the path and time optimisation problem of mobile robots, which deals with the cognitive tasks such as learning, adaptation, generalisation and optimisation. A back propagation algorithm is used to train the network. This article also analyses the kinematic design of mobile robots for dynamic movements. The simulation results are compared with experimental results, which are satisfactory and show very good agreement. The training of the neural nets and the control performance analysis has been done in a real experimental setup.

Mobility of Source Zone Heavy Metals and Radionuclides: The Mixed Roles of Fermentative Activity on Fate and Transport of U and Cr. Final Report

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gerlach, Robin; Peyton, Brent M.; Apel, William A.

2014-01-29

Various U. S. Department of Energy (DOE) low and medium-level radioactive waste sites contain mixtures of heavy metals, radionuclides and assorted organic materials. In addition, there are numerous sites around the world that are contaminated with a mixture of organic and inorganic contaminants. In most sites, over time, water infiltrates the wastes, and releases metals, radionuclides and other contaminants causing transport into the surrounding environment. We investigated the role of fermentative microorganisms in such sites that may control metal, radionuclide and organics migration from source zones. The project was initiated based on the following overarching hypothesis: Metals, radionuclides and othermore » contaminants can be mobilized by infiltration of water into waste storage sites. Microbial communities of lignocellulose degrading and fermenting microorganisms present in the subsurface of contaminated DOE sites can significantly impact migration by directly reducing and immobilizing metals and radionuclides while degrading complex organic matter to low molecular weight organic compounds. These low molecular weight organic acids and alcohols can increase metal and radionuclide mobility by chelation (i.e., certain organic acids) or decrease mobility by stimulating respiratory metal reducing microorganisms. We demonstrated that fermentative organisms capable of affecting the fate of Cr6+, U6+ and trinitrotoluene can be isolated from organic-rich low level waste sites as well as from less organic rich subsurface environments. The mechanisms, pathways and extent of contaminant transformation depend on a variety of factors related to the type of organisms present, the aqueous chemistry as well as the geochemistry and mineralogy. This work provides observations and quantitative data across multiple scales that identify and predict the coupled effects of fermentative carbon and electron flow on the transport of radionuclides, heavy metals and organic contaminants in the subsurface; a primary concern of the DOE Environmental Remediation Science Division (ERSD) and Subsurface Geochemical Research (SBR) Program.« less

Assessment of the Effectiveness and Effects of Land Disposal Methodologies of Waste Water Management.

DTIC Science & Technology

1972-01-14

conditions that inhibit nitrification should be avoided. Potassium: Potassium is a very mobile and dynamic element in both soil and plant systems. It...deposits from aerial sources. I i conclusion, lead is fixed in soils and not readily mobilized . Soils should retain several hundred mg/i against leaching...is one of these. These are relatively large molecules and are strongly retained by river muds, etc. They can be expected to be of very limited mobility

Speciation and leaching of trace metal contaminants from e-waste contaminated soils.

PubMed

Cui, Jin-Li; Luo, Chun-Ling; Tang, Chloe Wing-Yee; Chan, Ting-Shan; Li, Xiang-Dong

2017-05-05

Primitive electrical and electronic waste (e-waste) recycling activities have caused serious environmental problems. However, little is known about the speciation and leaching behaviors of metal contaminants at e-waste contaminated sites. This study investigated trace metal speciation/mobilization from e-waste polluted soil through column leaching experiments involving irrigation with rainwater for almost 2.5 years. Over the experimental period, Cu and Zn levels in the porewater were 0.14±0.08mg/L, and 0.16±0.08mg/L, respectively, increasing to 0.33±0.16mg/L, and 0.69±0.28mg/L with plant growth. The amounts of Cu, Zn, and Pb released in surface soil (0-2cm) contributed 43.8%, 22.5%, and 13.8%, respectively, to the original levels. The released Cu and Zn were primarily caused by the mobilization of the carbonate species of metals, including Cu(OH) 2 , CuCO 3 , and Zn 5 (CO 3 ) 2 (OH) 6 , and amorphous Fe/Mn oxides associated fractions characterized by sequential extraction coupling with X-ray absorption spectroscopy. During the experiments, trace metals were not detected in the effluent, and the re-sequestration of trace metals was mainly attributed to the adsorption on the abundant Fe/Mn oxides in the sub-layer soil. This study quantitatively elucidated the molecular speciation of Cu and Zn in e-waste contaminated soil during the column leaching process. Copyright © 2017 Elsevier B.V. All rights reserved.

Development and Validation of a Mobile, Autonomous, Broadband Passive Acoustic Monitoring System for Marine Mammals

DTIC Science & Technology

2008-09-30

take place off the island of El Hierro in the Canary Islands, a site with coastal resident populations of Blainville’s beaked whale, Mesoplodon...M., “Coastal habitat use by Cuvier´s and Blainville´s beaked whales off El Hierro , Canary Islands” European Research on Cetaceans 22nd, Holland, April, 2008. [non-refereed] 5

Autonomous Mobile Robots.

DTIC Science & Technology

1986-01-30

main food. Elephant brains are three times human size. Elephants form matriarchal tribal societies and exhibit complex behavior. Indian domestic...line triangulation. In XVth Int’l Congress of Photogrammetry and Remote Sensing, Commission III, Part 3a, - ’ * pages 342-362. Int’l Society for...a rigid motion. Psychometrlka 35(2):245-255, June, 1970. [15] C.C. Slama (edltor-in-chlef). I Manual of photo grammfetry. American Society of

Mathematical Modeling Of The Terrain Around A Robot

NASA Technical Reports Server (NTRS)

Slack, Marc G.

1992-01-01

In conceptual system for modeling of terrain around autonomous mobile robot, representation of terrain used for control separated from representation provided by sensors. Concept takes motion-planning system out from under constraints imposed by discrete spatial intervals of square terrain grid(s). Separation allows sensing and motion-controlling systems to operate asynchronously; facilitating integration of new map and sensor data into planning of motions.

Knowledge-Based Motion Control of AN Intelligent Mobile Autonomous System

NASA Astrophysics Data System (ADS)

Isik, Can

An Intelligent Mobile Autonomous System (IMAS), which is equipped with vision and low level sensors to cope with unknown obstacles, is modeled as a hierarchy of path planning and motion control. This dissertation concentrates on the lower level of this hierarchy (Pilot) with a knowledge-based controller. The basis of a theory of knowledge-based controllers is established, using the example of the Pilot level motion control of IMAS. In this context, the knowledge-based controller with a linguistic world concept is shown to be adequate for the minimum time control of an autonomous mobile robot motion. The Pilot level motion control of IMAS is approached in the framework of production systems. The three major components of the knowledge-based control that are included here are the hierarchies of the database, the rule base and the rule evaluator. The database, which is the representation of the state of the world, is organized as a semantic network, using a concept of minimal admissible vocabulary. The hierarchy of rule base is derived from the analytical formulation of minimum-time control of IMAS motion. The procedure introduced for rule derivation, which is called analytical model verbalization, utilizes the concept of causalities to describe the system behavior. A realistic analytical system model is developed and the minimum-time motion control in an obstacle strewn environment is decomposed to a hierarchy of motion planning and control. The conditions for the validity of the hierarchical problem decomposition are established, and the consistency of operation is maintained by detecting the long term conflicting decisions of the levels of the hierarchy. The imprecision in the world description is modeled using the theory of fuzzy sets. The method developed for the choice of the rule that prescribes the minimum-time motion control among the redundant set of applicable rules is explained and the usage of fuzzy set operators is justified. Also included in the dissertation are the description of the computer simulation of Pilot within the hierarchy of IMAS control and the simulated experiments that demonstrate the theoretical work.

The zinc stable isotope signature of waste rock drainage in Arctic Canada

NASA Astrophysics Data System (ADS)

Matthies, Romy; Blowes, David

2014-05-01

Leachate emerging from a pilot-scale waste rock pile of the Diavik diamond mine, Northwest Territories, was monitored. The well-characterized waste rock consists of granite, pegmatitic granite and biotite schist with an average total sulfur and carbonate carbon concentration of 0.053 and 0.027 wt. %, respectively. During the field seasons of 2011 and 2012, the Zn stable isotope footprint was characterized alongside standard monitoring parameters. pH ranged between 4.3 and 6.8 and carbonate alkalinity was low or undetectable. Al and Fe concentrations averaged 6.78 mg L-1 and 175 µg L-1, respectively. The pH and metal mobility were governed by sulfide oxidation and sorption and co-precipitation onto iron and aluminium hydroxides. The main processes controlling zinc mobility in the range of 0.4 and 4.7 mg L-1 was the oxidative dissolution of sphalerite (ZnS) in the biotite schist and the attenuation of zinc onto secondary iron and aluminium hydroxides and desorption upon the pH declining below the pHpzc. The isotope ratios between -0.16 and +0.19 ‰ (δ66Zn, avg = +0.05 ‰, n = 43) are consistent with values reported from other sphalerite containing deposits. Zn isotope ratios and concentrations were largely uncorrelated suggesting that the processes affecting Zn mobility had little or no impact on the Zn isotope signature. Data indicate, that the Zn isotope ratios of the waste rock leachate may be used as a fingerprint to track anthropogenic, mine-derived Zn sources under varying environmental conditions.

40 CFR 264.317 - Special requirements for hazardous wastes FO20, FO21, FO22, FO23, FO26, and FO27.

Code of Federal Regulations, 2011 CFR

2011-07-01

... factors to be considered are: (1) The volume, physical, and chemical characteristics of the wastes, including their potential to migrate through the soil or to volatilize or escape into the atmosphere; (2) The attenuative properties of underlying and surrounding soils or other materials; (3) The mobilizing...

Ground Vehicle Power and Mobility (GVPM) Powertrain Overview

DTIC Science & Technology

2011-08-11

efficient on-board electrical power generation • Improved Fuel Efficiency • Thermoelectric Waste Heat Recovery • Advanced Engine Cycle Demo...Thermal Management • Militarized Power train Control Module and strategies devices for military vehicle transmissions FY11 FY12 FY13...Transmission): - Medium Combat Application (20-40 tons) - Medium Tactical Application (15-30 tons) Thermoelectric Waste Heat Recovery Energy Analysis

Strategic Mobility 21: Baseline Joint Experimentation Campaign Plan

DTIC Science & Technology

2008-06-19

including energy. The Value Stream Analysis Future State then designed Kaizens (process optimizations) for an improved Future State to help drive waste...Recommended Improvements and Experimentation Opportunities Initial recommended Kaizens (improvement opportunities) for waste reduction, constraint...Trucking, Service Craft Logistics, BNSF, and Madison Warehouse, Inc. • Kaizen 1 (Figure 17): Full upload electronically of the Dole ANS files • Kaizen

Analysis of waste electrical and electronic equipment (WEEE) using laser induced breakdown spectroscopy (LIBS) and multivariate analysis.

PubMed

Ángel Aguirre, Miguel; Hidalgo, Montserrat; Canals, Antonio; Nóbrega, Joaquim A; Pereira-Filho, Edenir R

2013-12-15

This study shows the application of laser induced breakdown spectroscopy (LIBS) for waste electrical and electronic equipment (WEEE) investigation. Several emission spectra were obtained for 7 different mobiles from 4 different manufacturers. Using the emission spectra of the black components it was possible to see some differences among the manufacturers and some emission lines from organic elements and molecules (N, O, CN and C2) led to the highest contribution for this differentiation. Some polymeric internal parts in contact with the inner pieces of the mobiles and covered with a special paint presented a strong emission signal for Cr. The white pieces presented mainly Al, Ba and Ti in their composition. Finally, this study developed a procedure for LIBS emission spectra using chemometric strategies and suitable information can be obtained for identification of manufacturer and counterfeit products. In addition, the results obtained can improve the classification for establishing recycling strategies of e-waste. © 2013 Elsevier B.V. All rights reserved.

