WorldWideScience

Sample records for backhoes

  1. Backhoe 3D "gold standard" image

    Science.gov (United States)

    Gorham, LeRoy; Naidu, Kiranmai D.; Majumder, Uttam; Minardi, Michael A.

    2005-05-01

    ViSUAl-D (VIsual Sar Using ALl Dimensions), a 2004 DARPA/IXO seedling effort, is developing a capability for reliable high confidence ID from standoff ranges. Recent conflicts have demonstrated that the warfighter would greatly benefit from the ability to ID targets beyond visual and electro-optical ranges[1]. Forming optical-quality SAR images while exploiting full polarization, wide angles, and large bandwidth would be key evidence such a capability is achievable. Using data generated by the Xpatch EM scattering code, ViSUAl-D investigates all degrees of freedom available to the radar designer, including 6 GHz bandwidth, full polarization and angle sampling over 2π steradians (upper hemisphere), in order to produce a "literal" image or representation of the target. This effort includes the generation of a "Gold Standard" image that can be produced at X-band utilizing all available target data. This "Gold Standard" image of the backhoe will serve as a test bed for future more relevant military targets and their image development. The seedling team produced a public release data which was released at the 2004 SPIE conference, as well as a 3D "Gold Standard" backhoe image using a 3D image formation algorithm. This paper describes the full backhoe data set, the image formation algorithm, the visualization process and the resulting image.

  2. Backhoe loaders as base machines in logging operations.

    OpenAIRE

    Johansson, Jerry

    1995-01-01

    Time studies and an ergonomic assessment were carried out in logging operations for three logging machines based on backhoe loader chassis. The time studies were completed with a follow-up study of one backhoe loader-based single-grip harvester. The studies indicated a productivity at the same level as that of specialized Nordic logging machines. Ergonomics also proved to be good. Mean ground pressure exerted by the backhoe loader-based logging machines was a little higher than for some of th...

  3. Teleoperation and computer control of a backhoe/manipulator system

    International Nuclear Information System (INIS)

    Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

  4. Clamshell vs. Backhoe Excavation of Permeable Reactive Barriers

    OpenAIRE

    Rajandrea Sethi; Steve Day; Antonio Di Molfetta

    2011-01-01

    Problem statement: Permeable Reactive Barriers (PRBs) are one of the most widespread solutions for the remediation of contaminated aquifers. Although, a variety of excavation methods have been developed, backhoe (hydraulic excavators) are commonly used for the construction of PRBs in North America. Approach: In Europe, the most common method of slurry excavation is with a hydraulic grab and crane. The aim of this study is to compare clamshell and backhoe excavation techniques and to describe ...

  5. Static Analysis of Loader Backhoe Chassis 770 Model.

    Directory of Open Access Journals (Sweden)

    Anand Thorat

    2013-07-01

    Full Text Available Construction industry is undoubtedly the backbone and propelling force behind our progress. In response to booming construction industry, utilization of earth moving equipment has increased considerably leading to high rate of failure. Backhoe Loader chassis is the skeleton of a commercial vehicles. The main function of the truck chassis is to support the different components like engine, cabin, transmission, front axle and rear axle. So it is necessary to analyze chassis to avoid failure while it is in working condition. Computer simulation techniques provides a great leverage in design optimization for weight reduction, better material utilization, shorter design cycles and elimination of major part of prototype testing. Static analysis of the chassis shows the equivalent stress and deformation contour when Backhoe Loader is in working condition. From static analysis, high stress area can be found out when Backhoe Loader is in different load condition. Also by providing some design changes, stress can be minimized.

  6. Clamshell vs. Backhoe Excavation of Permeable Reactive Barriers

    Directory of Open Access Journals (Sweden)

    Rajandrea Sethi

    2011-01-01

    Full Text Available Problem statement: Permeable Reactive Barriers (PRBs are one of the most widespread solutions for the remediation of contaminated aquifers. Although, a variety of excavation methods have been developed, backhoe (hydraulic excavators are commonly used for the construction of PRBs in North America. Approach: In Europe, the most common method of slurry excavation is with a hydraulic grab and crane. The aim of this study is to compare clamshell and backhoe excavation techniques and to describe the installation of a full scale PRB using a crawler crane equipped with a hydraulic grab. Results: Backhoes have been used on a larger number of PRB installations and permit a rapid rate of excavation and generally require less skill to master. Long stick backhoes are capable of digging as deep as 30 m. Instead, clamshell excavators require more skill to use, but are able to excavate to a depth of more than 70 m, with a high degree of precision. Two similar case studies are presented to compare the relative merits of the two excavation techniques. Conclusion/Recommendations: The first describes a funnel and gate system excavated by long stick backhoe, in the US, whose longest gate is 0.73 m thick, 68 m long and up to 13 m deep. The latter is a 0.6 m thick, 120 m long and 13 m deep continuous PRB, excavated by crane mounted grab to remediate a chlorinated hydrocarbons plume, in Avigliana, near the city of Torino, in Italy. Comparison of the two techniques is performed on the availability of instrumentation, excavation power and precision, potential for cost savings.

  7. Static Analysis of Loader Backhoe Chassis 770 Model.

    OpenAIRE

    Anand Thorat; G.V.R Seshagiri Rao

    2013-01-01

    Construction industry is undoubtedly the backbone and propelling force behind our progress. In response to booming construction industry, utilization of earth moving equipment has increased considerably leading to high rate of failure. Backhoe Loader chassis is the skeleton of a commercial vehicles. The main function of the truck chassis is to support the different components like engine, cabin, transmission, front axle and rear axle. So it is necessary to analyze chassis to avoid failure whi...

  8. Experimenting with Electrical Load Sensing on a Backhoe Loader

    DEFF Research Database (Denmark)

    Andersen, Torben Ole; Hansen, Michael Rygaard; Pedersen, Henrik Clemmensen

    2005-01-01

    Where traditional load sensing is made using hydro-mechanical regulators and load pressure is fed back hydraulically, electrical load sensing employs the usage of electronic sensors and electrically actuated components. This brings forth new possibilities, but also imposes problems concerning...... dynamic performance and stability. In this paper the possibilities for implementing electrical load sensing (ELS) on a backhoe loader is investigated. Major components in the system are modelled and verified, and a linear model of the pump is presented, which is used for designing the pump controller. By...... comparing results from linear analyses performed on both the conventional hydraulic load sensing system (HLS) and the modified electrical load sensing system, it is concluded that system performance closely matching the conventional system is obtainable....

  9. A REVIEW ON KINEMATICS OF HYDRAULIC EXCAVATOR’S BACKHOE ATTACHMENT

    Directory of Open Access Journals (Sweden)

    BHAVESHKUMAR P. PATEL,

    2011-03-01

    Full Text Available An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, ground leveling, carrying loads, dumping loads and straight traction. These operations require coordinated movement of boom, arm and bucket in order to control the bucket tip position to follow a desired trajectory. This paper focuses on review of a work carried out by researchers in the field of kinematic modeling of the backhoe attachment to understand relations between the position and rientation of the bucket and spatial positions of joint-links. Kinematic modeling is helpful for understanding and improving the operating performance of the backhoe excavation machine. There are many research work done by researchers in the same field but still there is a scope to develop kinematic modeling of backhoe attachment to predict the digging trajectory as well as better controlling ofbackhoe attachment to carry out required digging task at desired location.

  10. A REVIEW ON KINEMATICS OF HYDRAULIC EXCAVATOR’S BACKHOE ATTACHMENT

    OpenAIRE

    BHAVESHKUMAR P. PATEL,; DR. J. M. PRAJAPATI

    2011-01-01

    An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, ground leveling, carrying loads, dumping loads and straight traction. These operations require coordinated movement of boom, arm and bucket in order to control the bucket tip position to follow a desired trajectory. This paper focuses on review of a work carried out by researchers in the field of kinematic modeling of the backhoe attachment to understand re...

  11. Reducing whole-body vibration exposure in backhoe loaders by education of operators

    OpenAIRE

    Langer, Thomas H.; Iversen, Thorkil K.; Andersen, Niels K.; Ole Ø. Mouritsen; Michael R. Hansen

    2012-01-01

    Whole-body vibration is a health hazard for operators of construction machinery. The level of whole-body vibration exposure on the operator is governed by three different factors; performance of the suspension system of the machine, planning of the work and the skills of the operator.In this research work it is investigated whether there is a potential in bringing down the level of whole-body vibration exposure by educating operators of backhoe loaders. This is carried out by an experimental ...

  12. A comparison of nonquadratic regularization implementations on the backhoe data set

    Science.gov (United States)

    Kondrath, Andrew S.; Rigling, Brian D.

    2007-04-01

    A sparse-aperture imaging problem arises in synthetic aperture radar (SAR) when parts of the phase history data are corrupted or incomplete. The resulting images reconstructed from the sparse aperture SAR are degraded with elevated sidelobes. One effective method for enhancing these images has been nonquadratic regularization. Nonquadratic regularization employs a cost function which contains an image formation error term and a feature enhancement term. In the past, a quasi-Newton algorithm was applied to minimize the nonquadratic regularization cost function. Two alternatives employ the stochastic gradient method to minimize the nonquadratic regularization cost function. In this paper, these three algorithms based on the nonquadratic regularization cost function are applied to corrupted phase history data and evaluated based on output image quality and time required for image generation and enhancement. The phase history data will be from the Xpatch simulated backhoe data set.

  13. Analysis of in-situ renewal technology for the backhoe bucket bores

    International Nuclear Information System (INIS)

    The overall aim of this article is to outline the progress of the research on how to develop an economically and scientifically justified backhoe buckets boreholes renewal technology by using mobile on-site technological equipment. Today the new mobile (in-situ) repair technologies are extensively used for the specialized equipment and machinery repairs. This repair technology is deployed directly on the damaged product: repair equipment is installed by using specialized centering devices. The bucket bores central axes are used as a reference base and damaged layer of material is removed mechanically applying turning operation. Subsequently the renewable surface is covered by new material layer by means of regular MIG/MAG welding. The last technological operation is final turning to the nominal diameter. Outlined renewal technology should meet high expectations – this necessitates in-depth and systematic study of pins and bores which are the most repaired objects of shovel bucket excavators. Therefore, research on established accuracy and technical requirements, both for the repaired unit and technological equipment in line with in-situ repair technology specifics, has been done. It was supported by impact analysis of the technological regimes to surface integrity with ambition to provide practical recommendations for the optimal choice of the technological regimes. Key words: in-situ repair technology, surface integrity, technological parameters

  14. Evaluation of stereoscopic video cameras synchronized with the movement of an operator's head on the teleoperation of the actual backhoe shovel

    Science.gov (United States)

    Minamoto, Masahiko; Matsunaga, Katsuya

    1999-05-01

    Operator performance while using a remote controlled backhoe shovel is described for three different stereoscopic viewing conditions: direct view, fixed stereoscopic cameras connected to a helmet mounted display (HMD), and rotating stereo camera connected and slaved to the head orientation of a free moving stereo HMD. Results showed that the head- slaved system provided the best performance.

  15. Development of a portable teleoperated robot for the manipulation of a backhoe shovel for the restoration of disaster-stricken sites

    Science.gov (United States)

    Tanaka, Toshihiko; Sakai, Yosiharu; Konomi, Yosiyuki; Chayama, Kazuhiro; Minamoto, Masahiko; Matsunaga, Katsuya

    1999-11-01

    Restoration activities after disasters such as landslides or rock avalanches require rapid action, but in fact, in most cases these activities are very inefficient because of the danger of secondary disasters. A system which can operate reconstruction machinery by remote control was therefore developed, and it was installed on general-purpose construction machines (backhoe shovels). Control performance experiments and field experiments on this developed system were carried out, and its effectiveness was confirmed.

  16. Development of a teleoperated backhoe for buried waste excavation

    International Nuclear Information System (INIS)

    For nearly five decades the United States (US) Department of Energy (DOE) and its predecessor agencies have engaged in broad-based research and development activities as well as nuclear weapons component production. As a by-product of these activities, large quantities of waste materials have been granted. One of the most common approaches used for solid waste storage was to bury waste containers in pits and trenches. With the current emphasis on environmental restoration, DOE now plans to either retrieve much of the legacy of buried waste or stabilize the waste in place via in situ vitrification or other means. Because of the variety of materials that have been buried over the years, the hazards of retrieval are significant if performed using conventional manned operations. The potential hazards, in addition to radiation exposure, include pyrophorics, toxic chemicals, and explosives. Although manifests exist for much of the buried waste, these records are often incomplete compared to today's requirements. Because of the potential hazards and uncertainty about waste contents and container integrity, it is highly desirable to excavate these wastes using remotely operated equipment. In this paper the authors describe the development of a teleoperated military tractor called the Small Emplacement Excavator (SEE). Development of the SEE is being funded jointly by both DOE and the US Army. The DOE sponsor is the Office of Technology Development (OTD) Robotics Program. The US Army sponsor is the Program Manager for Ammunition Logistics, Picatinny Arsenal. The primary interest for DOE is in the application to remote excavation of buried waste, while the primary emphasis for the US Army is in the remote retrieval of unexploded ordnance. Technical requirements for these two tasks are very similar and, therefore, justify a joint development project. 1 ref

  17. Telemanipulation and supervisory control of a backhoe excavator

    Science.gov (United States)

    Luengo, Oscar; Barrientos, Antonio

    1998-12-01

    The excavation tasks present one of the more challenging area in robotic research. The environment is highly unstructured, the forces that appear are very large it is very important the detection of underground obstacles to avoid any damage, and the modeling of the hydraulic actuators is highly nonlinear. In recent years, the remote control of the excavation has found applications in very dangerous environments for human beings, like nuclear power plants, nuclear and chemical waste facilities and terrestrial and extra-terrestrial mining. Some kind of intelligence is required due to the presence of unexpected situations. The first approach to deal with the problem is to put a human being in the loop, that is: teleoperation. The next step towards the total automation of the excavation is the supervisory control of the task. In this scheme, the operator acts like a supervisor, providing high level commands, and checking the development and accomplishment of the task. The solutions that DISAM has developed are presented in this paper, as well as future work that will be very useful in the search for the total automation of excavation tasks.

  18. Perancangan Sistem Hidraulik Dan Mekanisme Gerak Elemen Batang Pada Excavator Backhoe

    OpenAIRE

    Limbong, Jonlamsuis

    2010-01-01

    Mengingat kebutuhan pesawat angkat yang praktis, efisien dan ekonomis sesuai dengan kemajuan tehnologi dalam bidang pembangunan dan industri yang semakin berkembang pesat. Untuk itu kita ketahui dalam era globalisasi dan industrilisasi seperti sekarang ini dan masa-masa yang akan datang kebutuhan akan pesawat pengangkat sudah semakin mendesak sebagai sarana pendukung pekerjaan yang membutuhkan gerak langkah yang praktis khususnya sistem hidrolik. Karena dengan bentuk yang kecil dapat menghasi...

  19. 36 CFR 228.4 - Plan of operations-notice of intent-requirements.

    Science.gov (United States)

    2010-07-01

    ... bulldozers or backhoes, or the cutting of trees, unless those operations otherwise might cause a significant... as bulldozers or backhoes, or the cutting of trees, unless those operations otherwise will...

  20. 78 FR 79560 - Buy America Waiver Notification

    Science.gov (United States)

    2013-12-30

    ... Volt, which was identified by many commenters in a November 21, 2011, Federal Register Notice (76 FR... equipment, such as backhoes, street sweepers, tractors and low emission locomotives), including projects to... (including sedans, vans, pickups, SUVs, trucks, buses, and equipment, such as backhoes, street sweepers,...

  1. Technology transfer of operator-in-the-loop simulation

    Science.gov (United States)

    Yae, K. H.; Lin, H. C.; Lin, T. C.; Frisch, H. P.

    1994-01-01

    The technology developed for operator-in-the-loop simulation in space teleoperation has been applied to Caterpillar's backhoe, wheel loader, and off-highway truck. On an SGI workstation, the simulation integrates computer modeling of kinematics and dynamics, real-time computational and visualization, and an interface with the operator through the operator's console. The console is interfaced with the workstation through an IBM-PC in which the operator's commands were digitized and sent through an RS-232 serial port. The simulation gave visual feedback adequate for the operator in the loop, with the camera's field of vision projected on a large screen in multiple view windows. The view control can emulate either stationary or moving cameras. This simulator created an innovative engineering design environment by integrating computer software and hardware with the human operator's interactions. The backhoe simulation has been adopted by Caterpillar in building a virtual reality tool for backhoe design.

  2. Viking magnetic properties experiment - Extended mission results

    Science.gov (United States)

    Hargraves, R. B.; Collinson, D. W.; Arvidson, R. E.; Cates, P. M.

    1979-01-01

    The backhoe magnets on Viking Lander (VL) 2 were successfully cleaned, followed by a test involving successive insertions of the cleaned backhoe into the surface. Rapid saturation of the magnets confirmed evidence from primary mission results that the magnetic mineral in the Martian surface is widely distributed, most probably in the form of composite particles of magnetic and nonmagnetic minerals. An image of the VL 2 backhoe taken via the X4 magnifying mirror demonstrates the fine-grained nature of the attracted magnetic material. The presence of maghemite and its occurrence as a pigment in, or a thin coating on, all mineral particles or as discrete, finely divided and widely distributed crystallites, are consistent with data from the inorganic analysis experiments and with laboratory simulations of results of the biology experiments on Mars.

  3. SEWAGE SLUDGE ENTRENCHMENT SYSTEM FOR USE BY SMALL MUNICIPALITIES

    Science.gov (United States)

    A method of disposing of dewatered sewage sludge by entrenching it into soil was developed for small communities. Readily available and relatively inexpensive equipment was used. Included were a tractor equipped with a loader and backhoe, and dump truck or concrete mixer truck. A...

  4. Sampling and Hydrogeology of the Vadose Zone Beneath the 300 Area Process Ponds

    International Nuclear Information System (INIS)

    Four open pits were dug with a backhoe into the vadose zone beneath the former 300 Area Process Ponds in April 2003. Samples were collected about every 2 feet for physical, chemical, and/or microbiological characterization. This reports presents a stratigraphic and geohydrologic summary of the four excavations

  5. 78 FR 36296 - Buy America Waiver Notification

    Science.gov (United States)

    2013-06-17

    ...This notice provides information regarding the FHWA's finding that a conditional Buy America waiver is appropriate for the obligation of Federal-aid funds for 74 vehicle projects involving the purchase of approximately 3,500 vehicles (including sedans, vans, pickups, SUVs, trucks, buses, and equipment, such as backhoes, street sweepers, and tractors), including projects to retrofit vehicles......

  6. Viking magnetic properties investigation - Further results

    Science.gov (United States)

    Hargraves, R. B.; Collinson, D. W.; Arvidson, R. E.; Spitzer, C. R.

    1976-01-01

    The amounts of magnetic particles held on the reference test chart and backhoe magnets on lander 2 and lander 1 are comparable, indicating the presence of an estimated 3 to 7 percent by weight of relatively pure, strongly magnetic particles in the soil at the lander 2 sampling site. Preliminary spectrophotometric analysis of the material held on the backhoe magnets on lander 1 indicates that its reflectance characteristics are indistinguishable from material within a sampling trench with which it has been compared. The material on the RTC magnet shows a different spectrum, but it is suspected that the difference is the result of a reflectance contribution from the magnesium metal covering on the magnet. It is argued that the results indicate the presence, now or originally, of magnetite, which may be titaniferous.

  7. SOIL-TOOL INTERACTION AS A REVIEW FOR DIGGING OPERATION OF MINI HYDRAULIC EXCAVATOR

    Directory of Open Access Journals (Sweden)

    BHAVESHKUMAR P. PATEL,

    2011-02-01

    Full Text Available Since the late 50’s hydraulics have been the systems of choice where high force-to-weight ratios are required. Today hydraulic excavators are widely used in construction, mining, excavation, and forestryapplications. The skilled operator also cannot know about the terrain condition, soil parameters, and the soil-tool interaction forces exerted during excavation operation are required to find because these forces helpful for better design of the tool, backhoe parts and for trajectory planning. This paper focuses on the review of a work carried out by researchers in the same field which includes the fundamental of soil mechanics, soil tool interaction forces and various parameters affect on the soil-tool interaction during itsactual digging action. This area is open to carry out further research to know the effect of various parameters on soil-tool interaction, prediction of digging trajectory and excavation forces and for robust design of backhoe mechanism.

  8. Viking magnetic properties investigation: further results.

    Science.gov (United States)

    Hargraves, R B; Collinson, D W; Arvidson, R E; Spitzer, C R

    1976-12-11

    The amounts of magnetic particles held on the reference test chart and backhoe magnets on lander 2 and lander 1 are comparable, indicating the presence of an estimated 3 to 7 percent by weight of relatively pure, strongly magnetic particles in the soil at the lander 2 sampling site. Preliminary spectrophotometric analysis of the material held on the backhoe magnets on lander 1 indicates that its reflectance characteristics are indistinguishable from material within a sampling trench with which it has been compared. The material on the RTC magnet shows a different spectrum, but it is suspected that the difference is the result of a reflectance contribution from the magnesium metal covering on the magnet. It is argued that the results indicate the presence, now or originally, of magnetite, which may be titaniferous. PMID:17797090

  9. Human Machine Interaction by Simulation of Dynamics of Construction Machinery

    DEFF Research Database (Denmark)

    Langer, Thomas Heegaard

    This industrial Ph.D. project concerns whole-body vibrations in human operated construction machinery. The emissions of these vibrations is closely related to the subjective experience of comfort and in some cases these vibrations can occur in a level which can cause the operator back disorders...... different kinds of machinery; an articulated backhoe loader and an articulated dump truck. In this work a standardized procedure containing a set of duty cycles for measuring and declaring whole-body vibrations has been proposed for both of these machines. The result of the measuring is important...... and optimize the settings of the suspension systems. In general for machinery that is relative complex to operate such as the backhoe loader education carries the highest potential for improving comfort and reduce the vibrations. A dump truck on the other hand is very easy to drive and requires proper...

  10. Load Unit Geometry Optimization for Heavy Duty Machinery

    OpenAIRE

    Samuelsson, Ted

    2015-01-01

    The construction equipment industry is developing at a fast pace, increasing the expectation on the next-generation machines. Wheel loaders and backhoe loaders are part of this evolution and all subsystems in those machines need to be developed to meet the high demands in energy eciency and productivity. One of the most important parts of the wheel loader is the loading unit. This is traditionally designed using highly experienced engineers and CAD software. To simplify the early stages of th...

  11. Camera evidence: visibility analysis through a multicamera viewpoint

    Science.gov (United States)

    Bajuk, Mark

    1992-06-01

    A major criterion in the design of backhoes (and other heavy machinery) is the ability of the operator to see all critical portions of the vehicle and the surrounding environment. Computer graphics provides a method for analyzing this ability prior to the building of full-scale wooden models. By placing the computer graphic camera at the operator's eyepoint, designers can detect poor placement of supports, blind spots, etc. In this type of analysis, the camera becomes an active, yet somewhat imperfect, participant in our understanding of what an operator of the backhoe 'sees'. In order to simulate a backhoe operator's vision from within a cab, one needs to expand the angle of view of the camera to mimic unfocused, peripheral vision. A traditional wide-angle lens creates extreme distortions that are not present in 'natural' vision, and is therefore hardly an adequate representation. The solution we arrived at uses seven cameras fanned out horizontally in order to capture a relatively undistorted 155 degree angle of view. In addition, another camera displays and numerically analyzes the percentage of the loader bucket visible and blocked. These two views are presented simultaneously in order to address both the 'naturalistic' and quantitative needs of the designers, as well as to point to the incompleteness of any one representation of a scene. In the next phase of this project we will bring this type of analysis into a machine environment more conducive to interactivity: a backhoe simulator with levers to control the vehicle and bucket positions, viewed through a virtual reality environment.

  12. Perencanaan Disain Deep Dig Arm pada Kapal Water Witch Untuk Pengerukan Sampah di Kali Mas Surabaya

    OpenAIRE

    Tony Bambang Musriyadi; Erno Setyawan; Irfan Syarif Arief

    2014-01-01

    Kali Mas merupaka salah satu Sungai di Surabaya yang bermanfaat bagi hajat hidup penduduk Surabaya,Namun seiring berjalan waktu Kali Mas mengalami pendangkalan dan polusi sampah padat akibat pembuangan sampah sembarangan.Oleh karena itu penting untuk melakuakan pengerukan sendimen dan sampah yang efektif dan tepat agar tidak menggangu fungsi utama dari Kali Mas,maka perlu suatu alat untuk pengerukan,Backhoe dreger merupak alat yang tepat untuk pengerukan, akan tetapi harus disesuaikan lengan ...

  13. A verification library for multibody simulation software

    Science.gov (United States)

    Kim, Sung-Soo; Haug, Edward J.; Frisch, Harold P.

    1989-01-01

    A multibody dynamics verification library, that maintains and manages test and validation data is proposed, based on RRC Robot arm and CASE backhoe validation and a comparitive study of DADS, DISCOS, and CONTOPS that are existing public domain and commercial multibody dynamic simulation programs. Using simple representative problems, simulation results from each program are cross checked, and the validation results are presented. Functionalities of the verification library are defined, in order to automate validation procedure.

  14. Safe Excavation

    OpenAIRE

    ECT Team, Purdue

    2007-01-01

    Excavating with a backhoe or similar equipment has the potential risk of hitting an underground utility which could cause serious injuries and expensive damages. An electronic device that provides a real-time warning of the utility lines immediately ahead of the digging tool and provides an easily interpreted, real-time computer readout of the depth, location, and size buried metallic objects. Developed by Dr. Leonhard E. Bernold, it consists of an active metal detector search coil; a signal ...