Impeding 99Tc(IV) mobility in novel waste forms

PubMed Central

Lee, Mal-Soon; Um, Wooyong; Wang, Guohui; Kruger, Albert A.; Lukens, Wayne W.; Rousseau, Roger; Glezakou, Vassiliki-Alexandra

2016-01-01

Technetium (99Tc) is an abundant, long-lived radioactive fission product whose mobility in the subsurface is largely governed by its oxidation state. Tc immobilization is crucial for radioactive waste management and environmental remediation. Tc(IV) incorporation in spinels has been proposed as a novel method to increase Tc retention in glass waste forms during vitrification. However, experiments under high-temperature and oxic conditions show reoxidation of Tc(IV) to volatile pertechnetate, Tc(VII). Here we examine this problem with ab initio molecular dynamics simulations and propose that, at elevated temperatures, doping with first row transition metal can significantly enhance Tc retention in magnetite in the order Co>Zn>Ni. Experiments with doped spinels at 700 °C provide quantitative confirmation of the theoretical predictions in the same order. This work highlights the power of modern, state-of-the-art simulations to provide essential insights and generate theory-inspired design criteria of complex materials at elevated temperatures. PMID:27357121

Atmospheric CH₄ and N₂O measurements near Greater Houston area landfills using a QCL-based QEPAS sensor system during DISCOVER-AQ 2013.

PubMed

Jahjah, Mohammad; Jiang, Wenzhe; Sanchez, Nancy P; Ren, Wei; Patimisco, Pietro; Spagnolo, Vincenzo; Herndon, Scott C; Griffin, Robert J; Tittel, Frank K

2014-02-15

A quartz-enhanced photoacoustic absorption spectroscopy (QEPAS)-based gas sensor was developed for methane (CH₄) and nitrous-oxide (N₂O) detection. The QEPAS-based sensor was installed in a mobile laboratory operated by Aerodyne Research, Inc. to perform atmospheric CH₄ and N₂O detection around two urban waste-disposal sites located in the northeastern part of the Greater Houston area, during DISCOVER-AQ, a NASA Earth Venture during September 2013. A continuous wave, thermoelectrically cooled, 158 mW distributed feedback quantum cascade laser emitting at 7.83 μm was used as the excitation source in the QEPAS gas sensor system. Compared to typical ambient atmospheric mixing ratios of CH₄ and N₂O of 1.8 ppmv and 323 ppbv, respectively, significant increases in mixing ratios were observed when the mobile laboratory was circling two waste-disposal sites in Harris County and when waste disposal trucks were encountered.

Task-level control for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid

1994-01-01

Task-level control refers to the integration and coordination of planning, perception, and real-time control to achieve given high-level goals. Autonomous mobile robots need task-level control to effectively achieve complex tasks in uncertain, dynamic environments. This paper describes the Task Control Architecture (TCA), an implemented system that provides commonly needed constructs for task-level control. Facilities provided by TCA include distributed communication, task decomposition and sequencing, resource management, monitoring and exception handling. TCA supports a design methodology in which robot systems are developed incrementally, starting first with deliberative plans that work in nominal situations, and then layering them with reactive behaviors that monitor plan execution and handle exceptions. To further support this approach, design and analysis tools are under development to provide ways of graphically viewing the system and validating its behavior.

Development and training of a learning expert system in an autonomous mobile robot via simulation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Spelt, P.F.; Lyness, E.; DeSaussure, G.

1989-11-01

The Center for Engineering Systems Advanced Research (CESAR) conducts basic research in the area of intelligent machines. Recently at CESAR a learning expert system was created to operate on board an autonomous robot working at a process control panel. The authors discuss two-computer simulation system used to create, evaluate and train this learning system. The simulation system has a graphics display of the current status of the process being simulated, and the same program which does the simulating also drives the actual control panel. Simulation results were validated on the actual robot. The speed and safety values of using amore » computerized simulator to train a learning computer, and future uses of the simulation system, are discussed.« less

Cyprodinil retention on mixtures of soil and solid wastes from wineries. Effects of waste dose and ageing.

PubMed

Rodríguez-Salgado, Isabel; Paradelo-Pérez, Marcos; Pérez-Rodríguez, Paula; Cutillas-Barreiro, Laura; Fernández-Calviño, David; Nóvoa-Muñoz, Juan Carlos; Arias-Estévez, Manuel

2014-01-01

In spite of its wide-world economic relevance, wine production generates a huge amount of waste that threatens the environment. A batch experiment was designed to assess the effect of the amendment of an agricultural soil with two winery wastes (perlite and bentonite wastes) in the immobilization of cyprodinil. Waste addition (0, 10, 20, 40, and 80 Mg ha(-1)) and different times of incubation of soil-waste mixtures (1, 30, and 120 days) were tested. The addition of wastes improved the soil's ability to immobilize cyprodinil, which was significantly correlated to total C content in soil-waste mixtures. Longer incubation times decreased the cyprodinil sorption possibly due to the mineralization of organic matter but also as a consequence of the high pH values reached after bentonite waste addition (up to 10.0). Cyprodinil desorption increased as the amount of waste added to soil, and the incubation time increased. The use of these winery wastes contributes to a more sustainable agriculture preventing fungicide mobilization to groundwater.

Mobilization of radionuclides from uranium mill tailings and related waste materials in anaerobic environments

USGS Publications Warehouse

Landa, E.R.

2003-01-01

Specific extraction studies in our laboratory have shown that iron and manganese oxide- and alkaline earth sulfate minerals are important hosts of radium in uranium mill tailings. Iron- and sulfate-reducing bacteria may enhance the release of radium (and its analog barium) from uranium mill tailings, oil field pipe scale [a major technologically enhanced naturally occurring radioactive material (TENORM) waste], and jarosite (a common mineral in sulfuric acid processed-tailings). These research findings are reviewed and discussed in the context of nuclear waste forms (such as barium sulfate matrices), radioactive waste management practices, and geochemical environments in the Earth's surficial and shallow subsurface regions.

Distributing Planning and Control for Teams of Cooperating Mobile Robots

DOE Office of Scientific and Technical Information (OSTI.GOV)

Parker, L.E.

2004-07-19

This CRADA project involved the cooperative research of investigators in ORNL's Center for Engineering Science Advanced Research (CESAR) with researchers at Caterpillar, Inc. The subject of the research was the development of cooperative control strategies for autonomous vehicles performing applications of interest to Caterpillar customers. The project involved three Phases of research, conducted over the time period of November 1998 through December 2001. This project led to the successful development of several technologies and demonstrations in realistic simulation that illustrated the effectiveness of our control approaches for distributed planning and cooperation in multi-robot teams. The primary objectives of this researchmore » project were to: (1) Develop autonomous control technologies to enable multiple vehicles to work together cooperatively, (2) Provide the foundational capabilities for a human operator to exercise oversight and guidance during the multi-vehicle task execution, and (3) Integrate these capabilities to the ALLIANCE-based autonomous control approach for multi-robot teams. These objectives have been successfully met with the results implemented and demonstrated in a near real-time multi-vehicle simulation of up to four vehicles performing mission-relevant tasks.« less

Autonomous Robotic Inspection in Tunnels

NASA Astrophysics Data System (ADS)

Protopapadakis, E.; Stentoumis, C.; Doulamis, N.; Doulamis, A.; Loupos, K.; Makantasis, K.; Kopsiaftis, G.; Amditis, A.

2016-06-01

In this paper, an automatic robotic inspector for tunnel assessment is presented. The proposed platform is able to autonomously navigate within the civil infrastructures, grab stereo images and process/analyse them, in order to identify defect types. At first, there is the crack detection via deep learning approaches. Then, a detailed 3D model of the cracked area is created, utilizing photogrammetric methods. Finally, a laser profiling of the tunnel's lining, for a narrow region close to detected crack is performed; allowing for the deduction of potential deformations. The robotic platform consists of an autonomous mobile vehicle; a crane arm, guided by the computer vision-based crack detector, carrying ultrasound sensors, the stereo cameras and the laser scanner. Visual inspection is based on convolutional neural networks, which support the creation of high-level discriminative features for complex non-linear pattern classification. Then, real-time 3D information is accurately calculated and the crack position and orientation is passed to the robotic platform. The entire system has been evaluated in railway and road tunnels, i.e. in Egnatia Highway and London underground infrastructure.

PRIMUS: autonomous navigation in open terrain with a tracked vehicle

NASA Astrophysics Data System (ADS)

Schaub, Guenter W.; Pfaendner, Alfred H.; Schaefer, Christoph

2004-09-01

The German experimental robotics program PRIMUS (PRogram for Intelligent Mobile Unmanned Systems) is focused on solutions for autonomous driving in unknown open terrain, over several project phases under specific realization aspects for more than 12 years. The main task of the program is to develop algorithms for a high degree of autonomous navigation skills with off-the-shelf available hardware/sensor technology and to integrate this into military vehicles. For obstacle detection a Dornier-3D-LADAR is integrated on a tracked vehicle "Digitized WIESEL 2". For road-following a digital video camera and a visual perception module from the Universitaet der Bundeswehr Munchen (UBM) has been integrated. This paper gives an overview of the PRIMUS program with a focus on the last program phase D (2001 - 2003). This includes the system architecture, the description of the modes of operation and the technology development with the focus on obstacle avoidance and obstacle classification using a 3-D LADAR. A collection of experimental results and a short look at the next steps in the German robotics program will conclude the paper.

Target Trailing With Safe Navigation for Maritime Autonomous Surface Vehicles

NASA Technical Reports Server (NTRS)

Wolf, Michael; Kuwata, Yoshiaki; Zarzhitsky, Dimitri V.

2013-01-01

This software implements a motion-planning module for a maritime autonomous surface vehicle (ASV). The module trails a given target while also avoiding static and dynamic surface hazards. When surface hazards are other moving boats, the motion planner must apply International Regulations for Avoiding Collisions at Sea (COLREGS). A key subset of these rules has been implemented in the software. In case contact with the target is lost, the software can receive and follow a "reacquisition route," provided by a complementary system, until the target is reacquired. The programmatic intention is that the trailed target is a submarine, although any mobile naval platform could serve as the target. The algorithmic approach to combining motion with a (possibly moving) goal location, while avoiding local hazards, may be applicable to robotic rovers, automated landing systems, and autonomous airships. The software operates in JPL s CARACaS (Control Architecture for Robotic Agent Command and Sensing) software architecture and relies on other modules for environmental perception data and information on the predicted detectability of the target, as well as the low-level interface to the boat controls.

A Lego Mindstorms NXT based test bench for multiagent exploratory systems and distributed network partitioning

NASA Astrophysics Data System (ADS)

Patil, Riya Raghuvir

Networks of communicating agents require distributed algorithms for a variety of tasks in the field of network analysis and control. For applications such as swarms of autonomous vehicles, ad hoc and wireless sensor networks, and such military and civilian applications as exploring and patrolling a robust autonomous system that uses a distributed algorithm for selfpartitioning can be significantly helpful. A single team of autonomous vehicles in a field may need to self-dissemble into multiple teams, conducive to completing multiple control tasks. Moreover, because communicating agents are subject to changes, namely, addition or failure of an agent or link, a distributed or decentralized algorithm is favorable over having a central agent. A framework to help with the study of self-partitioning of such multi agent systems that have most basic mobility model not only saves our time in conception but also gives us a cost effective prototype without negotiating the physical realization of the proposed idea. In this thesis I present my work on the implementation of a flexible and distributed stochastic partitioning algorithm on the LegoRTM Mindstorms' NXT on a graphical programming platform using National Instruments' LabVIEW(TM) forming a team of communicating agents via NXT-Bee radio module. We single out mobility, communication and self-partition as the core elements of the work. The goal is to randomly explore a precinct for reference sites. Agents who have discovered the reference sites announce their target acquisition to form a network formed based upon the distance of each agent with the other wherein the self-partitioning begins to find an optimal partition. Further, to illustrate the work, an experimental test-bench of five Lego NXT robots is presented.