  15. The development of a frameless glass door made for wheel loaders

    OpenAIRE

    Hult, Josefin

    2014-01-01

    This thesis performed on master level covers an assignment given by the cab division at Volvo Construction Equipment (Eskilstuna, Sweden). The thesis has been carried out by Josefin Hult during the period 2014-01-23 to 2014-05-30 at Mälardalen University. Volvo Construction Equipment manufactures products including wheel loaders, backhoe loaders and articulated haulers. The assignment involves developing the standard door for larger wheel loaders. The current door has a welded frame surroundi...

  16. Slingerland Receives 2012 G. K. Gilbert Award: Response

    Science.gov (United States)

    Slingerland, Rudy L.

    2013-09-01

    I'm deeply honored to receive the Earth and Planetary Surface Processes G. K. Gilbert Award, in no small part because Gilbert's application of simple physical principles to Earth surface processes has always been an inspiration to me. My desire to study the transportation of debris by running water started a long time ago on our family farm, where re-engineering the local stream with a backhoe was a rewarding afternoon activity.

  17. SOIL-TOOL INTERACTION AS A REVIEW FOR DIGGING OPERATION OF MINI HYDRAULIC EXCAVATOR

    OpenAIRE

    BHAVESHKUMAR P. PATEL,; DR. J. M. PRAJAPATI

    2011-01-01

    Since the late 50’s hydraulics have been the systems of choice where high force-to-weight ratios are required. Today hydraulic excavators are widely used in construction, mining, excavation, and forestryapplications. The skilled operator also cannot know about the terrain condition, soil parameters, and the soil-tool interaction forces exerted during excavation operation are required to find because these forces helpful for better design of the tool, backhoe parts and for trajectory planning....

  18. VL1 Digs A Deep Hole On Mars

    Science.gov (United States)

    1977-01-01

    VIKING LANDER DIGS A DEEP HOLE ON MARS -- This six-inch-deep, 12- inch-wide, 29-inch-long hole was dug Feb. 12 and 14 by Viking Lander 1 as the first sequence in an attempt to reach a foot beneath the surface of the red planet. The activity is in the same area where Lander 1 acquired its first soil samples last July. The trench was dug by repeatedly backhoeing in a left-right-center pattern. The backhoe teeth produced the small parallel ridges at the far end of the trench (upper left). The larger ridges running the length of the trench are material left behind during the backhoe operation. What appears to be small rocks along the ridges and in the soil at the near end of the trench are really small dirt clods. The clods and the steepness of the trench walls indicate the material is cohesive and behaves something like ordinary flour. After a later sequence, to be performed March 1 and 2, a soil sample will be taken from the bottom of the trench for inorganic soil analysis and later for biology analysis. Information about the soil taken from the bottom of the trench may help explain the weathering process on Mars and may help resolve the dilemma created by Viking findings that first suggest but then cast doubt on the possibility of life in the Martian soil. The trench shown here is a result of one of the most complex command sequences yet performed by the lander. Viking l has been operating at Chryse Planitia on Mars since it landed July 20, 1976.

  19. Man-in-the-control-loop simulation of manipulators

    Science.gov (United States)

    Chang, J. L.; Lin, Tsung-Chieh; Yae, K. Harold

    1989-01-01

    A method to achieve man-in-the-control-loop simulation is presented. Emerging real-time dynamics simulation suggests a potential for creating an interactive design workstation with a human operator in the control loop. The recursive formulation for multibody dynamics simulation is studied to determine requirements for man-in-the-control-loop simulation. High speed computer graphics techniques provides realistic visual cues for the simulator. Backhoe and robot arm simulations are implemented to demonstrate the capability of man-in-the-control-loop simulation.

  20. SAR imaging from partial-aperture data with frequency-band omissions

    Science.gov (United States)

    Cetin, Mujdat; Moses, Randolph L.

    2005-05-01

    We consider the problem of wide-angle SAR imaging from data with arbitrary frequency-band omissions. We propose an approach that involves composite image formation through combination of subaperture images, as well as point-enhanced, superresolution image reconstruction. This framework provides a number of desirable features including preservation of anisotropic scatterers that do not persist over the full wide-angle aperture; robustness to bandwidth limitations and frequency-band omissions; as well as a characterization of the aspect dependence of scatterers. We present experimental results based on the Air Force Research Laboratory (AFRL) "Backhoe Data Dome," demonstrating the effectiveness of the proposed approach.

  1. Three-dimensional target visualization from wide-angle IFSAR data

    Science.gov (United States)

    Moses, Randolph L.; Adams, Paul; Biddlecome, Tom

    2005-05-01

    We consider the problem of developing three-dimensional (3D) spatial representations of objects by processing sparse, wide-angle radar measurements of that object. We propose an approach in which multiple interferometric SAR (IFSAR) image pairs are obtained, each using a modest angular aperture. Each IFSAR image pair is used to extract 3D scattering locations and attributes, and these points are noncoherently combined to form object reconstructions. Volume rendering methods are employed to represent these spatial points and their attributes. Reconstruction results are presented using synthetically-generated, wide-angle scattering data of a backhoe.

  2. Viking magnetic properties investigation: preliminary results.

    Science.gov (United States)

    Hargraves, R B; Collinson, D W; Spitzer, C R

    1976-10-01

    Three permanent magnet arrays are aboard the Viking lander. By sol 35, one array, fixed on a photometric reference test chart on top of the lander, has clearly attracted magnetic particles from airborne dust; two other magnet arrays, one strong and one weak, incorporated in the backhoe of the surface sampler, have both extracted considerable magnetic mineral from the surface as a result of nine insertions associated with sample acquisition. The loose martian surface material around the landing site is judged to contain 3 to 7 percent highly magnetic mineral which, pending spectrophotometric study, is thought to be mainly magnetite. PMID:17793086

  3. Konstruktion Kuldrag Huddig : Konstruktion av kuldrag till Huddig 1260 grävlastare

    OpenAIRE

    Persson, Jonas

    2015-01-01

    This report describes the construction of a ball connection structure with ball hitch to Huddig AB Backhoe, 1260. As will be used to pull heavy trailers at work. The reason for the project is that people often tend to make their own solutions to this problem, which is often made using modifications of the rear frame, where laws and regulations are unclear on what is legal and what is not. In this report. The laws and regulations will be examined, to see what actually comes to the construction...

  4. Improved grounding system for mountain top radio sites

    Science.gov (United States)

    Watts, L. B.

    1983-06-01

    The use of bentonite (well drillers mud) when installing vertical ground rods was described. This concept was developed to use copper tubing a lateral trench (radial type ground) that has been backfilled with layers of bentonite. In the case of mountain top sites, it is usually possible, with machinery, to obtain a trench that is 200 mm to 600 mm deep. Several of these sites are over 3460 M and are getting a backhoe and dry bentonite to these locations was discussed. In addition to the radial ground, metal oxide varisotors (MOV), bipolar zeners and coax tee's are used to complete the protective scheme.

  5. Three-dimensional sparse-aperture moving-target imaging

    Science.gov (United States)

    Ferrara, Matthew; Jackson, Julie; Stuff, Mark

    2008-04-01

    If a target's motion can be determined, the problem of reconstructing a 3D target image becomes a sparse-aperture imaging problem. That is, the data lies on a random trajectory in k-space, which constitutes a sparse data collection that yields very low-resolution images if backprojection or other standard imaging techniques are used. This paper investigates two moving-target imaging algorithms: the first is a greedy algorithm based on the CLEAN technique, and the second is a version of Basis Pursuit Denoising. The two imaging algorithms are compared for a realistic moving-target motion history applied to a Xpatch-generated backhoe data set.

  6. Suggestion for extended Viking magnetic properties experiment on future Mars missions

    Science.gov (United States)

    Madsen, M. B.; Knudsen, J. M.; Vistisen, L.; Hargraves, R. B.

    1993-03-01

    A remarkable result from the Viking missions was the discovery that the Martian soil is highly magnetic, in the sense that the soil is attracted by a small magnet. The soil was found to adhere almost equally well to a strong and a weak SmCo magnet in the Viking lander backhoe at both landing sites. An array of permanent magnets, with the purpose of establishing if the magnetic particles on Mars are present as discrete or as composite particles, has been constructed.

  7. Viking magnetic properties investigation - Preliminary results

    Science.gov (United States)

    Hargraves, R. B.; Collinson, D. W.; Spitzer, C. R.

    1976-01-01

    Three permanent-magnet arrays are aboard the Viking lander. By sol 35, one array, fixed on a photometric reference test chart on top of the lander, has clearly attracted magnetic particles from airborne dust; two other magnet arrays, one strong and one weak, incorporated in the backhoe of the surface sampler, have both extracted considerable magnetic mineral from the surface as a result of nine insertions associated with sample acquisition. The loose Martian surface material around the landing site is judged to contain 3 to 7 per cent highly magnetic mineral which, pending spectrophotometric study, is thought to be mainly magnetite.

  8. Sample fields of the Viking landers, physical properties, and aeolian processes

    Science.gov (United States)

    Moore, H. J.; Spitzer, C. R.; Bradford, K. Z.; Cates, P. M.; Shorthill, R. W.; Hutton, R. E.

    1979-01-01

    Surface sampler activities on Mars during the Viking extended mission are considered, including excavation of deep trenches, construction of conical piles of materials, backhoe touchdown experiments, and acquisition of contiguous pictures of the surface beneath number 2 terminal descent engines using mirrors. Results of the Physical Properties Investigation that are relevant to aeolian processes are also discussed. Both pictures and surface sampler data indicate that the surface materials in the sample fields of the Viking landers may be grouped, in order of increasing strength, into drift material, crusty to cloddy material, blocky material and rocks.

  9. Pipeman:Safety in Trenches

    OpenAIRE

    ECT Team, Purdue

    2007-01-01

    Even though heavy construction equipment such as a crane or backhoe excavator, is used to perform the task of pipe laying in the trench, workers are required to be inside the trench to guide the excavation, pipe laying, and final alignment. Work place safety has become a major concern in the construction industry over the past few decades, and trench cave-ins have caused serious and often fatal injuries to workers in the United States. The Construction Automation and Robotics Laboratory(CARL)...

  10. Remote Excavation System technology evaluation report: Buried Waste Robotics Program

    Energy Technology Data Exchange (ETDEWEB)

    1993-09-01

    This document describes the results from the Remote Excavation System demonstration and testing conducted at the Idaho National Engineering Laboratory during June and July 1993. The purpose of the demonstration was to ascertain the feasibility of the system for skimming soil and removing various types of buried waste in a safe manner and within all regulatory requirements, and to compare the performances of manual and remote operation of a backhoe. The procedures and goals of the demonstration were previously defined in The Remote Excavation System Test Plan, which served as a guideline for evaluating the various components of the system and discussed the procedures used to conduct the tests.

  11. Remote Excavation System technology evaluation report: Buried Waste Robotics Program

    International Nuclear Information System (INIS)

    This document describes the results from the Remote Excavation System demonstration and testing conducted at the Idaho National Engineering Laboratory during June and July 1993. The purpose of the demonstration was to ascertain the feasibility of the system for skimming soil and removing various types of buried waste in a safe manner and within all regulatory requirements, and to compare the performances of manual and remote operation of a backhoe. The procedures and goals of the demonstration were previously defined in The Remote Excavation System Test Plan, which served as a guideline for evaluating the various components of the system and discussed the procedures used to conduct the tests

  12. Design of the human computer interface on the telerobotic small emplacement excavator

    International Nuclear Information System (INIS)

    The small emplacement excavator (SEE) is a ruggedized military vehicle with backhoe and front loader used by the U.S. Army for explosive ordinance disposal (EOD) and general utility excavation activities. This project resulted from a joint need in the U.S. Department of Energy (DOE) for a remote controlled excavator for buried waste operations and the U.S. Department of Defense for remote EOD operations. To evaluate the feasibility of removing personnel from the SEE vehicle during high-risk excavation tasks, a development and demonstration project was initiated. Development of a telerobotic SEE (TSEE) was performed by the Oak Ridge National Laboratory in a project funded jointly by the U.S. Army and the DOE. The TSEE features teleoperated driving, a telerobotic backhoe with four degrees of freedom, and a teleoperated front loader with two degrees of freedom on the bucket. Remote capabilities include driving (forward, reverse, brake, steering), power takeoff shifting to enable digging modes, deploying stabilizers, excavation, and computer system booting

  13. Teleoperation of the Small Emplacement Excavator

    International Nuclear Information System (INIS)

    A project is under way at the Oak Ridge National Laboratory (ORNL) to convert a military tractor called the Small Emplacement Excavator (SEE) from conventional, manual control to teleoperated control. The SEE is equipped with a backhoe on the back end and multiple blade attachments for the front The SEE is typically used by the US Army for excavation of unexploded ordinance and for battlefield excavation tasks such as entrenchments and foxholes. Because of the risk of personnel injury from explosions during bomb excavation, the US Army is interested in remotely operating the SEE. Excavation of unexploded bombs requires backhoe operations that are very similar to some of the operations envisioned for retrieval of buried radioactive waste at many of the Department of Energy (DOE) sites. Therefore, teleoperation of the SEE is being sponsored jointly by the DOE Environmental Restoration and Waste Management Office of Technology Development, Robotics Technology Development Program, and the Department of Defense (DOD), US Army Program Manager-Ammunition Logistics. After initial development activities at ORNL in 1992, teleoperation of the SEE will be demonstrated at other DOE and DOD sites during FY 1993. The performance of the system will be enhanced through planned follow-on development. The objective of this project is to merge recently developed DOE remote operations technology with proven military heavy equipment in a cost-effective manner. The result will be a remotely operated excavating device that both DOE and DOD can replicate inexpensively and apply widely to hazardous field operations

  14. Radiocarbon studies of latest Pleistocene and Holocene lava flows of the Snake River Plain, Idaho: Data, lessons, interpretations

    Science.gov (United States)

    Kuntz, Mel A.; Spiker, Elliott C.; Rubin, Meyer; Champion, Duane E.; Lefebvre, Richard H.

    1986-03-01

    Latest Pleistocene-Holocene basaltic lava fields of the Snake River Plain, Idaho, have been dated by the radiocarbon method. Backhoe excavations beneath lava flows typically yielded carbon-bearing, charred eolian sediment. This material provided most of the samples for this study; the sediment typically contains less than 0.2% carbon. Charcoal fragments were obtained from tree molds but only from a few backhoe excavations. Contamination of the charred sediments and charcoal by younger carbon components is extensive; the effects of contamination were mitigated but appropriate pretreatment of samples using acid and alkali leaches. Twenty of the more than 60 lava flows of the Craters of the Moon lava field have been dated; their ages range from about 15,000 to about 2000 yr B.P. The ages permit assignment of the flows to eight distinct eruptive periods with an average recurrence interval of about 2000 yr. The seven other latest Pleistocene-Holocene lava fields were all emplaced in short eruptive bursts. Their 14C ages (yr B.P.) are: Kings Bowl (2222± 100), Wapi (2270 ± 50), Hells Half Acre (5200 ± 150), Shoshone (10,130 ± 350), North Robbers and South Robbers (11.980 ± 300), and Cerro Grande (13,380 ± 350).

  15. Pipeline corridors through wetlands -- Impacts on plant communities: Norris Brook Crossing Peabody, Massachusetts

    Energy Technology Data Exchange (ETDEWEB)

    Shem, L.M.; Van Dyke, G.D.; Zimmerman, R.E. [Argonne National Lab., IL (United States)

    1994-12-01

    The goal of the Gas Research Institute Wetland Corridors Program is to document impacts of existing pipelines on the wetlands they traverse. To accomplish this goal, 12 existing wetland crossings were surveyed. These sites varied in elapsed time since pipeline construction, wetland type, pipeline installation techniques, and right-of-way (ROW) management practices. This report presents the results of a survey conducted August 17--19, 1992, at the Norris Brook crossing in the town of Peabody, Essex County, Massachusetts. The pipeline at this site was installed during September and October 1990. A backhoe was used to install the pipeline. The pipe was assembled on the adjacent upland and slid into the trench, after which the backhoe was used again to fill the trench and cover the pipeline. Within two years after pipeline construction, a dense vegetative community, composed predominantly of native perennial species, had become established on the ROW. Compared with adjacent natural areas undisturbed by pipeline installation, there was an increase in purple loosestrife and cattail within the ROW, while large woody species were excluded from the ROW. As a result of the ROW`s presence, habitat diversity, edge-type habitat, and species diversity increased within the site. Crooked-stem aster, Aster prenanthoides (a species on the Massasschusetts list of plants of special concern), occurred in low numbers in the adjacent natural areas and had reinvaded the ROW in low numbers.

  16. Earth-moving equipment as base machines in forest work. Final report of an NSR project

    Energy Technology Data Exchange (ETDEWEB)

    Johansson, Jerry [ed.

    1997-12-31

    Excavators have been used for forest draining for a long time in the Nordic countries. Only during the 1980s they were introduced as base machines for other forest operations, such as mounding, processing, harvesting, and road construction and road maintenance. Backhoe loaders were introduced in forestry at a somewhat later stage and to a smaller degree. The number of this type of base machines in forestry is so far small and is increasing very slowly. The NSR project `Earth moving equipment as base machines in forest work` started in 1993 and the project ended in 1995. The objective of the project was to obtain an overall picture of this type of machines up to a point where the logs are at landing site, ready for transportation to the industry. The project should cover as many aspects as possible. In order to obtain this picture, the main project was divided into sub projects. The sub projects separately described in this volume are (1) Excavators in ditching operations and site preparation, (2) Backhoe loaders in harvesting operations, (3) Excavators in wood cutting operations, (4) Tracked excavators in forestry operations, (5) Crawler versus wheeled base machines for single-grip harvester, and (6) Soil changes - A comparison between a wheeled and a tracked forest machine

  17. Perencanaan Disain Deep Dig Arm pada Kapal Water Witch Untuk Pengerukan Sampah di Kali Mas Surabaya

    Directory of Open Access Journals (Sweden)

    Tony Bambang Musriyadi

    2014-03-01

    Full Text Available Kali Mas merupaka salah satu Sungai di Surabaya yang bermanfaat bagi hajat hidup penduduk Surabaya,Namun seiring berjalan waktu Kali Mas mengalami pendangkalan dan polusi sampah padat akibat pembuangan sampah sembarangan.Oleh karena itu penting untuk melakuakan pengerukan sendimen dan sampah yang efektif dan tepat agar tidak menggangu fungsi utama dari Kali Mas,maka perlu suatu alat untuk pengerukan,Backhoe dreger merupak alat yang tepat untuk pengerukan, akan tetapi harus disesuaikan lengan penerukannya agar efektif dalam beroperasi.Dalam pembuatan Tugas Akhir ini akan di disain Boom dan Arm dari Backhoe dreger untuk pengerukan di Kali mas di Surabaya.Sesuai dengan Kebutuhan dan aspek pertimbangan ukuran kapal telah ditentukan disain Boom dengan panjang 4.6m dan arm 2.1m dengan kapasitas Bucket 0.56 m3 .Dengan pemilihan matrial   Carbon Stell Sheet (SS 1023 dan ketebalan plat 10  mm,metode yang digunakan untuk analisa pembebanan adalah stress analisis pada Program Solid work,dan sebagai pertimbangan kelayakan

  18. Scour protection for wind turbine foundations on highly erodible sea bottom

    Energy Technology Data Exchange (ETDEWEB)

    Ottesen Hansen, N.E.

    2002-12-01

    Scour around offshore structures is well known. It is caused by the strong eddy formation at the base of the structures protruding from the sea bottom. The strong vortices result in an amplified effective shear stress working on the sea bottom surface adjacent to the structure. When the surrounding sea bottom is lowered the scour protection will end up being a cap on a small hill and when the slopes are getting too steep the scour protection will roll or slide down the sides. It will loose its cohesion and therefore its integrity. This will take place irrespective of the type of scour protection material and the type of scour protection. This report describes scour protections, which can deal with this particular problem. Such a scour protection must be able to sustain the following loads: Be able to follow the lowering of the seabed on its way down; Be resistant to edge scour (scour around the perimeter of the scour protection). The installation of scour protection is not straightforward because the developed scour hole may be very uneven. It will be highly impractical to survey the hole although it can be done. There will be power cables etc. obstructing for ROV's or instrumented backhoe arms. Therefore the recommended method is to assume that the scour hole is developed and to place the scour protection material evenly around the foundation. In practice this is done by fall pipes positioned from a barge or by an instrumented backhoe. The procedure will be as follows: The outline of the scour hole is surveyed by a ROV (eye ball) and the status of the power cables are investigated; If the tie-in of the power cables are hanging as free spans, material shall be dumped on these spans in order to cover them. This material shall have a size, which will not be harmful to the cable during a dumping; Alternatively the tie-in takes place through an armoured flex-pipe that can sustain the impact from the stone dumping. Hence, in this case the stone dumping can commence

  19. A nonquadratic regularization-based technique for joint SAR imaging and model error correction

    Science.gov (United States)

    Önhon, N. Özben; Çetin, Müjdat

    2009-05-01

    Regularization based image reconstruction algorithms have successfully been applied to the synthetic aperture radar (SAR) imaging problem. Such algorithms assume that the mathematical model of the imaging system is perfectly known. However, in practice, it is very common to encounter various types of model errors. One predominant example is phase errors which appear either due to inexact measurement of the location of the SAR sensing platform, or due to effects of propagation through atmospheric turbulence. We propose a nonquadratic regularization-based framework for joint image formation and model error correction. This framework leads to an iterative algorithm, which cycles through steps of image formation and model parameter estimation. This approach offers advantages over autofocus techniques that involve post-processing of a conventionally formed image. We present results on synthetic scenes, as well as the Air Force Research Labarotory (AFRL) Backhoe data set, demonstrating the effectiveness of the proposed approach.

  20. Comprehensive work plan for the Well Driller's Steam Cleaning Facility at Oak Ridge National Laboratory, Oak Ridge, Tennessee

    International Nuclear Information System (INIS)

    The purpose of this Comprehensive Work Plan is to address the history of the site as well as the scope, roles and responsibilities, documentation, training, environmental compliance requirements, and field actions needed to close the Oak Ridge National Laboratory (ORNL) Well Driller's Steam Cleaning Facility, hereinafter referred to as the Facility. The Facility was constructed in 1989 to provide a central area suitable to conduct steam cleaning operations associated with cleaning drilling equipment, containment boxes, and related accessories. Three basins were constructed of crushed stone (with multiple plastic and fabric liners) over a soil foundation to collect drill cuttings and wastewater generated by the cleaning activities. The scope of this task will be to demolish the Facility by using a bulldozer and backhoe to recontour and dismantle the area

  1. Archeological Excavations at the Wanapum Cache Site

    International Nuclear Information System (INIS)

    This report was prepared to document the actions taken to locate and excavate an abandoned Wanapum cache located east of the 100-H Reactor area. Evidence (i.e., glass, ceramics, metal, and wood) obtained from shovel and backhoe excavations at the Wanapum cache site indicate that the storage caches were found. The highly fragmented condition of these materials argues that the contents of the caches were collected or destroyed prior to the caches being burned and buried by mechanical equipment. While the fiber nets would have been destroyed by fire, the specialized stone weights would have remained behind. The fact that the site might have been gleaned of desirable artifacts prior to its demolition is consistent with the account by Riddell (1948) for a contemporary village site. Unfortunately, fishing equipment, owned by and used on behalf of the village, that might have returned to productive use has been irretrievably lost

  2. Hyper-parameter selection in non-quadratic regularization-based radar image formation

    Science.gov (United States)

    Batu, Özge; Çetin, Müjdat

    2008-04-01

    We consider the problem of automatic parameter selection in regularization-based radar image formation techniques. It has previously been shown that non-quadratic regularization produces feature-enhanced radar images; can yield superresolution; is robust to uncertain or limited data; and can generate enhanced images in non-conventional data collection scenarios such as sparse aperture imaging. However, this regularized imaging framework involves some hyper-parameters, whose choice is crucial because that directly affects the characteristics of the reconstruction. Hence there is interest in developing methods for automatic parameter choice. We investigate Stein's unbiased risk estimator (SURE) and generalized cross-validation (GCV) for automatic selection of hyper-parameters in regularized radar imaging. We present experimental results based on the Air Force Research Laboratory (AFRL) "Backhoe Data Dome," to demonstrate and discuss the effectiveness of these methods.

  3. Simulation of man-machine interaction on shuttle payload manipulator

    Science.gov (United States)

    Hookway, R. O.; Jackson, R. S.

    1975-01-01

    The main objective of this simulation was to evaluate the feasibility of a simplified control system for a remote manipulator for space shuttle payloads. The motion commanded by the operator through the control system to the six degree of freedom manipulator approximates that of a backhoe. Compatibility of low arm damping, heavy payloads, small clearances in the shuttle cargo bay and stringent mission timelines were evaluated. The effects of various devices to enhance visual cues were evaluated. Phase I of the simulation was capture of a payload flying free in space relative to the shuttle. Phase II was simulation of cargo stowage into a mockup of the space shuttle cargo bay. A shuttle remote manipulator control station mockup including TV monitors and hand controllers is used in the simulation. Results evaluating various parameters of the control system and the task, including arm flexibility, are presented.

  4. 3-D SAR image formation from sparse aperture data using 3-D target grids

    Science.gov (United States)

    Bhalla, Rajan; Li, Junfei; Ling, Hao

    2005-05-01

    The performance of ATR systems can potentially be improved by using three-dimensional (3-D) SAR images instead of the traditional two-dimensional SAR images or one-dimensional range profiles. 3-D SAR image formation of targets from radar backscattered data collected on wide angle, sparse apertures has been identified by AFRL as fundamental to building an object detection and recognition capability. A set of data has been released as a challenge problem. This paper describes a technique based on the concept of 3-D target grids aimed at the formation of 3-D SAR images of targets from sparse aperture data. The 3-D target grids capture the 3-D spatial and angular scattering properties of the target and serve as matched filters for SAR formation. The results of 3-D SAR formation using the backhoe public release data are presented.