Agile and dexterous robot for inspection and EOD operations

NASA Astrophysics Data System (ADS)

Handelman, David A.; Franken, Gordon H.; Komsuoglu, Haldun

2010-04-01

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

Interaction dynamics of multiple mobile robots with simple navigation strategies

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.

Robot navigation research using the HERMIES mobile robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barnett, D.L.

1989-01-01

In recent years robot navigation has attracted much attention from researchers around the world. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. Various algorithms have been perfected for navigation in a known static environment; but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. Rule modules can be added the rule base as they are developed and tested. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. 13 refs., 5 figs., 1 tab.« less

Jittery, a Mutator Distant Relative with a Paradoxical Mobile Behavior: Excision without Reinsertion

PubMed Central

Xu, Zhennan; Yan, Xianghe; Maurais, Steve; Fu, Huihua; O'Brien, David G.; Mottinger, John; Dooner, Hugo K.

2004-01-01

The unstable mutation bz-m039 arose in a maize (Zea mays) stock that originated from a plant infected with barley stripe mosaic virus. The instability of the mutation is caused by a 3.9-kb mobile element that has been named Jittery (Jit). Jit has terminal inverted repeats (TIRs) of 181 bp, causes a 9-bp direct duplication of the target site, and appears to excise autonomously. It is predicted to encode a single 709–amino acid protein, JITA, which is distantly related to the MURA transposase protein of the Mutator system but is more closely related to the MURA protein of Mutator-like elements (MULEs) from Arabidopsis thaliana and rice (Oryza sativa). Like MULEs, Jit resembles Mutator in the length of the element's TIRs, the size of the target site duplication, and in the makeup of its transposase but differs from the autonomous element Mutator–Don Robertson in that it encodes a single protein. Jit also differs from Mutator elements in the high frequency with which it excises to produce germinal revertants and in its copy number in the maize genome: Jit-like TIRs are present at low copy number in all maize lines and teosinte accessions examined, and JITA sequences occur in only a few maize inbreds. However, Jit cannot be considered a bona fide transposon in its present host line because it does not leave footprints upon excision and does not reinsert in the genome. These unusual mobile element properties are discussed in light of the structure and gene organization of Jit and related elements. PMID:15075398

Mobile agent location in distributed environments

NASA Astrophysics Data System (ADS)

Fountoukis, S. G.; Argyropoulos, I. P.

2012-12-01

An agent is a small program acting on behalf of a user or an application which plays the role of a user. Artificial intelligence can be encapsulated in agents so that they can be capable of both behaving autonomously and showing an elementary decision ability regarding movement and some specific actions. Therefore they are often called autonomous mobile agents. In a distributed system, they can move themselves from one processing node to another through the interconnecting network infrastructure. Their purpose is to collect useful information and to carry it back to their user. Also, agents are used to start, monitor and stop processes running on the individual interconnected processing nodes of computer cluster systems. An agent has a unique id to discriminate itself from other agents and a current position. The position can be expressed as the address of the processing node which currently hosts the agent. Very often, it is necessary for a user, a processing node or another agent to know the current position of an agent in a distributed system. Several procedures and algorithms have been proposed for the purpose of position location of mobile agents. The most basic of all employs a fixed computing node, which acts as agent position repository, receiving messages from all the moving agents and keeping records of their current positions. The fixed node, responds to position queries and informs users, other nodes and other agents about the position of an agent. Herein, a model is proposed that considers pairs and triples of agents instead of single ones. A location method, which is investigated in this paper, attempts to exploit this model.

Uranium mill tailings: nuclear waste and natural laboratory for geochemical and radioecological investigations

USGS Publications Warehouse

Landa, Edward R.

2004-01-01

Uranium mill tailings (UMT) are a high volume, low specific activity radioactive waste typically disposed in surface impoundments. This review focuses on research on UMT and related earth materials during the past decade relevant to the assessment of: (1) mineral hosts of radionuclides; (2) the use of soil analogs in predicting long-term fate of radionuclides; (3) microbial and diagenetic processes that may alter radionuclide mobility in the surficial environment; (4) waste-management technologies to limit radionuclide migration; and (5) the impact of UMT on biota.

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility

PubMed Central

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-01-01

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability. PMID:27007373

Efficient Data Gathering in 3D Linear Underwater Wireless Sensor Networks Using Sink Mobility.

PubMed

Akbar, Mariam; Javaid, Nadeem; Khan, Ayesha Hussain; Imran, Muhammad; Shoaib, Muhammad; Vasilakos, Athanasios

2016-03-19

Due to the unpleasant and unpredictable underwater environment, designing an energy-efficient routing protocol for underwater wireless sensor networks (UWSNs) demands more accuracy and extra computations. In the proposed scheme, we introduce a mobile sink (MS), i.e., an autonomous underwater vehicle (AUV), and also courier nodes (CNs), to minimize the energy consumption of nodes. MS and CNs stop at specific stops for data gathering; later on, CNs forward the received data to the MS for further transmission. By the mobility of CNs and MS, the overall energy consumption of nodes is minimized. We perform simulations to investigate the performance of the proposed scheme and compare it to preexisting techniques. Simulation results are compared in terms of network lifetime, throughput, path loss, transmission loss and packet drop ratio. The results show that the proposed technique performs better in terms of network lifetime, throughput, path loss and scalability.

Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mann, R.C.; Weisbin, C.R.; Pin, F.G.

1989-01-01

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude bymore » summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.« less

Training a Network of Electronic Neurons for Control of a Mobile Robot

NASA Astrophysics Data System (ADS)

Vromen, T. G. M.; Steur, E.; Nijmeijer, H.

An adaptive training procedure is developed for a network of electronic neurons, which controls a mobile robot driving around in an unknown environment while avoiding obstacles. The neuronal network controls the angular velocity of the wheels of the robot based on the sensor readings. The nodes in the neuronal network controller are clusters of neurons rather than single neurons. The adaptive training procedure ensures that the input-output behavior of the clusters is identical, even though the constituting neurons are nonidentical and have, in isolation, nonidentical responses to the same input. In particular, we let the neurons interact via a diffusive coupling, and the proposed training procedure modifies the diffusion interaction weights such that the neurons behave synchronously with a predefined response. The working principle of the training procedure is experimentally validated and results of an experiment with a mobile robot that is completely autonomously driving in an unknown environment with obstacles are presented.

Assessment of mobility and bioavailability of contaminants in MSW incineration ash with aquatic and terrestrial bioassays.

PubMed

Ribé, V; Nehrenheim, E; Odlare, M

2014-10-01

Incineration of municipal solid waste (MSW) is a waste treatment method which can be sustainable in terms of waste volume reduction as well as a source of renewable energy. In the process fly and bottom ash is generated as a waste material. The ash residue may vary greatly in composition depending on the type of waste incinerated and it can contain elevated levels of harmful contaminants such as heavy metals. In this study, the ecotoxicity of a weathered, untreated incineration bottom ash was characterized as defined by the H14 criterion of the EU Waste Framework Directive by means of an elemental analysis, leaching tests followed by a chemical analysis and a combination of aquatic and solid-phase bioassays. The experiments were conducted to assess the mobility and bioavailability of ash contaminants. A combination of aquatic and terrestrial bioassays was used to determine potentially adverse acute effects of exposure to the solid ash and aqueous ash leachates. The results from the study showed that the bottom ash from a municipal waste incineration plant in mid-Sweden contained levels of metals such as Cu, Pb and Zn, which exceeded the Swedish EPA limit values for inert wastes. The chemical analysis of the ash leachates showed high concentrations of particularly Cr. The leachate concentration of Cr exceeded the limit value for L/S 10 leaching for inert wastes. Filtration of leachates prior to analysis may have underestimated the leachability of complex-forming metals such as Cu and Pb. The germination test of solid ash and ash leachates using T. repens showed a higher inhibition of seedling emergence of seeds exposed to the solid ash than the seeds exposed to ash leachates. This indicated a relatively low mobility of toxicants from the solid ash into the leachates, although some metals exceeded the L/S 10 leaching limit values for inert wastes. The Microtox® toxicity test showed only a very low toxic response to the ash leachate exposure, while the D. magna immobility test showed a moderately high toxic effect of the ash leachates. Overall, the results from this study showed an ecotoxic effect of the solid MSW bottom ash and the corresponding ash leachates. The material may therefore pose an environmental risk if used in construction applications. However, as the testing of the solid ash was rather limited and the ash leachate showed an unusually high leaching of Cr, further assessments are required in order to conclusively characterize the bottom ash studied herein as hazardous according to the H14 criterion. Copyright © 2014 Elsevier Ltd. All rights reserved.

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and uncertainty in state estimates while remaining tractable for real-time operation. In addition, the issues of data association and landmark initialization are addressed. Estimator performance is examined through Monte Carlo simulations in both two and three dimensions for scenarios involving UAV flight in cluttered environments. Hardware tests and simulations demonstrate navigation through an obstacle-strewn environment by a small Unmanned Ground Vehicle.

An Experimental Study of Diffusivity of Technetium-99 in Hanford Vadose Zone Sediments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Mattigod, Shas V.; Bovaird, Chase C.; Wellman, Dawn M.

2012-11-01

One of the methods being considered at the Hanford site in Washington for safely disposing of low-level radioactive wastes (LLW) is to encase the waste in concrete and entomb the packages in the Hanford vadose zone sediments. The current plan for waste isolation consists of stacking low-level waste packages on a trench floor, surrounding the stacks with reinforced steel, and encasing these packages with concrete. Any failure of the concrete encasement may result in water intrusion and consequent mobilization of radionuclides from the waste packages. The mobilized radionuclides may escape from the encased concrete by mass flow and/or diffusion andmore » move into the surrounding subsurface sediments. It is therefore necessary to conduct an assessment of the performance of the concrete encasement structure and the surrounding soil’s ability to retard radionuclide migration. The retardation factors for radionuclides contained in the waste packages can be determined from measurements of diffusion coefficients for these contaminants through concrete and fill material. Because of their anionic nature in aqueous solutions, the radionuclides, 99Tc and 129I were identified as long-term dose contributors in LLW. The leachability and/or diffusion of these radionuclide species must be measured in order to assess the long-term performance of waste grouts when contacted with vadose-zone porewater or groundwater. To measure the diffusivity, a set of experiments were conducted using 99Tc-spiked concrete (with 0 and 4% metallic iron additions) in contact with unsaturated soil half-cells that reflected the typical moisture contents of Hanford vadose zone sediments. The 99Tc diffusion profiles in the soil half cells were measured after a time lapse of ~1.9 yr. Using the concentration profiles, the 99Tc diffusivity coefficients were calculated based on Fick’s Second Law.« less

Quantifying uranium transport rates and storage of fluvially eroded mine tailings from a historic mine site in the Grand Canyon Region

NASA Astrophysics Data System (ADS)

Skalak, K.; Benthem, A. J.; Walton-Day, K. E.; Jolly, G.