  5. Remote excavation using the telerobotic small emplacement excavator

    International Nuclear Information System (INIS)

    Oak Ridge National Laboratory is developing remote excavation technologies for the Office of Technology Development, Robotics Technology Development Program. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems

  6. Reducing extra-terrestrial excavation forces with percussion

    Science.gov (United States)

    Mueller, R.; Smith, J. D.; Lippitt, T.; Schuler, J.; Nick, A.

    High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. A percussive mechanism and 30" wide pivoting bucket were attached to a test stand simulating a basic backhoe with a percussion direction tangent to the direction of movement. Impact energies from 13.6J to 30.5J and frequencies from 0 to 700 beats per minute (BPM) were investigated. A reduction in excavation force of as much as 50% was achieved in this experimental investigation.

  7. Pit Viper strikes at the Hanford site. Pit maintenance using robotics at the Hanford Tank Farms

    International Nuclear Information System (INIS)

    The Pit Viper--a remote operations waste retrieval system--was developed to replace manual operations in the valve pits of waste storage tanks at the Hanford Site. The system consists of a typical industrial backhoe fitted with a robotic manipulator arm and is operated remotely from a control trailer located outside of the tank farm. Cameras mounted to the arm and within the containment tent allow the operator to view the entire pit area and operate the system using a joystick. The arm's gripper can grasp a variety of tools that allow personnel to perform cleaning, debris removal, and concrete repair tasks--a more efficient and less dose-intensive process than the previous 'long-pole' method. The project team overcame a variety of obstacles during development and testing of the Pit Viper system, and deployment occurred in Hanford Tank C-104 in December 2001

  8. Characterization of surface soils at a former uranium mill.

    Science.gov (United States)

    Johnson, J A; Meyer, H R; Vidyasagar, M

    2006-02-01

    Dawn Mining Company operated a uranium mill in Stevens County, Washington, from 1957 to 1982, to process ore from the Midnite Mine, and from 1992 through 2000, to extract uranium from mine water treatment sludge. The mill was permanently shut down in 2001 when the Dawn Mining Company radioactive materials license was amended to allow direct disposal of water treatment sludge to a tailings disposal area at the mill. The mill building was demolished in 2003. Site soil characterization took place in 2004. Soil cleanup is ongoing. Contaminated soils on the site were characterized using a GPS-based gamma scanning system. A correlation between shielded gamma exposure rate and concentration of Ra in surface soils was developed. Subsurface soils were sampled using backhoe trenches. This system proved efficient and accurate in guiding development of the remedial action planning for the site and subsequent soil cleanup. PMID:16404186

  9. Diffusion maps and radar data analysis

    Science.gov (United States)

    Bhat, Y. S.; Arnold, Gregory

    2007-04-01

    Understanding and organizing data, in particular understanding the key modes of variation in the data, is a first step toward exploiting and evaluating sensor phenomenology. Spectral theory and manifold learning methods have been recently shown to offer sever powerful tools for many parts of the exploitation problem. We will describe the method of diffusion maps and give some examples with radar (backhoe data dome) data. The so-called diffusion coordinates are kernel based dimensionality reduction techniques that can, for example, organize random data and yield explicit insight into the type and relative importance of the data variation. We will provide sufficient background for others to adopt these tools and apply them to other aspects of exploitation and evaluation.

  10. Soil crusts on Mars

    Science.gov (United States)

    Moore, H. J.

    1991-06-01

    Three distinct soillike materials sampled by the Viking landers (VL) on Mars are (in order of increasing strength): (1) drift; (2) crusty to cloddy; and (3) blocky. Relative strengths of these materials are manifested by footpad penetrations during landing (VL 1), depths of deep holes, motor currents during sampling, sampler backhoe penetrations, comminutor motor currents, impact pits, trench tailings, and successful acquisitions of the coarse fraction (only blocky material). Cementation by S Cl compounds probably contributes to the relative strengths. This is shown where the weight pct. of SO3 + Cl of each material is plotted against their relative strengths. A similar result is obtained using SO3 alone, but not with Cl which is deficient in VL 2 samples.

  11. Reducing Extra-Terrestrial Excavation Forces with Percussion

    Science.gov (United States)

    Mueller, Robert; Schuler, Jason M.; Smith, Jonathan Drew; Nick, Andrew J.; Lippitt, Thomas

    2012-01-01

    High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of movement. Impact energies from 13.6J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 50% was achieved in this experimental investigation.

  12. Cultural resources survey and assessment of the proposed Department of Energy Freeport to Texas City pipeline, Brazoria and Galveston Counties, Texas. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Castille, G.J.; Whelan, J.P. Jr.

    1986-01-01

    An intensive survey and testing program of selected segments of a proposed Department of Energy pipeline were conducted by Coastal Environments, Inc., Baton Rouge, Louisiana, during December 1985 and January 1986. The proposed pipeline runs from Texas City, Galveston County to Bryan Mound, Brazoria County. The pedestrian survey was preceded by historical records survey to locate possible historic sites within the DOE righ-of-way. Four prehistoric sites within the ROW (41BO159, 160, 161, 162) and one outside the ROW (41BO163) were located. All are Rangia cuneata middens. The survey results are discussed with particular reference to the environmental settings of the sites and the effectiveness of the survey procedure. Two of the sites located within the ROW were subjected to additional testing. The results of the backhoe testing program are included in the site descriptions, and the scientific value of the sites are presented. 52 refs., 20 figs., 10 tabs.

  13. Results from the Mars Phoenix Lander Robotic Arm experiment

    Science.gov (United States)

    Arvidson, R. E.; Bonitz, R. G.; Robinson, M. L.; Carsten, J. L.; Volpe, R. A.; Trebi-Ollennu, A.; Mellon, M. T.; Chu, P. C.; Davis, K. R.; Wilson, J. J.; Shaw, A. S.; Greenberger, R. N.; Siebach, K. L.; Stein, T. C.; Cull, S. C.; Goetz, W.; Morris, R. V.; Ming, D. W.; Keller, H. U.; Lemmon, M. T.; Sizemore, H. G.; Mehta, M.

    2009-10-01

    The Mars Phoenix Lander was equipped with a 2.4 m Robotic Arm (RA) with an Icy Soil Acquisition Device capable of excavating trenches in soil deposits, grooming hard icy soil surfaces with a scraper blade, and acquiring icy soil samples using a rasp tool. A camera capable of imaging the scoop interior and a thermal and electrical conductivity probe were also included on the RA. A dozen trench complexes were excavated at the northern plains landing site and 31 samples (including water-ice-bearing soils) were acquired for delivery to instruments on the Lander during the 152 sol mission. Deliveries included sprinkling material from several centimeters height to break up cloddy soils on impact with instrument portals. Excavations were done on the side of the Humpty Dumpty and the top of the Wonderland polygons, and in nearby troughs. Resistive forces encountered during backhoe operations show that soils above the 3-5 cm deep icy soil interfaces are stronger with increasing depth. Further, soils are similar in appearance and properties to the weakly cohesive crusty and cloddy soils imaged and excavated by the Viking Lander 2, which also landed on the northern plains. Adsorbed H2O is inferred to be responsible for the variable nature and cohesive strength of the soils. Backhoe blade chatter marks on excavated icy soil surfaces, combined with rasp motor currents, are consistent with laboratory experiments using grain-supported icy soil deposits, as is the relatively rapid decrease in icy soil strength over time as the ice sublimated on Mars.

  14. Surface Sampler Arm Acquiring Sample

    Science.gov (United States)

    1976-01-01

    Operation of the surface sampler in obtaining Martian soil for Viking 2's molecular analysis experiment last Saturday (September 25) was closely monitored by one of the Lander cameras because of the precision required in trenching the small area--8 by 9 inches-surrounded by rocks. Dubbed 'Bonneville Salt Flats,' the exposure of thin crust appeared unique in contrast with surrounding materials and became a prime target for organic analysis in spite of potential hazards. Large rock in foreground is 8 inches high. At left, the sampler scoop has touched the surface, missing the rock at upper left by a comfortable 6 inches, and the backhoe has penetrated the surface about one-half inch. The scoop was then pulled back to sample the desired point and (second photo) the backhoe furrowed the surface pulling a piece of thin crust toward the spacecraft. The initial touchdown and retraction sequence was used to avoid a collision between a rock in the shadow of the arm and a plate joining the arm and scoop. The rock was cleared by 2 to 3 inches. The third picture was taken 8 minutes after the scoop touched the surface and shows that the collector head has acquired a quantity of soil. With surface sampler withdrawn (right), the foot-long trench is seen between the rocks. The trench is three inches wide and about 1 1/2 to 2 inches deep. The scoop reached to within 3 inches of the rock at far end of trench. Penetration appears to have left a cavernous opening roofed by the crust and only about one inch of undisturbed crust separates the deformed surface and the rock.

  15. In-Situ Hydraulic Conductivities of Soils and Anomalies at a Future Biofuel Production Site

    Science.gov (United States)

    Williamson, M. F.; Jackson, C. R.; Hale, J. C.; Sletten, H. R.

    2010-12-01

    Forested hillslopes of the Upper Coastal Plain at the Savannah River Site, SC, feature a shallow clay loam argillic layer with low median saturated hydraulic conductivity. Observations from a grid of shallow, maximum-rise piezometers indicate that perching on this clay layer is common. However, flow measurements from an interflow-interception trench indicate that lateral flow is rare and most soil water percolates through the clay layer. We hypothesize that the lack of frequent lateral flow is due to penetration of the clay layer by roots of pine trees. We used ground penetrating radar (GPR) to map the soil structure and potential anomalies, such as root holes, down to two meters depth at three 10×10-m plots. At each plot, a 1×10-m trench was later back-hoe excavated along a transect that showed the most anomalies on the GPR maps. Each trench was excavated at 0.5-m intervals until the clay layer was reached (two plots were excavated to a final depth of 0.875 m and the third plot was excavated to a final depth of 1.0 m). At each interval, compact constant-head permeameters (CCHPs) were used to measure in-situ hydraulic conductivities in the clay-loam matrix and in any visually apparent anomalies. Conductivity was also estimated using a second 1×10-m transect of CCHP measurements taken within randomly placed augur holes. Additional holes targeted GPR anomalies. The second transect was created in case the back-hoe impacted conductivity readings. High-conductivity anomalies were also visually investigated by excavating with a shovel. Photographs of soil wetness were taken at visually apparent anomalies with a multispectral camera. We discovered that all visually apparent anomalies found are represented on the GPR maps, but that not all of the predicted anomalies on the GPR maps are visually apparent. We discovered that tree root holes create anomalies, but that there were also many conductivity anomalies that could not be visually distinguished from low

  16. Identification of potential hazards associated with new residential construction.

    Science.gov (United States)

    Methner, M M

    2000-02-01

    There were several advantages and limitations of this observational study. The most important advantage of this study was the opportunity to observe residential construction workers performing their jobs. By observing work practices, valuable information was gathered about specific trades and their potential exposure to various chemical and physical agents. This information will be useful in guiding subsequent exposure assessments. Probably the greatest limitation of this study was the lack of participation by homebuilders. Ideally, observations of construction processes would have been more objective if the study included the participation of more than one homebuilder. Aside from one worker who was observed to wear safety glasses, leather gloves, and a dust mask, virtually no personal protective equipment (PPE) was observed onsite. Often small contractors do not have the financial resources necessary to procure the appropriate PPE and issue these items to the workers. Based on hazard prevalence, professional judgement, and the degree of hazardous product use, potential exposures that warrant quantitative sampling efforts during Phase 2 of this study are: bulldozer/backhoe operators--noise, vibration, diesel exhaust; concrete workers--naphtha, mineral spirits, Portland cement; asphalt workers--petroleum hydrocarbons, asphalt, mineral spirits; plumbers--methylethyl ketone, acetone, tetrahydrofuran, cyclohexanone; drywall finishers--total and respirable dust, hexane, acetone; painters--ethylene glycol, VOCs; masons--dust (during the preparation of mortar); floor preparation technicians--total and respirable dust; and ceramic tile installers--toluene, naphtha, silica (from grout powder). PMID:10675976

  17. Heavy construction equipment noise study using dosimetry and time-motion studies

    Science.gov (United States)

    Spencer, Ellsworth R.; Yantek, David S.

    2005-09-01

    Noise-induced hearing loss continues to afflict workers in many occupational settings despite longstanding recognition of the problems and well-known methods of prevention and regulations. Sound levels associated with heavy construction equipment range from 80 to 120 dB(A) and power tools commonly used in construction produce sound levels up to 115 dB(A). The focus of the research was to determine the noise exposures of heavy construction equipment operators while documenting the workers' tasks, (i.e., hauling, moving, and/or pushing construction material). Time-motion studies were performed at the construction sites and were used to correlate the noise dosage with the work performed by equipment operators. The cumulative dose for the operator was then plotted with references to work tasks, to identify the tasks that caused the greatest noise exposure. Three construction sites were examined and located in the western Pennsylvania and eastern Ohio areas. The types of construction equipment studied included asphalt pavers, backhoes, bulldozers, compaction equipment, excavators, haul trucks, telehandlers, and wheeled loaders. The results showed that bulldozer operators consistently had the highest noise exposures, ranging from a NIOSH REL (Recommended Exposure Limit) dose of 844% to 25836% and an OSHA PEL (Permissible Exposure Limit) dose of 139% to 1397%.

  18. Joint space aspect reconstruction of wide-angle SAR exploiting sparsity

    Science.gov (United States)

    Stojanovic, Ivana; Cetin, Mujdat; Karl, William C.

    2008-04-01

    In this paper we present an algorithm for wide-angle synthetic aperture radar (SAR) image formation. Reconstruction of wide-angle SAR holds a promise of higher resolution and better information about a scene, but it also poses a number of challenges when compared to the traditional narrow-angle SAR. Most prominently, the isotropic point scattering model is no longer valid. We present an algorithm capable of producing high resolution reflectivity maps in both space and aspect, thus accounting for the anisotropic scattering behavior of targets. We pose the problem as a non-parametric three-dimensional inversion problem, with two constraints: magnitudes of the backscattered power are highly correlated across closely spaced look angles and the backscattered power originates from a small set of point scatterers. This approach considers jointly all scatterers in the scene across all azimuths, and exploits the sparsity of the underlying scattering field. We implement the algorithm and present reconstruction results on realistic data obtained from the XPatch Backhoe dataset.

  19. The Viking magnetic properties experiment - Primary mission results. [on Mars landing sites

    Science.gov (United States)

    Hargraves, R. B.; Collinson, D. W.; Arvidson, R. E.; Spitzer, C. R.

    1977-01-01

    Three permanent magnet arrays were mounted on each Viking lander: a strong array fixed on a photometric reference test chart on top of the landers; and two arrays, one strong and one weak, incorporated into the backhoe of the surface sampler. Some or all of the magnetic particles detected could be highly magnetic unoxidized mineral grains (metallic Fe, magnetite, pyrrhotite) forming the core beneath a reddish coating of limonite or hematite; or grains composed of gamma-Fe2O3, with and without other iron oxides; or igneous rock (or mineral particles) which consist of an admixture of unweathered silicate material or minerals with a significant fraction of highly magnetic phase, again with a reddish coating; they could be also igneous rock or mineral particles, intrinsically nonmagnetic, but having a reddish coating containing gamma-Fe2O3; or clay mineral particles which contain and/or are coated with Fe2O3, of which a substantial fraction is in the gamma-Fe2O3 form.

  20. Houdini: Locomotion analysis-driven design of an in-tank mobile cleanup robot

    International Nuclear Information System (INIS)

    This paper describes the design and locomotion analysis efforts to develop a new reconfigurable and collapsible working machine, dubbed Houdini, to remotely clean up hazardouswaste and petroleum storage tanks. The tethered robot system is designed to allow remote entry through man-way openings as small as 0.61 m (24 in.) in diameter, after which it expands its locomotors and opens up its collapsible backhoe/manipulator and plow to subsequently perform waste- or product-handling operations. The design is optimized to meet stringent site and safety requirements and represents a viable alternative to the long-reach manipulation systems proposed for hazardous storage tank cleanup and confined-entry manual cleanup approaches. The system development has been funded to provide waste mobilization and removal solutions for the hazardous-waste storage tanks in the U.S. Department of Energy Fernald complex. Another potential application is the cleanup of heavy-crude petroleum storage tanks. The Houdini concept has been submitted to the U.S. Patent Office, and a patent has been issued (patent number pending), which Carnegie Mellon University is currently in the process of licensing to RedZone Robotics, the industrial prime contractor we are subcontracted to. We are developing a fully operational prototype for demonstration at Fernald in the winter of 1996

  1. An innovative in-situ mixing technology and its applications in the waste remediation industry

    International Nuclear Information System (INIS)

    An innovative in-situ remediation technology has been developed for solidification and stabilization of hazardous wastes. The system incorporates a specially designed rotary mixing head attached to the boom of a long-reach backhoe or other dirt-moving equipment. A variety of mixing-head configurations are available to treat various types of wastes, ranging from oil sludge to very dry contaminated soils containing significant amounts of large aggregates and gravel. The system has been successfully applied in the field to remediate hazardous petroleum sludge, mine tailings, and steel mill process sediments containing heavy metals (e.g., chromium, arsenic, cadmium, and lead). A very elaborate quality assurance/quality control program was implemented to ensure minimum variation in additive concentration and thorough mixing. The mixing effectiveness and reagent injection capabilities of this unit have resulted in the in-situ treatment of listed hazardous wastes to below delisting thresholds at depths in excess of 15 ft. Applications of this unit are currently being reviewed for incorporating and mixing nutrients in a bioremediation process. The new technology provides a very economical means for treatment, with excellent product quality

  2. Characterization of underwater sounds produced by hydraulic and mechanical dredging operations.

    Science.gov (United States)

    Reine, Kevin J; Clarke, Douglas; Dickerson, Charles

    2014-06-01

    Sound recordings were made of two dredging operations at hydrophone depths of 3 and 9.1 m at distances up to 1.2 km from the source in shallow waters (backhoe dredging operation during rock excavation. To place sound emitted from these dredges in perspective with other anthropogenic sounds, recordings were also made of several deep-draft commercial vessels. Results are presented as sound pressure levels (SPLs) in one-third octave versus range across the 20 Hz to 20 kHz frequency band. To address concerns for protection of fishery resource occupying the harbor, SPL were examined at frequency bands of 50-1000 Hz and 100-400 Hz, the ranges where the majority of fishes without hearing specializations detect sound and the range of greatest sensitivity, respectively. Source levels (dB re 1 μPa-1 m rms) were back calculated using fitted regression (15LogR). The strongest sound sources (180-188.9 dB) were emitted by commercial shipping. Rock fracturing produced a source level of 175 dB, whereas six distinct sources associated with rock excavation had source levels ranging from 164.2 to 179.4 dB re 1 μPa-1 m (rms). PMID:24907792

  3. 'Mister Badger' Pushing Mars Rock

    Science.gov (United States)

    1976-01-01

    Viking's soil sampler collector arm successfully pushed a rock on the surface of Mars during the afternoon of Friday, October 8. The irregular-shaped rock was pushed several inches by the Lander's collector arm, which displaced the rock to the left of its original position, leaving it cocked slightly upward. Photographs and other information verified the successful rock push. Photo at left shows the soil sampler's collector head pushing against the rock, named 'Mister Badger' by flight controllers. Photo at right shows the displaced rock and the depression whence it came. Part of the soil displacement was caused by the collector s backhoe. A soil sample will be taken from the site Monday night, October 11. It will then be delivered to Viking s organic chemistry instrument for a series of analyses during the next few weeks. The sample is being sought from beneath a rock because scientists believe that, if there are life forms on Mars, they may seek rocks as shelter from the Sun s intense ultraviolet radiation.

  4. Building America Case Study: Excavationless Exterior-Side Foundation Insulation for Existing Homes, Minneapolis, Minnesota (Fact Sheet)

    Energy Technology Data Exchange (ETDEWEB)

    NorthernSTAR

    2014-09-01

    Building science research supports installing exterior (soil side) foundation insulation as the optimal method to enhance the hygrothermal performance of new homes. With exterior foundation insulation, water management strategies are maximized while insulating the basement space and ensuring a more even temperature at the foundation wall. However, such an approach can be very costly and disruptive when applied to an existing home, requiring deep excavation around the entire house. The NorthernSTAR Building America Partnership team implemented an innovative, minimally invasive foundation insulation upgrade technique on an existing home. The approach consisted of using hydrovac excavation technology combined with a liquid insulating foam. The team was able to excavate a continuous 4" wide by 4' to 5' deep trench around the entire house, 128 linear feet, except for one small part under the stoop that was obstructed with concrete debris. The combination pressure washer and vacuum extraction technology also enabled the elimination of large trenches and soil stockpiles normally produced by backhoe excavation. The resulting trench was filled with liquid insulating foam, which also served as a water-control layer of the assembly. The insulation was brought above grade using a liquid foam/rigid foam hybrid system and terminated at the top of the rim joist. Cost savings over the traditional excavation process ranged from 23% to 50%. The excavationless process could result in even greater savings since replacement of building structures, exterior features, utility meters, and landscaping would be minimal or non-existent in an excavationless process.

  5. Design and construction of a deep slurry trench barrier

    International Nuclear Information System (INIS)

    A 24 m (80 ft) deep slurry trench surrounding a former chromium manufacturing facility on the Patapsco River in Baltimore, Maryland was constructed in 1995 to contain groundwater and site Soils, and to reduce the volume of groundwater extracted to maintain an inward gradient. In 1992, an embankment made of crushed stone was constructed in the Patapsco River to make land for barrier construction outboard of the bulkheads, and to protect the barrier. Stability of the slurry-supported trench excavation in the embankment required construction from an elevated work platform. An extended reach backhoe was used to excavate the deep slurry trench and to clean the trench bottom. Soil-Bentonite backfill was prepared at a central mixing area and transported by truck to the perimeter barrier. A synthetic membrane was inserted partially into the backfill for connection to a multimedia cap, and for redundancy and erosion control in the tidal zone. Hydraulic testing of the aquitard contained by the barrier demonstrated excellent performance of the barrier and bottom closure. Detailed definition of subsurface conditions and the closure stratum was necessary for the design and successful construction of the barrier, and is recommended for comparable slurry trench construction projects

  6. Sounds and vibrations in the frozen Beaufort Sea during gravel island construction.

    Science.gov (United States)

    Greene, Charles R; Blackwell, Susanna B; McLennan, Miles Wm

    2008-02-01

    Underwater and airborne sounds and ice-borne vibrations were recorded from sea-ice near an artificial gravel island during its initial construction in the Beaufort Sea near Prudhoe Bay, Alaska. Such measurements are needed for characterizing the properties of island construction sounds to assess their possible impacts on wildlife. Recordings were made in February-May 2000 when BP Exploration (Alaska) began constructing Northstar Island about 5 km offshore, at 12 m depth. Activities recorded included ice augering, pumping sea water to flood the ice and build an ice road, a bulldozer plowing snow, a Ditchwitch cutting ice, trucks hauling gravel over an ice road to the island site, a backhoe trenching the sea bottom for a pipeline, and both vibratory and impact sheet pile driving. For all but one sound source (underwater measurements of pumping) the strongest one-third octave band was under 300 Hz. Vibratory and impact pile driving created the strongest sounds. Received levels of sound and vibration, as measured in the strongest one-third octave band for different construction activities, reached median background levels <7.5 km away for underwater sounds, <3 km away for airborne sounds, and <10 km away for in-ice vibrations. PMID:18247873

  7. Bayesian SAR imaging

    Science.gov (United States)

    Chen, Zhaofu; Tan, Xing; Xue, Ming; Li, Jian

    2010-04-01

    We introduce a maximum a posteriori (MAP) algorithm and a sparse learning via iterative minimization (SLIM) algorithm to synthetic aperture radar (SAR) imaging. Both MAP and SLIM are sparse signal recovery algorithms with excellent sidelobe suppression and high resolution properties. The former cyclically maximizes the a posteriori probability density function for a given sparsity promoting prior, while the latter cyclically minimizes a regularized least squares cost function. We show how MAP and SLIM can be adapted to the SAR imaging application and used to enhance the image quality. We evaluate the performance of MAP and SLIM using the simulated complex-valued backscattered data from a backhoe vehicle. The numerical results show that both MAP and SLIM satisfactorily suppress the sidelobes and yield higher resolution than the conventional matched filter or delay-and-sum (DAS) approach. MAP and SLIM outperform the widely used compressive sampling matching pursuit (CoSaMP) algorithm, which requires the delicate choice of user parameters. Compared with the recently developed iterative adaptive approach (IAA), MAP and SLIM are computationally more efficient, especially with the help of fast Fourier transform (FFT). Also, the a posteriori distribution given by the algorithms provides us with a basis for the analysis of the statistical properties of the SAR image pixels.