2015-12-01

The Grand Canyon region contains a large number of breccia pipes with economically viable uranium, copper, and silver concentrations. Mining in this region has occurred since the late 19th century and has produced ore and waste rock having elevated levels of uranium and other contaminants. Fluvial transport of these contaminants from mine sites is a possibility, as this arid region is susceptible to violent storms and flash flooding which might erode and mobilize ore or waste rock. In order to assess and manage the risks associated with uranium mining, it is important to understand the transport and storage rates of sediment and uranium within the ephemeral streams of this region. We are developing a 1-dimensional sediment transportation model to examine uranium transport and storage through a typical canyon system in this region. Our study site is Hack Canyon Mine, a uranium and copper mine site, which operated in the 1980's and is currently experiencing fluvial erosion of its waste rock repository. The mine is located approximately 40km upstream from the Colorado River and is in a deep, narrow canyon with a small watershed. The stream is ephemeral for the upper half of its length and sediment is primarily mobilized during flash flood events. We collected sediment samples at 110 locations longitudinally through the river system to examine the distribution of uranium in the stream. Samples were sieved to the sand size and below fraction (<2mm) and uranium was measured by gamma-ray spectroscopy. Sediment storage zones were also examined in the upper 8km of the system to determine where uranium is preferentially stored in canyon systems. This information will quantify the downstream transport of constituents associated with the Hack Canyon waste rock and contribute to understanding the risks associated with fluvial mobilization of uranium mine waste.

Chemical and biological processes for multi-metal extraction from waste printed circuit boards of computers and mobile phones.

PubMed

Shah, Monal B; Tipre, Devayani R; Dave, Shailesh R

2014-11-01

E-waste printed circuit boards (PCB) of computers, mobile-phones, televisions, LX (LongXiang) PCB in LED lights and bulbs, and tube-lights were crushed to ≥250 µm particle size and 16 different metals were analysed. A comparative study has been carried out to evaluate the extraction of Cu-Zn-Ni from computer printed circuit boards (c-PCB) and mobile-phone printed circuit boards (m-PCB) by chemical and biological methods. Chemical process showed the extraction of Cu-Zn-Ni by ferric sulphate was best among the studied chemical lixiviants. Bioleaching experiments were carried out with the iron oxidising consortium, which showed that when E-waste and inoculum were added simultaneously in the medium (one-step process); 60.33% and 87.50% Cu, 75.67% and 85.67% Zn and 71.09% and 81.87% Ni were extracted from 10 g L(-1) of c-PCB and m-PCB, respectively, within 10-15 days of reaction time. Whereas, E-waste added after the complete oxidation of Fe(2+) to Fe(3+) iron containing medium (two-step process) showed 85.26% and 99.99% Cu, 96.75% and 99.49% Zn and 93.23% and 84.21% Ni extraction from c-PCB and m-PCB, respectively, only in 6-8 days. Influence of varying biogenerated Fe(3+) and c-PCB concentrations showed that 16.5 g L(-1) of Fe(3+) iron was optimum up to 100 g L(-1) of c-PCB. Changes in pH, acid consumed and redox potential during the process were also studied. The present study shows the ability of an eco-friendly process for the recovery of multi-metals from E-waste even at 100 g L(-1) printed circuit boards concentration. © The Author(s) 2014.

Environmentally safe fluid extractor

DOEpatents

Sungaila, Zenon F.

1993-01-01

An environmentally safe fluid extraction device for use in mobile laboratory and industrial settings comprising a pump, compressor, valving system, waste recovery tank, fluid tank, and a exhaust filtering system.

Environmentally safe fluid extractor

DOEpatents

Sungaila, Zenon F.

1993-07-06

An environmentally safe fluid extraction device for use in mobile laboratory and industrial settings comprising a pump, compressor, valving system, waste recovery tank, fluid tank, and a exhaust filtering system.

Nonuniform Deployment of Autonomous Agents in Harbor-Like Environments

DTIC Science & Technology

2014-11-12

ith agent than to all other agents. Interested readers are referred to [55] for the comprehensive study on Voronoi partitioning and its applications...robots: An rfid approach, PhD dissertation, School of Electrical Engi- neering and Computer Science, University of Ottawa (October 2012). [55] A. Okabe, B...Gueaieb, A stochastic approach of mobile robot navigation using customized rfid sys- tems, International Conference on Signals, Circuits and Systems

Magician Simulator. A Realistic Simulator for Heterogenous Teams of Autonomous Robots

DTIC Science & Technology

2011-01-18

IMU, and LIDAR systems for identifying and tracking mobile OOI at long range (>20m), providing early warnings and allowing neutralization from a... LIDAR and Computer Vision template-based feature tracking approaches. Mapping was solved through Multi-Agent particle-filter based Simultaneous...Locali- zation and Mapping ( SLAM ). Our system contains two maps, a physical map and an influence map (location of hostile OOI, explored and unexplored

Evaluating the Dynamics of Agent-Environment Interaction

DTIC Science & Technology

2001-05-01

a color sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangulation system for...Cooperative Mobile Robot Control’, Autonomous Robots 4(4), 387{403. Vaughan, R. T., Sty, K., Sukhatme, G. S. & Mataric, M. J. (2000), Whistling in the Dark...sensor in the gripper, a radio transmitter/receiver for communication and data gathering, and an ultrasound /radio triangu- lation system for

Students' Situated Action in Physical Education: Analysis of Typical Concerns and Their Relations with Mobilized Knowledge in Table Tennis

ERIC Educational Resources Information Center

Guillou, Julien; Durny, Annick

2008-01-01

Background: In most studies in the classroom context, the student is generally only one variable in the analysis of the effects of the teacher's work. Our research was based on the postulate that the student's activity is basically autonomous, i.e. irreducible with the influence that the teacher has. This is why we propose to analyse the dynamics…

Large-scale deep learning for robotically gathered imagery for science

NASA Astrophysics Data System (ADS)

Skinner, K.; Johnson-Roberson, M.; Li, J.; Iscar, E.

2016-12-01

With the explosion of computing power, the intelligence and capability of mobile robotics has dramatically increased over the last two decades. Today, we can deploy autonomous robots to achieve observations in a variety of environments ripe for scientific exploration. These platforms are capable of gathering a volume of data previously unimaginable. Additionally, optical cameras, driven by mobile phones and consumer photography, have rapidly improved in size, power consumption, and quality making their deployment cheaper and easier. Finally, in parallel we have seen the rise of large-scale machine learning approaches, particularly deep neural networks (DNNs), increasing the quality of the semantic understanding that can be automatically extracted from optical imagery. In concert this enables new science using a combination of machine learning and robotics. This work will discuss the application of new low-cost high-performance computing approaches and the associated software frameworks to enable scientists to rapidly extract useful science data from millions of robotically gathered images. The automated analysis of imagery on this scale opens up new avenues of inquiry unavailable using more traditional manual or semi-automated approaches. We will use a large archive of millions of benthic images gathered with an autonomous underwater vehicle to demonstrate how these tools enable new scientific questions to be posed.

Emergence of a snake-like structure in mobile distributed agents: an exploratory agent-based modeling approach.

PubMed

Niazi, Muaz A

2014-01-01

The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resilience and adaptation. This paper presents a solution to the problem of modeling snake-like structures by proposing an agent-based, self-organizing algorithm resulting in an emergent and surprisingly resilient dynamic structure involving a minimal of interagent communication. Extensive simulation experiments demonstrate the effectiveness as well as resilience of the proposed approach. The ideas originating from the proposed algorithm can not only be used for developing self-organizing animations but can also have practical applications such as in the form of complex, autonomous, evolvable robots with self-organizing, mobile components with minimal individual computational capabilities. The work also demonstrates the utility of exploratory agent-based modeling (EABM) in the engineering of artificial life-like complex adaptive systems.

Emergence of a Snake-Like Structure in Mobile Distributed Agents: An Exploratory Agent-Based Modeling Approach

PubMed Central

Niazi, Muaz A.

2014-01-01

The body structure of snakes is composed of numerous natural components thereby making it resilient, flexible, adaptive, and dynamic. In contrast, current computer animations as well as physical implementations of snake-like autonomous structures are typically designed to use either a single or a relatively smaller number of components. As a result, not only these artificial structures are constrained by the dimensions of the constituent components but often also require relatively more computationally intensive algorithms to model and animate. Still, these animations often lack life-like resilience and adaptation. This paper presents a solution to the problem of modeling snake-like structures by proposing an agent-based, self-organizing algorithm resulting in an emergent and surprisingly resilient dynamic structure involving a minimal of interagent communication. Extensive simulation experiments demonstrate the effectiveness as well as resilience of the proposed approach. The ideas originating from the proposed algorithm can not only be used for developing self-organizing animations but can also have practical applications such as in the form of complex, autonomous, evolvable robots with self-organizing, mobile components with minimal individual computational capabilities. The work also demonstrates the utility of exploratory agent-based modeling (EABM) in the engineering of artificial life-like complex adaptive systems. PMID:24701135

Autonomous detection of indoor and outdoor signs

NASA Astrophysics Data System (ADS)

Holden, Steven; Snorrason, Magnus; Goodsell, Thomas; Stevens, Mark R.

2005-05-01

Most goal-oriented mobile robot tasks involve navigation to one or more known locations. This is generally done using GPS coordinates and landmarks outdoors, or wall-following and fiducial marks indoors. Such approaches ignore the rich source of navigation information that is already in place for human navigation in all man-made environments: signs. A mobile robot capable of detecting and reading arbitrary signs could be tasked using directions that are intuitive to hu-mans, and it could report its location relative to intuitive landmarks (a street corner, a person's office, etc.). Such ability would not require active marking of the environment and would be functional in the absence of GPS. In this paper we present an updated version of a system we call Sign Understanding in Support of Autonomous Navigation (SUSAN). This system relies on cues common to most signs, the presence of text, vivid color, and compact shape. By not relying on templates, SUSAN can detect a wide variety of signs: traffic signs, street signs, store-name signs, building directories, room signs, etc. In this paper we focus on the text detection capability. We present results summarizing probability of detection and false alarm rate across many scenes containing signs of very different designs and in a variety of lighting conditions.

Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots

NASA Astrophysics Data System (ADS)

Borenstein, Johann

1993-05-01

Multi-degree-of-freedom (MDOF) vehicles have many potential advantages over conventional (i.e., 2-DOF) vehicles. For example, MDOF vehicles can travel sideways and they can negotiate tight turns more easily. In addition, some MDOF designs provide better payload capability, better traction, and improved static and dynamic stability. However, MDOF vehicles with more than three degrees-of-freedom are difficult to control because of their overconstrained nature. These difficulties translate into severe wheel slippage or jerky motion under certain driving conditions. In the past, these problems limited the use of MDOF vehicles to applications where the vehicle would follow a guide-wire, which would correct wheel slippage and control errors. By contrast, autonomous or semi-autonomous mobile robots usually rely on dead-reckoning between periodic absolute position updates and their performance is diminished by excessive wheel slippage. This paper introduces a new concept in the kinematic design of MDOF vehicles. This concept is based on the provision of a compliant linkage between drive wheels or drive axles. Simulation results indicate that compliant linkage allows to overcome the control problems found in conventional MDOF vehicles and reduces the amount of wheel slippage to the same level (or less) than the amount of slippage found on a comparable 2-DOF vehicle.

The magic glove: a gesture-based remote controller for intelligent mobile robots

NASA Astrophysics Data System (ADS)

Luo, Chaomin; Chen, Yue; Krishnan, Mohan; Paulik, Mark

2012-01-01

This paper describes the design of a gesture-based Human Robot Interface (HRI) for an autonomous mobile robot entered in the 2010 Intelligent Ground Vehicle Competition (IGVC). While the robot is meant to operate autonomously in the various Challenges of the competition, an HRI is useful in moving the robot to the starting position and after run termination. In this paper, a user-friendly gesture-based embedded system called the Magic Glove is developed for remote control of a robot. The system consists of a microcontroller and sensors that is worn by the operator as a glove and is capable of recognizing hand signals. These are then transmitted through wireless communication to the robot. The design of the Magic Glove included contributions on two fronts: hardware configuration and algorithm development. A triple axis accelerometer used to detect hand orientation passes the information to a microcontroller, which interprets the corresponding vehicle control command. A Bluetooth device interfaced to the microcontroller then transmits the information to the vehicle, which acts accordingly. The user-friendly Magic Glove was successfully demonstrated first in a Player/Stage simulation environment. The gesture-based functionality was then also successfully verified on an actual robot and demonstrated to judges at the 2010 IGVC.

Heterogeneous redox conditions, arsenic mobility, and groundwater flow in a fractured-rock aquifer near a waste repository site in New Hampshire, USA

NASA Astrophysics Data System (ADS)

Harte, Philip T.; Ayotte, Joseph D.; Hoffman, Andrew; Révész, Kinga M.; Belaval, Marcel; Lamb, Steven; Böhlke, J. K.

2012-09-01

Anthropogenic sources of carbon from landfill or waste leachate can promote reductive dissolution of in situ arsenic (As) and enhance the mobility of As in groundwater. Groundwater from residential-supply wells in a fractured crystalline-rock aquifer adjacent to a Superfund site in Raymond, New Hampshire, USA, showed evidence of locally enhanced As mobilization in relatively reducing (mixed oxic-anoxic to anoxic) conditions as determined by redox classification and other lines of evidence. Redox classification was determined from geochemical indicators based on threshold concentrations of dissolved oxygen (DO), nitrate (NO{3/-}), iron (Fe2+), manganese (Mn2+), and sulfate (SO{4/2-}). Redox conditions were evaluated also based on methane (CH4), excess nitrogen gas (N2) from denitrification, the oxidation state of dissolved As speciation (As(III) and As(V)), and several stable isotope ratios. Samples from the residential-supply wells primarily exhibit mixed redox conditions, as most have long open boreholes (typically 50-100 m) that receive water from multiple discrete fractures with contrasting groundwater chemistry and redox conditions. The methods employed in this study can be used at other sites to gauge redox conditions and the potential for As mobilization in complex fractured crystalline-rock aquifers where multiple lines of evidence are likely needed to understand As occurrence, mobility, and transport.

Heterogeneous redox conditions, arsenic mobility, and groundwater flow in a fractured-rock aquifer near a waste repository site in New Hampshire, USA

USGS Publications Warehouse

Harte, Philip T.; Ayotte, Joseph D.; Hoffman, Andrew; Revesz, Kinga M.; Belaval, Marcel; Lamb, Steven; Böhlke, J.K.

2012-01-01

Anthropogenic sources of carbon from landfill or waste leachate can promote reductive dissolution of in situ arsenic (As) and enhance the mobility of As in groundwater. Groundwater from residential-supply wells in a fractured crystalline-rock aquifer adjacent to a Superfund site in Raymond, New Hampshire, USA, showed evidence of locally enhanced As mobilization in relatively reducing (mixed oxic-anoxic to anoxic) conditions as determined by redox classification and other lines of evidence. Redox classification was determined from geochemical indicators based on threshold concentrations of dissolved oxygen (DO), nitrate (NO3-), iron (Fe2+), manganese (Mn2+), and sulfate (SO42-). Redox conditions were evaluated also based on methane (CH4), excess nitrogen gas (N2) from denitrification, the oxidation state of dissolved As speciation (As(III) and As(V)), and several stable isotope ratios. Samples from the residential-supply wells primarily exhibit mixed redox conditions, as most have long open boreholes (typically 50–100 m) that receive water from multiple discrete fractures with contrasting groundwater chemistry and redox conditions. The methods employed in this study can be used at other sites to gauge redox conditions and the potential for As mobilization in complex fractured crystalline-rock aquifers where multiple lines of evidence are likely needed to understand As occurrence, mobility, and transport.

Two-Armed, Mobile, Sensate Research Robot

NASA Technical Reports Server (NTRS)

Engelberger, J. F.; Roberts, W. Nelson; Ryan, David J.; Silverthorne, Andrew

2004-01-01

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and contains a force-and-torque sensor that provides feedback for force (compliance) control of the arm. The end effector could be a tool or a robot hand, depending on the application.

Greening academia: Use and disposal of mobile phones among university students

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ongondo, F.O.; Williams, I.D., E-mail: idw@soton.ac.uk

Research highlights: > Students use/disposal of mobile phones was assessed via a large-scale survey and a takeback trial. > We estimate 3.7 m phones stockpiled by UK students; 29.3 and 28.1 m stockpiled for Europe and USA. > Many students replace phones at least once a year; only a small number have used a takeback service. > Monetary incentives have greatest influence over willingness to utilise takeback services. > Universities should partner with established operators to conduct targeted takeback services. - Abstract: Mobile phones have relatively short lifecycles and are rapidly seen as obsolete by many users within little overmore » a year. However, the reusability of these devices as well as their material composition means that in terms of mass and volume, mobile phones represent the most valuable electronic products that are currently found in large numbers in waste streams. End-of-life mobile phones are a high value (from a reuse and resource perspective), high volume (quantity), low cost (residual monetary value) and transient (short lifecycle) electronic product. There are very large numbers of higher education (mainly university) students in the world - there are >2.4 million in the UK alone, 19 million in Europe and 18.2 million in the USA - and they often replace their mobile phones several times before graduation. Thus, because of the potentially significant environmental and economic impacts, a large scale survey of students at 5 UK universities was conducted to assess the behaviour of students with regard to their use and disposal of mobile phones. Additionally, a small scale trial mobile phone takeback service at one of the universities was carried out. The findings indicate that many students replace their phones at least once a year; replacing broken phones, getting upgrades from network operators, remaining 'fashionable' and a desire to have a handset with a longer battery life are the main reasons for such rapid replacement. Almost 60% of replaced phones are not sent to reuse or recycling operations but are stockpiled by students mainly as spare/backup phones. Approximately 61% of students own an extra mobile phone with male students replacing their phones more often than females. In particular, the results highlight the potentially huge stockpile of mobile phones - and consequently valuable supplies of rare metals - being held by the public; we estimate that there are 3.7 million phones stockpiled by students in UK higher education alone (29.3 and 28.1 million stockpiled, respectively, for Europe and USA). Although many students are aware of UK mobile phone takeback services, only a moderate number have previously used the services. Students' recycling of other waste materials such as paper and glass did not have a significant impact on their disposal actions for their unwanted mobile phones, although students who often recycled these waste materials were also the most willing to participate in mobile phone takeback services. Monetary incentives such as cash payments and vouchers have the greatest influence over students' willingness to utilise takeback services, followed by convenience and ease of use of the services. The paper discusses these findings as well as the outcome of the trial mobile phone takeback. It is suggested that universities should partner with established takeback operators to conduct event-based mobile phone takeback services primarily targeting students. Lessons from mobile phone takeback applicable to takeback services for end-of-life gadgets similar to mobile phones are also discussed.« less

Transport of organic contaminants in subsoil horizons and effects of dissolved organic matter related to organic waste recycling practices.

PubMed

Chabauty, Florian; Pot, Valérie; Bourdat-Deschamps, Marjolaine; Bernet, Nathalie; Labat, Christophe; Benoit, Pierre

2016-04-01

Compost amendment on agricultural soil is a current practice to compensate the loss of organic matter. As a consequence, dissolved organic carbon concentration in soil leachates can be increased and potentially modify the transport of other solutes. This study aims to characterize the processes controlling the mobility of dissolved organic matter (DOM) in deep soil layers and their potential impacts on the leaching of organic contaminants (pesticides and pharmaceutical compounds) potentially present in cultivated soils receiving organic waste composts. We sampled undisturbed soil cores in the illuviated horizon (60-90 cm depth) of an Albeluvisol. Percolation experiments were made in presence and absence of DOM with two different pesticides, isoproturon and epoxiconazole, and two pharmaceutical compounds, ibuprofen and sulfamethoxazole. Two types of DOM were extracted from two different soil surface horizons: one sampled in a plot receiving a co-compost of green wastes and sewage sludge applied once every 2 years since 1998 and one sampled in an unamended plot. Results show that DOM behaved as a highly reactive solute, which was continuously generated within the soil columns during flow and increased after flow interruption. DOM significantly increased the mobility of bromide and all pollutants, but the effects differed according the hydrophobic and the ionic character of the molecules. However, no clear effects of the origin of DOM on the mobility of the different contaminants were observed.

"A" motor neuron disease.

PubMed

Vishnu, Venugopalan Y; Modi, Manish; Prabhakar, Sudesh; Bhansali, Anil; Goyal, Manoj Kumar

2014-01-15

Allgrove syndrome is a rare autosomal recessive disorder characterised by achalasia, alacrima, adrenal insufficiency, autonomic dysfunction and amyotrophy. The syndrome has been described in childhood and adult presentation, as in our case, is very rare. There is a considerable delay in diagnosis due to lack of awareness about the syndrome. We report a single case of a 36 year old man who was initially diagnosed and treated for achalasia cardia in our institute 14 years before. After 8 years he presented again with weakness and wasting predominantly distally. He had tongue fasciculations, brisk reflexes and extensor plantar. After supportive electrophysiological studies he was diagnosed as Amyotrophic lateral sclerosis. After 5 years he presented with generalised fatigue without any significant worsening of his neurological status. On reevaluation he had alacrimia, autonomic dysfunction and mild ACTH resistance. Allgrove syndrome may be an underdiagnosed cause of multisystem neurological disease due to the heterogeneous clinical presentation as well as for ignorance of clinician about the syndrome. Based on our case, we also believe that there does exist a subgroup of patients who follow a less severe and chronic course. Recognition of syndrome allows for treatment of autonomic dysfunction, adrenal insufficiency and dysphagia. © 2013.

Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.

PubMed

Zhao, Xu; Dou, Lihua; Su, Zhong; Liu, Ning

2018-03-16

A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU). First, it studies the snake robot's motion characteristics, builds the kinematics model, and then analyses the motion constraint characteristics and motion error propagation properties. Second, it explores the snake robot's navigation layout, proposes a constraint criterion and the fixed relationship, and makes zero-state constraints based on the motion features and control modes of a snake robot. Finally, it realizes autonomous navigation positioning based on the Extended-Kalman-Filter (EKF) position estimation method under the constraints of its motion characteristics. With the self-developed snake robot, the test verifies the proposed method, and the position error is less than 5% of Total-Traveled-Distance (TDD). In a short-distance environment, this method is able to meet the requirements of a snake robot in order to perform autonomous navigation and positioning in traditional applications and can be extended to other familiar multi-link robots.

Deployable reconnaissance from a VTOL UAS in urban environments

NASA Astrophysics Data System (ADS)

Barnett, Shane; Bird, John; Culhane, Andrew; Sharkasi, Adam; Reinholtz, Charles

2007-04-01

Reconnaissance collection in unknown or hostile environments can be a dangerous and life threatening task. To reduce this risk, the Unmanned Systems Group at Virginia Tech has produced a fully autonomous reconnaissance system able to provide live video reconnaissance from outside and inside unknown structures. This system consists of an autonomous helicopter which launches a small reconnaissance pod inside a building and an operator control unit (OCU) on a ground station. The helicopter is a modified Bergen Industrial Twin using a Rotomotion flight controller and can fly missions of up to one half hour. The mission planning OCU can control the helicopter remotely through teleoperation or fully autonomously by GPS waypoints. A forward facing camera and template matching aid in navigation by identifying the target building. Once the target structure is identified, vision algorithms will center the UAS adjacent to open windows or doorways. Tunable parameters in the vision algorithm account for varying launch distances and opening sizes. Launch of the reconnaissance pod may be initiated remotely through a human in the loop or autonomously. Compressed air propels the half pound stationary pod or the larger mobile pod into the open portals. Once inside the building, the reconnaissance pod will then transmit live video back to the helicopter. The helicopter acts as a repeater node for increased video range and simplification of communication back to the ground station.