  8. SAR imaging via iterative adaptive approach and sparse Bayesian learning

    Science.gov (United States)

    Xue, Ming; Santiago, Enrique; Sedehi, Matteo; Tan, Xing; Li, Jian

    2009-05-01

    We consider sidelobe reduction and resolution enhancement in synthetic aperture radar (SAR) imaging via an iterative adaptive approach (IAA) and a sparse Bayesian learning (SBL) method. The nonparametric weighted least squares based IAA algorithm is a robust and user parameter-free adaptive approach originally proposed for array processing. We show that it can be used to form enhanced SAR images as well. SBL has been used as a sparse signal recovery algorithm for compressed sensing. It has been shown in the literature that SBL is easy to use and can recover sparse signals more accurately than the l 1 based optimization approaches, which require delicate choice of the user parameter. We consider using a modified expectation maximization (EM) based SBL algorithm, referred to as SBL-1, which is based on a three-stage hierarchical Bayesian model. SBL-1 is not only more accurate than benchmark SBL algorithms, but also converges faster. SBL-1 is used to further enhance the resolution of the SAR images formed by IAA. Both IAA and SBL-1 are shown to be effective, requiring only a limited number of iterations, and have no need for polar-to-Cartesian interpolation of the SAR collected data. This paper characterizes the achievable performance of these two approaches by processing the complex backscatter data from both a sparse case study and a backhoe vehicle in free space with different aperture sizes.

  9. Idaho National Laboratory Cultural Resource Monitoring Report for Fiscal Year 2007

    Energy Technology Data Exchange (ETDEWEB)

    Brenda R. Pace

    2007-10-01

    This report describes the cultural resource monitoring activities of the Idaho National Laboratory’s (INL) Cultural Resource Management (CRM) Office during fiscal year 2007 (FY 2007). In FY 2007, 40 localities were revisited: two locations of heightened Shoshone-Bannock tribal sensitivity, four caves, three butte/craters, twelve prehistoric archaeological sites, two historic stage stations, nine historic homesteads, a portion of Goodale’s Cutoff of the Oregon Trail, a portion of historic trail T-16, one World War II dump, four buildings from the World War II period, and Experimental Breeder Reactor –I, a modern scientific facility and National Historic Landmark. Several INL project areas were also monitored in FY 2007. This included direct observation of ground disturbing activities within the Power Burst Facility (PBF, now designated as the Critical Infrastructure Test Range Complex – CITRC), backfilling operations associated with backhoe trenches along the Big Lost River, and geophysical surveys designed to pinpoint subsurface unexploded ordnance in the vicinity of the Naval Ordnance Disposal Area. Surprise checks were also made to three ongoing INL projects to ensure compliance with INL CRM Office recommendations to avoid impacts to cultural resources. Although some impacts were documented, no significant adverse effects that would threaten the National Register eligibility of any resource were observed at any location.

  10. Excavationless Exterior Foundation Insulation Field Study

    Energy Technology Data Exchange (ETDEWEB)

    Schirber, T. [NorthernSTAR, Minneaplolis, MN (United States); Mosiman, G. [NorthernSTAR, Minneaplolis, MN (United States); Ojczyk, C. [NorthernSTAR, Minneaplolis, MN (United States)

    2014-09-01

    Building science research supports installing exterior (soil side) foundation insulation as the optimal method to enhance the hygrothermal performance of new homes. With exterior foundation insulation, water management strategies are maximized while insulating the basement space and ensuring a more even temperature at the foundation wall. However, such an approach can be very costly and disruptive when applied to an existing home, requiring deep excavation around the entire house. The NorthernSTAR Building America Partnership team implemented an innovative, minimally invasive foundation insulation upgrade technique on an existing home. The approach consisted of using hydrovac excavation technology combined with liquid insulating foam. The team was able to excavate a continuous 4 inches wide by 4 feet to 5 feet deep trench around the entire house, 128 linear feet, except for one small part under the stoop that was obstructed with concrete debris. The combination pressure washer and vacuum extraction technology also enabled the elimination of large trenches and soil stockpiles normally produced by backhoe excavation. The resulting trench was filled with liquid insulating foam, which also served as a water-control layer of the assembly. The insulation was brought above grade using a liquid foam/rigid foam hybrid system and terminated at the top of the rim joist. Cost savings over the traditional excavation process ranged from 23% to 50%. The excavationless process could result in even greater savings since replacement of building structures, exterior features, utility meters, and landscaping would be minimal or non-existent in an excavationless process.

  11. Streamlined approach for environmental restoration work plan for Corrective Action Unit 126: Closure of aboveground storage tanks, Nevada Test Site, Nevada. Revision 1

    International Nuclear Information System (INIS)

    This plan addresses the closure of several aboveground storage tanks in Area 25 of the Nevada Test Site. The unit is currently identified as Corrective Action Unit 126 in the Federal Facility Agreement and Consent Order and is listed as having six Corrective Action Sites. This plan addresses the Streamlined Approach for Environmental Restoration closure for five of the six sites. Four of the CASs are located at the Engine Test Stand complex and one is located in the Central Support Area. The sites consist of aboveground tanks, two of which were used to store diesel fuel and one stored Nalcool (an antifreeze mixture). The remaining tanks were used as part of a water demineralization process and stored either sulfuric acid or sodium hydroxide, and one was used as a charcoal adsorption furnace. Closure will be completed by removal of the associated piping, tank supports and tanks using a front end loader, backhoe, and/or crane. When possible, the tanks will be salvaged as scrap metal. The piping that is not removed will be sealed using a cement grout

  12. Streamlined approach for environmental restoration closure report for Corrective Action Unit 452: Historical underground storage tank release sites, Nevada Test Site, Nevada

    International Nuclear Information System (INIS)

    This report addresses the site characterization of three historical underground storage tank (UST) petroleum hydrocarbon release sites identified as 25-3101-1, 25-3102-3, and 25-3152-1. The sites are located within the Nevada Test Site in Area 25 at Buildings 3101, 3102, and 3152. The characterization was completed to support administrative closure of the sites. Characterization was completed using drilling equipment to delineate the extent of hydrocarbon impact. Clean closure had been previously attempted at each of these sites using backhoe equipment without success due to adjacent structures, buried utilities, or depth restrictions associated with each site. Although the depth and extent of hydrocarbon impact was determined to be too extensive for clean closure, it was verified through drilling that the sites should be closed through an administrative closure. The Nevada Administrative Code ''A Through K'' evaluation completed for each site supports that there is no significant risk to human health or the environment from the impacted soils remaining at each site

  13. A Survey of Mining and Tailings Disposal Practices of Selected Artisanal and Small Scale Mining Companies in Ghana

    Directory of Open Access Journals (Sweden)

    Chiri G. Amedjoe

    2015-02-01

    Full Text Available Management of small scale mining operations for maximum profitability with good environmental stewardship requires careful planning of mining and tailings disposal strategies. Field studies and observations of eleven selected artisanal and small-scale gold mining companies winning gold from alluvial (placer source mostly, but also mine out cropping and underground quartz veins where available from the Takwaian and Birimian Formations in southwestern Ghana. Excavation is either by pitting or using backhoes. Sluicing, panning followed by mercury amalgamation and then roasting to recover the gold is the beneficiation method in use. Riverine waste rocks/tailings disposal is the main management invoked, however some companies do sell their waste to construction firms. Environmentally mining operations are impacting rivers with siltation, mercury pollution, channel diversions and possibly change in heavy metals concentration and water chemistry. Vast arable lands are degraded leaving peasant farmers with no livelihood due to failure by concessionaires to reclaim lands after closure. Only two companies out of the eleven somehow demonstrated environmental consciousness by constructing small tailings dam and backfilling some pits.

  14. Development and demonstration of a telerobotic excavation system

    Science.gov (United States)

    Burks, Barry L.; Thompson, David H.; Killough, Stephen M.; Dinkins, Marion A.

    1994-01-01

    Oak Ridge National Laboratory is developing remote excavation technologies for the Department of Energy's Office (DOE) of Technology Development, Robotics Technology Development Program, and also for the Department of Defense (DOD) Project Manager for Ammunition Logistics. This work is being done to meet the need for remote excavation and removal of radioactive and contaminated buried waste at several DOE sites and unexploded ordnance at DOD sites. System requirements are based on the need to uncover and remove waste from burial sites in a way that does not cause unnecessary personnel exposure or additional environmental contamination. Goals for the current project are to demonstrate dexterous control of a backhoe with force feedback and to implement robotic operations that will improve productivity. The Telerobotic Small Emplacement Excavator is a prototype system that incorporates the needed robotic and telerobotic capabilities on a commercially available platform. The ability to add remote dexterous teleoperation and robotic operating modes is intended to be adaptable to other commercially available excavator systems.

  15. Large-scale vertical shaft excavation using super-open caisson system. Construction of Tamasato vertical shaft (Ishioka vertical shaft No.5); Jidoka open caisson koho ni yoru daikibo tatekui no kussaku. Tamasato tateko (Ishioka dai5 tateko) shinsetsu koji

    Energy Technology Data Exchange (ETDEWEB)

    Tanimura, D. [Ministry of Construction, Tokyo (Japan); Ueda, J.; Tani, Y. [Konoike Construction Co. Ltd., Osaka (Japan)

    1998-07-25

    The above-named work is part of the Ministry of Construction`s water conveyance system construction work for Lake Kasumigaura. The super-open caisson system (SOCS) is a method developed from the conventional open caisson method by enlarging the construction area, improving construction accuracy, enhancing rationalization, etc. This report discusses the first application of the new system. SOCS comprises an automatic excavation/soil-lifting system, consisting of a back-hoe type automatic submarine excavator and an automatic soil-lifter of the bridge crane type, and an automatic settlement management system that automatically controls a press-in jack on the real-time basis in compliance with information from various sensors installed on the driven body of the press-in type open caisson. In view of the results of the execution of this construction work using the new SOCS system, it is acknowledged that the automatic excavation/soil-lifting system is accurate enough to manage caisson settlement and that its handling of hard sandy soil is so efficient as to satisfy the designed performance specifications. 15 figs., 3 tabs.

  16. Development of robotics technology for remote characterization and remediationof buried waste

    International Nuclear Information System (INIS)

    Detection, characterization, and excavation of buried objects and materials are important steps in the restoration of subsurface disposal sites. The US Department of Energy (DOE), through its Buried Waste Robotics Program, is developing a Remote Characterization System (RCS) to address the needs of remote subsurface characterization and, in a joint program with the US Army, is developing a teleoperated excavator. Development of the RCS is based on recent DOE remote characterization testing and demonstrations performed at Oak Ridge National Laboratory and Idaho National Engineering Laboratory. The RCS, which will be developed and refined over a two- to three-year period, is designed to (1) increase safety by removing on-site personnel from hazardous areas, (2) remotely acquire real-time data from multiple sensors, (3) increase cost-effectiveness and productivity by partial automation of the data collection process and by gathering and evaluating data from multiple sensors in real time, and (4) reduce costs for other waste-related development programs through joint development efforts and reusable standardized subsystems. For retrieval of characterized waste, the Small Emplacement Excavator, an existing US Army backhoe that is being converted to teleoperated control, will be used to demonstrate the feasibility of retrofitting commercial equipment for high-performance remote operations

  17. Idaho National Laboratory Cultural Resource Monitoring Report for Fiscal Year 2007

    International Nuclear Information System (INIS)

    This report describes the cultural resource monitoring activities of the Idaho National Laboratory's (INL) Cultural Resource Management (CRM) Office during fiscal year 2007 (FY 2007). In FY 2007, 40 localities were revisited: two locations of heightened Shoshone-Bannock tribal sensitivity, four caves, three butte/craters, twelve prehistoric archaeological sites, two historic stage stations, nine historic homesteads, a portion of Goodale's Cutoff of the Oregon Trail, a portion of historic trail T-16, one World War II dump, four buildings from the World War II period, and Experimental Breeder Reactor-I, a modern scientific facility and National Historic Landmark. Several INL project areas were also monitored in FY 2007. This included direct observation of ground disturbing activities within the Power Burst Facility (PBF, now designated as the Critical Infrastructure Test Range Complex-CITRC), backfilling operations associated with backhoe trenches along the Big Lost River, and geophysical surveys designed to pinpoint subsurface unexploded ordnance in the vicinity of the Naval Ordnance Disposal Area. Surprise checks were also made to three ongoing INL projects to ensure compliance with INL CRM Office recommendations to avoid impacts to cultural resources. Although some impacts were documented, no significant adverse effects that would threaten the National Register eligibility of any resource were observed at any location

  18. Concrete decontamination and demolition methods

    International Nuclear Information System (INIS)

    The US Department of Energy (DOE), Division of Environmental Control Technology, requested Nuclear Energy Services to prepare a handbook for the decontamination and decommissioning (D and D) of DOE-owned and commercially-owned radioactive facilities. the objective of the handbook is to provide the nuclear industry with guidance on the state-of-the-art methods and equipment available for decommissioning and to provide the means to estimate decommissioning costs and environmental impact. The methods available for concrete decontamination and demolition are summarized to provide an overview of some of the state-of-the-art techniques to be discussed at this workshop. The pertinent information on each method will include the selection factors such as the rate of performance in terms of concrete removal per unit time (cubic yards per day), manpower required by craft, unit cost (dollars per cubic yard) and the advantages and disadvantages. The methods included in this overview are those that have been routinely used in nuclear and nonnuclear applications or demonstrated in field tests. These methods include controlled blasting, wrecking ball or slab, backhoe mounted ram, flame torch, thermic lance, rock splitter, demolition compound, sawing, core stitch drilling, explosive cutting, paving breaker and power chisel, drill and spall, scarifying, water cannon and grinding

  19. Excavationless Exterior Foundation Insulation Field Study

    Energy Technology Data Exchange (ETDEWEB)

    Schirber, T.; Mosiman, G.; Ojczyk, C.