Investigating the effect of compression on solute transport through degrading municipal solid waste

DOE Office of Scientific and Technical Information (OSTI.GOV)

Woodman, N.D., E-mail: n.d.woodman@soton.ac.uk; Rees-White, T.C.; Stringfellow, A.M.

2014-11-15

Highlights: • The influence of compression on MSW flushing was evaluated using 13 tracer tests. • Compression has little effect on solute diffusion times in MSW. • Lithium tracer was conservative in non-degrading waste but not in degrading waste. • Bromide tracer was conservative, but deuterium was not. - Abstract: The effect of applied compression on the nature of liquid flow and hence the movement of contaminants within municipal solid waste was examined by means of thirteen tracer tests conducted on five separate waste samples. The conservative nature of bromide, lithium and deuterium tracers was evaluated and linked to themore » presence of degradation in the sample. Lithium and deuterium tracers were non-conservative in the presence of degradation, whereas the bromide remained effectively conservative under all conditions. Solute diffusion times into and out of less mobile blocks of waste were compared for each test under the assumption of dominantly dual-porosity flow. Despite the fact that hydraulic conductivity changed strongly with applied stress, the block diffusion times were found to be much less sensitive to compression. A simple conceptual model, whereby flow is dominated by sub-parallel low permeability obstructions which define predominantly horizontally aligned less mobile zones, is able to explain this result. Compression tends to narrow the gap between the obstructions, but not significantly alter the horizontal length scale. Irrespective of knowledge of the true flow pattern, these results show that simple models of solute flushing from landfill which do not include depth dependent changes in solute transport parameters are justified.« less

Fungal Biorecovery of Gold From E-waste.

PubMed

Bindschedler, Saskia; Vu Bouquet, Thi Quynh Trang; Job, Daniel; Joseph, Edith; Junier, Pilar

2017-01-01

Waste electric and electronic devices (e-waste) represent a source of valuable raw materials of great interest, and in the case of metals, e-waste might become a prized alternative source. Regarding gold, natural ores are difficult to mine due to their refractory nature and the richest ores have almost all been exploited. Additionally, some gold mining areas are present in geopolitically unstable regions. Finally, the gold mining industry produces toxic compounds, such as cyanides. As a result, the gold present in e-waste represents a nonnegligible resource (urban mining). Extraction methods of gold from natural ores (pyro- and hydrometallurgy) have been adapted to this particular type of matrix. However, to propose novel approaches with a lower environmental footprint, biotechnological methods using microorganisms are being developed (biometallurgy). These processes use the extensive metabolic potential of microbes (algae, bacteria, and fungi) to mobilize and immobilize gold from urban and industrial sources. In this review, we focus on the use of fungi for gold biomining. Fungi interact with gold by mobilizing it through mechanical attack as well as through biochemical leaching by the production of cyanides. Moreover, fungi are also able to release Au through the degradation of cyanide from aurocyanide complexes. Finally, fungi immobilize gold through biosorption, bioaccumulation, and biomineralization, in particular, as gold nanoparticles. Overall, the diversity of mechanisms of gold recycling using fungi combined with their filamentous lifestyle, which allows them to thrive in heterogeneous and solid environments such as e-waste, makes fungi an important bioresource to be harnessed for the biorecovery of gold. Copyright © 2017 Elsevier Inc. All rights reserved.

Development studies of a novel wet oxidation process

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rogers, T.W.; Dhooge, P.M.

1995-12-01

Many DOE waste streams and remediates contain complex and variable mixtures of organic compounds, toxic metals, and radionuclides. These materials are often dispersed in organic or inorganic matrices, such as personal protective equipment, various sludges, soils, and water. Incineration and similar combustive processes do not appear to be viable options for treatment of these waste streams due to various considerations. There is a need for non-combustion processes with a wide application range to treat the large majority of these waste forms. The non-combustion process should also be safe, effective, cost-competitive, permit-able, and preferrably mobile. This paper describes the DETOX processmore » of organic waste oxidation.« less

Slope failures in municipal solid waste dumps and landfills: a review.

PubMed

Blight, Geoffrey

2008-10-01

Between 1977 and 2005 six large-scale failures of municipal solid waste dumps and landfills have been recorded in the technical literature. The volumes of waste mobilized in the failures varied from 10-12 000 m(3) in a failure that killed nearly 300 people to 1.5 million m(3) in a failure that caused no deaths or injuries. Of the six failures, four occurred in dumps that, as far as is known, had not been subjected to any prior technical investigation of their shear stability. The remaining two failures occurred in engineer-designed landfills, one of which practised leachate recirculation, and the other co-disposed of liquid waste along with solid waste. The paper reviews, describes and analyses the failures and summarizes their causes.

Flow behavior and mobility of contaminated waste rock materials in the abandoned Imgi mine in Korea

NASA Astrophysics Data System (ADS)

Jeong, S. W.; Wu, Y.-H.; Cho, Y. C.; Ji, S. W.

2018-01-01

Incomplete mine reclamation can cause ecological and environmental impacts. This paper focuses on the geotechnical and rheological characteristics of waste rock materials, which are mainly composed of sand-size particles, potentially resulting in mass movement (e.g., slide or flow) and extensive acid mine drainage. To examine the potential for contaminant mobilization resulting from physicochemical processes in abandoned mines, a series of scenario-based debris flow simulations was conducted using Debris-2D to identify different hazard scenarios and volumes. The flow behavior of waste rock materials was examined using a ball-measuring rheometric apparatus, which can be adapted for large particle samples, such as debris flow. Bingham yield stresses determined in controlled shear rate mode were used as an input parameter in the debris flow modeling. The yield stresses ranged from 100 to 1000 Pa for shear rates ranging from 10- 5 to 102 s- 1. The results demonstrated that the lowest yield stress could result in high mobility of debris flow (e.g., runout distance > 700 m from the source area for 60 s); consequently, the material contaminants may easily reach the confluence of the Suyoung River through a mountain stream. When a fast slide or debris flow occurs at or near an abandoned mine area, it may result in extremely dynamic and destructive geomorphological changes. Even for the highest yield stress of debris flow simulation (i.e., τy = 2000 Pa), the released debris could flow into the mountain stream; therefore, people living near abandoned mines may become exposed to water pollution throughout the day. To maintain safety at and near abandoned mines, the physicochemical properties of waste materials should be monitored, and proper mitigation measures post-mining should be considered in terms of both their physical damage and chemical pollution potential.

Vision-based mapping with cooperative robots

NASA Astrophysics Data System (ADS)

Little, James J.; Jennings, Cullen; Murray, Don

1998-10-01

Two stereo-vision-based mobile robots navigate and autonomously explore their environment safely while building occupancy grid maps of the environment. The robots maintain position estimates within a global coordinate frame using landmark recognition. This allows them to build a common map by sharing position information and stereo data. Stereo vision processing and map updates are done at 3 Hz and the robots move at speeds of 200 cm/s. Cooperative mapping is achieved through autonomous exploration of unstructured and dynamic environments. The map is constructed conservatively, so as to be useful for collision-free path planning. Each robot maintains a separate copy of a shared map, and then posts updates to the common map when it returns to observe a landmark at home base. Issues include synchronization, mutual localization, navigation, exploration, registration of maps, merging repeated views (fusion), centralized vs decentralized maps.

Publications of the NASA Controlled Ecological Life Support System (CELSS) Program, 1979-1989

NASA Technical Reports Server (NTRS)

Wallace, Janice S.; Powers, Janet V.

1990-01-01

Publications of research sponsored by the NASA Controlled Ecological Life Support System (CELSS) Program from 1979 to 1989 are listed. The CELSS Program encompasses research and technology with the goal of developing an autonomous bioregenerative life support system that continually recycles the solid, liquid, and gaseous materials essential for human life. The bibliography is divided into four major subject areas: food production, nutritional requirements, waste management, and systems management and control.

Energy Consumption Research of Mobile Data Collection Protocol for Underwater Nodes Using an USV.

PubMed

Lv, Zhichao; Zhang, Jie; Jin, Jiucai; Li, Qi; Gao, Baoru

2018-04-16

The Unmanned Surface Vehicle (USV) integrated with an acoustic modem is a novel mobile vehicle for data collection, which has an advantage in terms of mobility, efficiency, and collection cost. In the scenario of data collection, the USV is controlled autonomously along the planning trajectory and the data of underwater nodes are dynamically collected. In order to improve the efficiency of data collection and extend the life of the underwater nodes, a mobile data collection protocol for underwater nodes using the USV was proposed. In the protocol, the stop-and-wait ARQ transmission mechanism is adopted, where the duty cycle is designed considering the ratio between the sleep mode and the detection mode, and the transmission ratio is defined by the duty cycle, wake-up signal cycles, and USV’s speed. According to protocol, the evaluation index for energy consumption is constructed based on the duty cycle and the transmission ratio. The energy consumption of the protocol is simulated and analyzed using the mobile communication experiment data of USV, taking into consideration USV’s speed, data sequence length, and duty cycle. Optimized protocol parameters are identified, which in turn denotes the proposed protocol’s feasibility and effectiveness.

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes

PubMed Central

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-01-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes’ mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network. PMID:26633405

A Network Topology Control and Identity Authentication Protocol with Support for Movable Sensor Nodes.

PubMed

Zhang, Ying; Chen, Wei; Liang, Jixing; Zheng, Bingxin; Jiang, Shengming

2015-12-01

It is expected that in the near future wireless sensor network (WSNs) will be more widely used in the mobile environment, in applications such as Autonomous Underwater Vehicles (AUVs) for marine monitoring and mobile robots for environmental investigation. The sensor nodes' mobility can easily cause changes to the structure of a network topology, and lead to the decline in the amount of transmitted data, excessive energy consumption, and lack of security. To solve these problems, a kind of efficient Topology Control algorithm for node Mobility (TCM) is proposed. In the topology construction stage, an efficient clustering algorithm is adopted, which supports sensor node movement. It can ensure the balance of clustering, and reduce the energy consumption. In the topology maintenance stage, the digital signature authentication based on Error Correction Code (ECC) and the communication mechanism of soft handover are adopted. After verifying the legal identity of the mobile nodes, secure communications can be established, and this can increase the amount of data transmitted. Compared to some existing schemes, the proposed scheme has significant advantages regarding network topology stability, amounts of data transferred, lifetime and safety performance of the network.

Characterizing Early Adolescent Plate Waste Using the Mobile Food Record.

PubMed

Panizza, Chloe E; Boushey, Carol J; Delp, Edward J; Kerr, Deborah A; Lim, Eunjung; Gandhi, Krupa; Banna, Jinan C

2017-01-26

This study aimed to assess the amount of plate waste and how plate waste was disposed by early adolescent girls using a mobile food record (mFR). Participants were girls nine to thirteen years residing in O'ahu, Hawai'i ( n = 93). Foods selected and leftover were estimated using a three day mFR. Each leftover food was then classified as thrown into the trash, fed to a pet, eaten later, or other (e.g., composted). Repeated measures analyses of variance (ANOVA) were conducted and Tukey's post-hoc test were used to adjust for multiple comparisons between times (breakfast, lunch, dinner, and snack) on leftover food and leftover food thrown into the trash. The percentage of food leftover and thrown into the trash was highest at lunch. The percentage of protein, grain, vegetables, fruit, and dairy leftover at lunch were unexpectedly low compared to previous studies. The median for percentage of food thrown into the trash at lunch was <5% for all food groups, and was consistently low across the day (<10%). Average energy intake was 436 kcal (±216) at lunch, and 80% of caregivers reported total household income as ≥$70,000. Studies in real-time using technology over full days may better quantify plate waste among adolescents.

Characterizing Early Adolescent Plate Waste Using the Mobile Food Record

PubMed Central

Panizza, Chloe E.; Boushey, Carol J.; Delp, Edward J.; Kerr, Deborah A.; Lim, Eunjung; Gandhi, Krupa; Banna, Jinan C.

2017-01-01

This study aimed to assess the amount of plate waste and how plate waste was disposed by early adolescent girls using a mobile food record (mFR). Participants were girls nine to thirteen years residing in O’ahu, Hawai’i (n = 93). Foods selected and leftover were estimated using a three day mFR. Each leftover food was then classified as thrown into the trash, fed to a pet, eaten later, or other (e.g., composted). Repeated measures analyses of variance (ANOVA) were conducted and Tukey’s post-hoc test were used to adjust for multiple comparisons between times (breakfast, lunch, dinner, and snack) on leftover food and leftover food thrown into the trash. The percentage of food leftover and thrown into the trash was highest at lunch. The percentage of protein, grain, vegetables, fruit, and dairy leftover at lunch were unexpectedly low compared to previous studies. The median for percentage of food thrown into the trash at lunch was <5% for all food groups, and was consistently low across the day (<10%). Average energy intake was 436 kcal (±216) at lunch, and 80% of caregivers reported total household income as ≥$70,000. Studies in real-time using technology over full days may better quantify plate waste among adolescents. PMID:28134757

Nondestructive remote sensing of hazardous waste sites

DOE Office of Scientific and Technical Information (OSTI.GOV)

Weil, G.J.; Graf, R.J.

1994-12-31

In the past government and private industry have produced hazardous waste in ever increasing quantities. These untold millions of tons of environmentally dangerous wastes have been disposed of by undocumented burial, simple carelessness and purposeful abandonment. Society has recently dictated that before new construction may be initiated, these wastes must be found and cleaned up. The first step is to locate these undocumented waste depositories. The non-contact, nondestructive, remote sensing techniques, of Computer Enhanced Infrared Thermography and Ground Penetrating Radar, may be used to detect buried waste sites, buried tanks/pits, and tank/pit leak plumes. These technologies may be used frommore » mobile vehicles, helicopters or man-portable systems and are able to cover tens of acres per day depending upon the system fusion method used. This relatively new combination of technologies, win be described in theory, by procedure and the use of case studies based upon successful projects.« less

Distributed cooperating processes in a mobile robot control system

NASA Technical Reports Server (NTRS)

Skillman, Thomas L., Jr.

1988-01-01

A mobile inspection robot has been proposed for the NASA Space Station. It will be a free flying autonomous vehicle that will leave a berthing unit to accomplish a variety of inspection tasks around the Space Station, and then return to its berth to recharge, refuel, and transfer information. The Flying Eye robot will receive voice communication to change its attitude, move at a constant velocity, and move to a predefined location along a self generated path. This mobile robot control system requires integration of traditional command and control techniques with a number of AI technologies. Speech recognition, natural language understanding, task and path planning, sensory abstraction and pattern recognition are all required for successful implementation. The interface between the traditional numeric control techniques and the symbolic processing to the AI technologies must be developed, and a distributed computing approach will be needed to meet the real time computing requirements. To study the integration of the elements of this project, a novel mobile robot control architecture and simulation based on the blackboard architecture was developed. The control system operation and structure is discussed.

Grand Junction projects office mixed-waste treatment program, VAC*TRAX mobile treatment unit process hazards analysis

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bloom, R.R.

1996-04-01

The objective of this report is to demonstrate that a thorough assessment of the risks associated with the operation of the Rust Geotech patented VAC*TRAX mobile treatment unit (MTU) has been performed and documented. The MTU was developed to treat mixed wastes at the US Department of Energy (DOE) Albuquerque Operations Office sites. The MTU uses an indirectly heated, batch vacuum dryer to thermally desorb organic compounds from mixed wastes. This process hazards analysis evaluated 102 potential hazards. The three significant hazards identified involved the inclusion of oxygen in a process that also included an ignition source and fuel. Changesmore » to the design of the MTU were made concurrent with the hazard identification and analysis; all hazards with initial risk rankings of 1 or 2 were reduced to acceptable risk rankings of 3 or 4. The overall risk to any population group from operation of the MTU was determined to be very low; the MTU is classified as a Radiological Facility with low hazards.« less

Impeding 99Tc(IV) mobility in novel waste forms

DOE PAGES

Lee, Mal-Soon; Um, Wooyong; Wang, Guohui; ...

2016-06-30

Technetium ( 99Tc) is a long-lived radioactive fission product whose mobility in the subsurface is largely governed by its oxidation state1. Immobilization of Tc in mineral substrates is crucial for radioactive waste management and environmental remediation. Tc(IV) incorporation in spinels2, 3 has been proposed as a novel method to increase Tc retention in glass waste forms. However, experiments with Tc-magnetite under high temperature and oxic conditions showed re-oxidation of Tc(IV) to volatile pertechnetate Tc(VII)O4-.4, 5 Here we address this problem with large-scale ab initio molecular dynamics simulations and propose that elevated temperatures, 1st row transition metal dopants can significantly enhancemore » Tc retention in the order Co > Zn > Ni. Experiments with doped spinels at T=700 ºC provided quantitative confirmation of increased Tc retention in the same order predicted by theory. This work highlights the power of modern state-of-the-art simulations to provide essential insights and generate bottom-up design criteria of complex oxide materials at elevated temperatures.« less

Intelligent Mobile Autonomous System

DTIC Science & Technology

1987-01-01

used intermittently , and each of them characterizes the level of generalization. One cannot discern any another point within the tile, this is a...traversability space is not fast enough to be considered for actual control application. Alternatives to limit the computation time include (1) increasing the...error. (b) It must be concise and easy to "compute". In other words there must exist simple, fast procedures for instandating the "words" or "sentences

Real-Time 3D Sonar Modeling And Visualization

DTIC Science & Technology

1998-06-01

looking back towards Manta sonar beam, Manta plus sonar from 1000m off track. 185 NUWC sponsor Erik Chaum Principal investigator Don Brutzman...USN Sonar Officer LT Kevin Byrne USN Intelligence Officer CPT Russell Storms USA Erik Chaum works in NUWC Code 22. He supervised the design and...McGhee, Bob, "The Phoenix Autonomous Underwater Vehicle," chapter 13, AI-BasedMobile Robots, editors David Kortenkamp, Pete Bonasso and Robin Murphy

Portable haptic interface with omni-directional movement and force capability.

PubMed

Avizzano, Carlo Alberto; Satler, Massimo; Ruffaldi, Emanuele

2014-01-01

We describe the design of a new mobile haptic interface that employs wheels for force rendering. The interface, consisting of an omni-directional Killough type platform, provides 2DOF force feedback with different control modalities. The system autonomously performs sensor fusion for localization and force rendering. This paper explains the relevant choices concerning the functional aspects, the control design, the mechanical and electronic solution. Experimental results for force feedback characterization are reported.

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

Development and Testing of a Mobile Platform for Tank Remediation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nance, T.A.

2001-01-16

The Department of Energy (DOE) is committed to removing millions of gallons of high level radioactive waste from waste storage tanks at the Savannah River Site (SRS). SRS was the first site in the DOE complex to have emptied and closed high level waste tanks. Tank closure at the Site is now progressing to tanks containing waste composed of liquid and large deposits of solids, including a tank that has a potential ''heel''. A heel is a hardened mass of solid waste material spread across the tank bottom. Tank closure requires breaking up this heel and moving the material tomore » the intake of a pumping system for transfer from the tank. In the past, overhead spray systems have been used with some success at moving waste. But the limited number of risers restricts the coverage area of the overhead spray system. Therefore, a floor- level spray system will be used to separate manageable size chunks of the material from the heel. The chunks will be guided into the pump's intake to be remove from the tank. The floor-level spray system movement will be accomplished by using a mobile platform, a crawler, which provides transport to nearly every point on the tank floor. Transport of the spray system will allow the system to ''corral'' the waste away from the tank walls and control the movement of the material across the tank floor. Because the available access riser is small, and a wide crawler platform is required to support the spray system, the crawler's frame must fold to enter the tank. After entry into the tank, the crawler unfolds on the tank floor using the crawler drive tracks to expand the frame and position the mobile platform under the entry riser. The spray system will then be lowered separately through the entry riser and mated onto the crawler on the tank floor. The crawler and spray system are tethered and controlled remotely by personnel at the control station. Motorized cable reels will also be remotely controlled to pay out, retrieve, and manage the tethers as the mobile platform moves the spray system across the tank floor. Both the crawler and spray systems are designed to be retrievable. Development of the tank cleaning system was evaluated using a performance test program. The tests evaluated the spray system dynamics, the crawler's fit through the riser, the crawler landing in mocked up tank with simulant, the crawler's traction, and the crawler and spray system mating. Initial testing verified the crawler platform was compatible with the dynamics produced by the spray system. The riser fit test confirmed that a dedicated riser is required for deployment of the crawler and the spray system. The crawler traction test defined the capabilities of the crawler at different levels of simulant. Deployment testing through a mockup riser verified the basic system processes. Finally, testing of the complete system in a full-scale mockup with sludge simulant was performed to evaluate the tank cleaning ability of the crawler. This paper describes th e tank conditions, the tank closure process, the development of the crawler and spray system, and the testing program and results used to evaluate the mobile platform and spray system.« less

The Environment Friendly Power Source for Power Supply of Mobile Communication Base Stations

NASA Astrophysics Data System (ADS)

Rudenko, N. V.; Ershov, V. V.; Evstafiev, V. V.

2017-05-01

The article describes the technical proposals to improve environmental and resource characteristics of the autonomous power supply systems of mobile communication base stations based on renewable energy sources, while ensuring the required reliability and security of power supply. These include: the replacement of diesel-generator with clean energy source - an electrochemical generator based on hydrogen fuel cells; the use of wind turbines with a vertical axis; use of specialized batteries. Based on the analysis of the know technical solutions, the structural circuit diagram of the hybrid solar-wind-hydrogen power plant and the basic principles of the algorithm of its work were proposed. The implementation of these proposals will improve the environmental and resource characteristics.

Usages Pattern of Cell Phone in Classroom: A Case Study of Mathematical and Physical Science Faculty Students of Jahangirnagar University

ERIC Educational Resources Information Center

Miah, Md. Shiblu; Hossain, Md. Moyazzem; Rahman, Md. Habibur

2017-01-01

Now-a-days mobile phone is very important communicational device. This cableless device reduces the hazards of the land phone. In spite of its various advantages it has some disadvantages also. Misusing of mobile phone increases the disadvantages of this device day by day. Unnecessary talking makes the reasons of wasting the money and time for the…

Real-time localization of mobile device by filtering method for sensor fusion

NASA Astrophysics Data System (ADS)

Fuse, Takashi; Nagara, Keita

2017-06-01

Most of the applications with mobile devices require self-localization of the devices. GPS cannot be used in indoor environment, the positions of mobile devices are estimated autonomously by using IMU. Since the self-localization is based on IMU of low accuracy, and then the self-localization in indoor environment is still challenging. The selflocalization method using images have been developed, and the accuracy of the method is increasing. This paper develops the self-localization method without GPS in indoor environment by integrating sensors, such as IMU and cameras, on mobile devices simultaneously. The proposed method consists of observations, forecasting and filtering. The position and velocity of the mobile device are defined as a state vector. In the self-localization, observations correspond to observation data from IMU and camera (observation vector), forecasting to mobile device moving model (system model) and filtering to tracking method by inertial surveying and coplanarity condition and inverse depth model (observation model). Positions of a mobile device being tracked are estimated by system model (forecasting step), which are assumed as linearly moving model. Then estimated positions are optimized referring to the new observation data based on likelihood (filtering step). The optimization at filtering step corresponds to estimation of the maximum a posterior probability. Particle filter are utilized for the calculation through forecasting and filtering steps. The proposed method is applied to data acquired by mobile devices in indoor environment. Through the experiments, the high performance of the method is confirmed.

Anaerobic digestion of food waste using yeast.

PubMed

Suwannarat, Jutarat; Ritchie, Raymond J

2015-08-01

Fermentative breakdown of food waste seems a plausible alternative to feeding food waste to pigs, incineration or garbage disposal in tourist areas. We determined the optimal conditions for the fermentative breakdown of food waste using yeast (Saccharomyces cerevisiae) in incubations up to 30days. Yeast efficiently broke down food waste with food waste loadings as high as 700g FW/l. The optimum inoculation was ≈46×10(6)cells/l of culture with a 40°C optimum (25-40°C). COD and BOD were reduced by ≈30-50%. Yeast used practically all the available sugars and reduced proteins and lipids by ≈50%. Yeast was able to metabolize lipids much better than expected. Starch was mobilized after very long term incubations (>20days). Yeast was effective in breaking down the organic components of food waste but CO2 gas and ethanol production (≈1.5%) were only significant during the first 7days of incubations. Copyright © 2015 Elsevier Ltd. All rights reserved.

Psychophysiological tests and provocation of subjects with mobile phone related symptoms.

PubMed

Wilén, Jonna; Johansson, Amanda; Kalezic, Nebojsa; Lyskov, Eugene; Sandström, Monica

2006-04-01

The aim of the present study was to investigate the effect of exposure to a mobile phone-like radiofrequency (RF) electromagnetic field on persons experiencing subjective symptoms when using mobile phones (MP). Twenty subjects with MP-related symptoms were recruited and matched with 20 controls without MP-related symptoms. Each subject participated in two experimental sessions, one with true exposure and one with sham exposure, in random order. In the true exposure condition, the test subjects were exposed for 30 min to an RF field generating a maximum SAR(1g) in the head of 1 W/kg through an indoor base station antenna attached to a 900 MHz GSM MP. The following physiological and cognitive parameters were measured during the experiment: heart rate and heart rate variability (HRV), respiration, local blood flow, electrodermal activity, critical flicker fusion threshold (CFFT), short-term memory, and reaction time. No significant differences related to RF exposure conditions were detected. Also no differences in baseline data were found between subject groups, except for the reaction time, which was significantly longer among the cases than among the controls the first time the test was performed. This difference disappeared when the test was repeated. However, the cases differed significantly from the controls with respect to HRV as measured in the frequency domain. The cases displayed a shift in low/high frequency ratio towards a sympathetic dominance in the autonomous nervous system during the CFFT and memory tests, regardless of exposure condition. This might be interpreted as a sign of differences in the autonomous nervous system regulation between persons with MP related subjective symptoms and persons with no such symptoms. (c) 2005 Wiley-Liss, Inc.

G2 Autonomous Control for Cryogenic Delivery Systems

NASA Technical Reports Server (NTRS)

Dito, Scott J.

2014-01-01

The Independent System Health Management-Autonomous Control (ISHM-AC) application development for cryogenic delivery systems is intended to create an expert system that will require minimal operator involvement and ultimately allow for complete autonomy when fueling a space vehicle in the time prior to launch. The G2-Autonomous Control project is the development of a model, simulation, and ultimately a working application that will control and monitor the cryogenic fluid delivery to a rocket for testing purposes. To develop this application, the project is using the programming language/environment Gensym G2. The environment is an all-inclusive application that allows development, testing, modeling, and finally operation of the unique application through graphical and programmatic methods. We have learned G2 through training classes and subsequent application development, and are now in the process of building the application that will soon be used to test on cryogenic loading equipment here at the Kennedy Space Center Cryogenics Test Laboratory (CTL). The G2 ISHM-AC application will bring with it a safer and more efficient propellant loading system for the future launches at Kennedy Space Center and eventually mobile launches from all over the world.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots.

PubMed

Sherwin, Tyrone; Easte, Mikala; Chen, Andrew Tzer-Yeu; Wang, Kevin I-Kai; Dai, Wenbin

2018-02-14

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system.

A Single RF Emitter-Based Indoor Navigation Method for Autonomous Service Robots

PubMed Central

Sherwin, Tyrone; Easte, Mikala; Wang, Kevin I-Kai; Dai, Wenbin

2018-01-01

Location-aware services are one of the key elements of modern intelligent applications. Numerous real-world applications such as factory automation, indoor delivery, and even search and rescue scenarios require autonomous robots to have the ability to navigate in an unknown environment and reach mobile targets with minimal or no prior infrastructure deployment. This research investigates and proposes a novel approach of dynamic target localisation using a single RF emitter, which will be used as the basis of allowing autonomous robots to navigate towards and reach a target. Through the use of multiple directional antennae, Received Signal Strength (RSS) is compared to determine the most probable direction of the targeted emitter, which is combined with the distance estimates to improve the localisation performance. The accuracy of the position estimate is further improved using a particle filter to mitigate the fluctuating nature of real-time RSS data. Based on the direction information, a motion control algorithm is proposed, using Simultaneous Localisation and Mapping (SLAM) and A* path planning to enable navigation through unknown complex environments. A number of navigation scenarios were developed in the context of factory automation applications to demonstrate and evaluate the functionality and performance of the proposed system. PMID:29443906

A New Signaling Architecture THREP with Autonomous Radio-Link Control for Wireless Communications Systems

NASA Astrophysics Data System (ADS)

Hirono, Masahiko; Nojima, Toshio

This paper presents a new signaling architecture for radio-access control in wireless communications systems. Called THREP (for THREe-phase link set-up Process), it enables systems with low-cost configurations to provide tetherless access and wide-ranging mobility by using autonomous radio-link controls for fast cell searching and distributed call management. A signaling architecture generally consists of a radio-access part and a service-entity-access part. In THREP, the latter part is divided into two steps: preparing a communication channel, and sustaining it. Access control in THREP is thus composed of three separated parts, or protocol phases. The specifications of each phase are determined independently according to system requirements. In the proposed architecture, the first phase uses autonomous radio-link control because we want to construct low-power indoor wireless communications systems. Evaluation of channel usage efficiency and hand-over loss probability in the personal handy-phone system (PHS) shows that THREP makes the radio-access sub-system operations in a practical application model highly efficient, and the results of a field experiment show that THREP provides sufficient protection against severe fast CNR degradation in practical indoor propagation environments.

Scene Segmentation For Autonomous Robotic Navigation Using Sequential Laser Projected Structured Light

NASA Astrophysics Data System (ADS)

Brown, C. David; Ih, Charles S.; Arce, Gonzalo R.; Fertell, David A.

1987-01-01

Vision systems for mobile robots or autonomous vehicles navigating in an unknown terrain environment must provide a rapid and accurate method of segmenting the scene ahead into regions of pathway and background. A major distinguishing feature between the pathway and background is the three dimensional texture of these two regions. Typical methods of textural image segmentation are very computationally intensive, often lack the required robustness, and are incapable of sensing the three dimensional texture of various regions of the scene. A method is presented where scanned laser projected lines of structured light, viewed by a stereoscopically located single video camera, resulted in an image in which the three dimensional characteristics of the scene were represented by the discontinuity of the projected lines. This image was conducive to processing with simple regional operators to classify regions as pathway or background. Design of some operators and application methods, and demonstration on sample images are presented. This method provides rapid and robust scene segmentation capability that has been implemented on a microcomputer in near real time, and should result in higher speed and more reliable robotic or autonomous navigation in unstructured environments.

Characterization of the solid low level mixed waste inventory for the solid waste thermal treatment activity - III

DOE Office of Scientific and Technical Information (OSTI.GOV)

Place, B.G., Westinghouse Hanford

1996-09-24

The existing thermally treatable, radioactive mixed waste inventory is characterized to support implementation of the commercial, 1214 thermal treatment contract. The existing thermally treatable waste inventory has been identified using a decision matrix developed by Josephson et al. (1996). Similar to earlier waste characterization reports (Place 1993 and 1994), hazardous materials, radionuclides, physical properties, and waste container data are statistically analyzed. In addition, the waste inventory data is analyzed to correlate waste constituent data that are important to the implementation of the commercial thermal treatment contract for obtaining permits and for process design. The specific waste parameters, which were analyzed,more » include the following: ``dose equivalent`` curie content, polychlorinated biphenyl (PCB) content, identification of containers with PA-related mobile radionuclides (14C, 12 79Se, 99Tc, and U isotopes), tritium content, debris and non-debris content, container free liquid content, fissile isotope content, identification of dangerous waste codes, asbestos containers, high mercury containers, beryllium dust containers, lead containers, overall waste quantities, analysis of container types, and an estimate of the waste compositional split based on the thermal treatment contractor`s proposed process. A qualitative description of the thermally treatable mixed waste inventory is also provided.« less

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Microbial activity in argillite waste storage cells for the deep geological disposal of French bituminous medium activity long lived nuclear waste: Impact on redox reaction kinetics and potential

NASA Astrophysics Data System (ADS)

Albrecht, A.; Leone, L.; Charlet, L.

2009-04-01

Micro-organisms are ubiquitous and display remarkable capabilities to adapt and survive in the most extreme environmental conditions. It has been recognized that microorganisms can survive in nuclear waste disposal facilities if the required major (P, N, K) and trace elements, a carbon and energy source as well as water are present. The space constraint is of particular interest as it has been shown that bacteria do not prosper in compacted clay. An evaluation of the different types of French medium and high level waste, in a clay-rich host rock storage environment at a depth between 500 and 600 m, has shown that the bituminous waste is the most likely candidate to accommodate significant microbial activity. The waste consists of a mixture of bitumen (source of bio-available organic matter and H2 as a consequence of its degradation and radiolysis) and nitrates and sulphates kept in a stainless steel container. The assumption, that microbes only have an impact on reaction kinetics needs to be reassessed in the case where nitrates and sulphates are present since both are known not to react at low temperatures without bacterial catalysis. The additional impact of both oxy-anions and their reduced species on redox conditions, radionuclide speciation and mobility gives this evaluation their particular relevance. Storage architecture proposes four primary waste containers positioned into armoured cement over packs and placed with others into the waste storage cell itself composed of a cement mantle enforcing the argillite host rock, the latter being characterized by an excavation damaged zone constricted both in space and in time and a pristine part of 60 m thickness. Bacterial activity within the waste and within the pristine argillite is disregarded because of the low water activity (< 0.7) and the lack of space, respectively. The most probable zones of microbial activity, those likely to develop sustainable biofilms are within the interface zones. A major restriction for the initial development of microbial colonies is the high pH controlled by the cement solution. Archea are able to survive at high pH, when hydrogen gas is available as an energy sources; they are therefore likely candidates for an initial biofilm formation. It can not be excluded that other micro-organisms such as fungi may develop as well in such conditions. It also needs to be evaluated how conditions change with time and how this affects microbial ecology. The following is known about the impact of microbes on the waste cell biogeochemistry: • enhancement of redox reaction kinetics (particularly involving nitrates, sulphate, selenate, pertechnetate, organic matter and H2), thus a faster move towards reducing conditions, important to guarantee the low mobility of critical RN, • increased retardation of mobile RN in biofilms (i.e. adsorption on microbial cell surfaces and products of possible biomineralization); complexation by embedded extracellular polymeric substances, • secretion of organic substances (i.e siderophores) known to complex RN and to enhance their mobility, • biodegradation of dissolved organic substances, such as those released form the waste (organic acids) or generated by microbes, • production of CO2 or other gases that may affect cement integrity. Quantification of microbial activity has been implemented into biogeochemical models but the important parameters describing their evolution and metabolism in the real system (ecology, mass, energy sources, metabolites) need to be obtained via specific empirical studies. Such studies require a particular trans-disciplinary approach that brings together the competence of chemical and environmental engineers, microbiologists and system modellers.