    2014-10-01

    Building science research supports installing exterior (soil side) foundation insulation as the optimal method to enhance the hygrothermal performance of new homes. With exterior foundation insulation, water management strategies are maximized while insulating the basement space and ensuring a more even temperature at the foundation wall. However, such an approach can be very costly and disruptive when applied to an existing home, requiring deep excavation around the entire house. The NorthernSTAR Building America Partnership team implemented an innovative, minimally invasive foundation insulation upgrade technique on an existing home. The approach consisted of using hydrovac excavation technology combined with a liquid insulating foam. The team was able to excavate a continuous 4" wide by 4' to 5' deep trench around the entire house, 128 linear feet, except for one small part under the stoop that was obstructed with concrete debris. The combination pressure washer and vacuum extraction technology also enabled the elimination of large trenches and soil stockpiles normally produced by backhoe excavation. The resulting trench was filled with liquid insulating foam, which also served as a water-control layer of the assembly. The insulation was brought above grade using a liquid foam/rigid foam hybrid system and terminated at the top of the rim joist. Cost savings over the traditional excavation process ranged from 23% to 50%. The excavationless process could result in even greater savings since replacement of building structures, exterior features, utility meters, and landscaping would be minimal or non-existent in an excavationless process.

  20. Houdini: Site and locomotion analysis-driven design of an in-tank mobile cleanup robot

    International Nuclear Information System (INIS)

    This paper describes design and locomotion analysis efforts to develop a new reconfigurable and collapsible working machine, dubbed Houdini, to remotely clean up hazardous-waste and petroleum storage tanks. The tethered robot system is designed to allow remote entry through man-way openings as small as 0.61 m in diameter, after which it expands its locomotors and opens up its collapsible backhoe/manipulator and plow to subsequently perform waste or material handling operations. The design is optimized to meet stringent site and safety requirements, and represents a viable alternative to (1) the long-reach manipulation systems proposed for hazardous storage tank cleanup, and (2) confined-entry manual cleanup approaches. The system development has been funded to provide waste mobilization and removal solutions for the hazardous waste storage tanks in the Department of Energy (DoE) Fernald and Oak Ridge complexes. Other potential applications areas are the cleanup of heavy-crude petroleum storage tanks. The author has developed a fully operational prototype which is currently undergoing testing

  1. Design and construction of a soil bentonite cut-off wall for Suncor's South Tailings Pond

    Energy Technology Data Exchange (ETDEWEB)

    Stephens, B. [Klohn Crippen Berger Ltd., Calgary, AB (Canada); Bowron, M. [Suncor Energy Inc., Fort McMurray, AB (Canada)

    2010-07-01

    Commissioned in July 2006, Suncor's South Tailings Pond (STP) is an external oil sands tailings storage facility with a footprint of 2300 hectares including infrastructure. The Southwest cut-off wall was completed in 2008, forming one of four principal seepage management systems for the STP. The cut-off wall consists of soil bentonite backfill from native materials from the wall excavation. Construction of the wall utilized both a long-stick back-hoe and crane mounted clamshell to excavate the wall under bentonite slurry. This paper discussed the construction of the cut-off wall as well as the the field and laboratory testing programs that determined the soil-bentonite mix. It also described the quality assurance and quality control programs conducted during construction. Last, the paper provided a brief discussion of the design and construction issues specific to seepage cut-off walls in the oil sands region. It was concluded that while construction of a soil-bentonite wall is a simple process, a professional experienced in the construction of deep walls is essential to achieve a quality product. Technical site support is also needed by the construction team in order to confirm geology, material properties and design assumptions. 1 tab., 5 figs.

  2. A practical procedure for the selection of time-to-failure models based on the assessment of trends in maintenance data

    Energy Technology Data Exchange (ETDEWEB)

    Louit, D.M. [Komatsu Chile, Av. Americo Vespucio 0631, Quilicura, Santiago (Chile)], E-mail: rpascual@ing.puc.cl; Pascual, R. [Centro de Mineria, Pontificia Universidad Catolica de Chile, Av. Vicuna Mackenna 4860, Santiago (Chile); Jardine, A.K.S. [Department of Mechanical and Industrial Engineering, University of Toronto, 5 King' s College Road, Toronto, Ont., M5S 3G8 (Canada)

    2009-10-15

    Many times, reliability studies rely on false premises such as independent and identically distributed time between failures assumption (renewal process). This can lead to erroneous model selection for the time to failure of a particular component or system, which can in turn lead to wrong conclusions and decisions. A strong statistical focus, a lack of a systematic approach and sometimes inadequate theoretical background seem to have made it difficult for maintenance analysts to adopt the necessary stage of data testing before the selection of a suitable model. In this paper, a framework for model selection to represent the failure process for a component or system is presented, based on a review of available trend tests. The paper focuses only on single-time-variable models and is primarily directed to analysts responsible for reliability analyses in an industrial maintenance environment. The model selection framework is directed towards the discrimination between the use of statistical distributions to represent the time to failure ('renewal approach'); and the use of stochastic point processes ('repairable systems approach'), when there may be the presence of system ageing or reliability growth. An illustrative example based on failure data from a fleet of backhoes is included.

  3. A practical procedure for the selection of time-to-failure models based on the assessment of trends in maintenance data

    International Nuclear Information System (INIS)

    Many times, reliability studies rely on false premises such as independent and identically distributed time between failures assumption (renewal process). This can lead to erroneous model selection for the time to failure of a particular component or system, which can in turn lead to wrong conclusions and decisions. A strong statistical focus, a lack of a systematic approach and sometimes inadequate theoretical background seem to have made it difficult for maintenance analysts to adopt the necessary stage of data testing before the selection of a suitable model. In this paper, a framework for model selection to represent the failure process for a component or system is presented, based on a review of available trend tests. The paper focuses only on single-time-variable models and is primarily directed to analysts responsible for reliability analyses in an industrial maintenance environment. The model selection framework is directed towards the discrimination between the use of statistical distributions to represent the time to failure ('renewal approach'); and the use of stochastic point processes ('repairable systems approach'), when there may be the presence of system ageing or reliability growth. An illustrative example based on failure data from a fleet of backhoes is included.

  4. 1996 Buyer's Guide

    International Nuclear Information System (INIS)

    The Buyer's Guide consists of two sections: a list of vendors by category and an alphabetical list of vendors. The type of equipment and services include: air compressors, air conditioning, gas analysis, pipe anchors, anodes, gas appliances, augers, backhoes, pipe bending machines, billing systems, bits, blasting equipment, gas boilers, boring equipment, gas burners, calorimeters, well casings, cathodic protection equipment and surveys, coating machines, coatings, cogeneration equipment, gas heaters, communications equipment, compactors, compressor stations, computer software, flow computers, portable computers, connectors, consulting services, control equipment, cooling systems, corrosion control systems, couplings, cranes, cutting tools, data acquisition systems, dehydration equipment, gas detectors, drilling machines, engine controls and monitors, engineering services, diesel engines, gas engines, excavators, filters, financial services, fireplace equipment, pipe fittings, flanges, flowmeters, food services, fork lifts, gas furnaces, gas exploration, gas marketing services, gas processing, gas production, gas storage, gas transmission, electric generators, heat exchangers, heating systems, hydrostatic testing services, information systems, instruments, insulation, insurance, expansion joints, leak detectors, legal services, lightning protection, lubricants, meter reading services, meter sets, gas meters, NGV equipment, nondestructive test equipment, odorants, offshore drilling, pigs, pipes, pipe maintenance services, pressure relief valves, pressure vessels, pumps, recording equipment, regulators, risers, safety equipment, gas scrubbers, sealants, security systems, separators, SCADA equipment, survey instruments, tanks, telemetering equipment, tractors, training, trenching equipment, gas turbines, underwater tools, valve actuators, valves, vibration analyzers, gas water heaters, weld inspection, welding equipment, and wires and cables

  5. n_TOF: a new experimental area under way

    CERN Multimedia

    Anaïs Schaeffer

    2013-01-01

    On Thursday 23 May, CERN celebrated the laying of the foundation stone of the new experimental area (EAR-2) of n_TOF – CERN’s neutron source facility*. Under a mild sun, Rolf Heuer, CERN Director-General, Enrico Chiaveri, spokesperson for the n_TOF collaboration, Frédérick Bordry, head of CERN’s Technology Department, and other important figures at CERN raised their glasses to the launch of this new scientific adventure.   Rolf Heuer, CERN Director-General, driving a backhoe at the EAR-2 foundation stone laying ceremony. “This new experimental area is very important as it shows the diversity of the science we are doing at CERN,” says Rolf Heuer. “One of the Laboratory’s goals is to build infrastructures and to do science that is unique, or at least world leading. And that is exactly what we are doing here.” The n_TOF collaboration is taking advantage of the long shutdown (LS1) for the const...

  6. Pre-and post-Missoula flood geomorphology of the Pre-Holocene ancestral Columbia River Valley in the Portland forearc basin, Oregon and Washington, USA

    Science.gov (United States)

    Peterson, Curt D.; Minor, Rick; Peterson, Gary L.; Gates, Edward B.

    2011-06-01

    Geomorphic landscape development in the pre-Holocene ancestral Columbia River Valley (1-5 km width) in the Portland forearc basin (~ 50 km length) is established from depositional sequences, which pre-date and post-date the glacial Lake Missoula floods. The sequences are observed from selected borehole logs (150 in number) and intact terrace soil profiles (56 in number) in backhoe trenches. Four sequences are widespread, including (1) a vertically aggraded Pleistocene alluvial plain, (2) a steep sided valley that is incised (125-150 m) into the Pleistocene gravel plain, (3) Missoula flood terraces (19-13 ka) abandoned on the sides of the ancestral valley, and (4) Holocene flooding surfaces (11-8 ka) buried at 70-30 m depth in the axial Columbia River Valley. Weathering rims and cementation are used for relative dating of incised Pleistocene gravel units. Soil development on the abandoned Missoula flood terraces is directly related to terrace deposit lithology, including thin Bw horizons in gravel, irregular podzols in sand, and multiple Bw horizons in thicker loess-capping layers. Radiocarbon dating of sand and mud alluvium in the submerged axial valley ties Holocene flooding surfaces to a local sea level curve and establishes Holocene sedimentation rates of 1.5 cm year- 1 during 11-9 ka and 0.3 cm year- 1 during 9-0 ka. The sequences of Pleistocene gravel aggradation, river valley incision, cataclysmic Missoula flooding, and Holocene submergence yield complex geomorphic landscapes in the ancestral lower Columbia River Valley.

  7. Subsurface ices at the Mars Phoenix Landing Site: Assessing emplacement mechanisms

    Science.gov (United States)

    Cull, S.; Arvidson, R. E.; Mellon, M. T.; Skemer, P. A.; Shaw, A.; Morris, R. V.

    2010-12-01

    Several mechanisms have been proposed to explain the emplacement of subsurface ices on Mars: vapor diffusion from the atmosphere, freezing of bodies of surface water (e.g., lakes or oceans), buried glaciers, or accumulation and burial of packed snow. These formation mechanisms predict different physical properties for the subsurface ices: vapor diffusion should produce pore ice, whereas other mechanisms should produce massive, relatively pure ice. NASA's Phoenix Lander uncovered two types of ice at its 2008 landing site on the northern plains of Mars: a light-toned ice (Dodo-Goldilocks) that broke into pieces during backhoe operations; and a hard, darker icy surface that had to be scraped to provide particulate materials for sampling (Snow White). Here, we use spectra from Phoenix's Surface Stereo Imager (SSI) and a non-linear mixing model with ice and soil components to determine the ice to soil ratio of the ices exposed at the Phoenix landing site. We find Dodo-Goldilocks consists of almost pure water ice. The darker icy material contains ~30 wt% ice (~55 vol%), indicating that it probably formed as pore ice between grains of soil. We conclude that these two types of ice represent two different emplacement mechanisms and periods of deposition. Snow White ice was probably deposited via vapor diffusion from the atmosphere. Dodo-Goldilocks ice was probably deposited through an ice-lens or needle ice mechanism. Buried snow or glacial ice is unlikely for Dodo-Goldilocks, given its restricted spatial extent and the fact that the site is covered by large rocks.

  8. Chemical weathering, mass loss, and dust inputs across a climate by time matrix in the Hawaiian Islands

    Science.gov (United States)

    Porder, Stephen; Hilley, George E.; Chadwick, Oliver A.

    2007-06-01

    We determined the total mass loss and rate of chemical weathering from three minimally eroded, Hawaiian lava flows that are ˜ 10, 170, and 350 ka old. Using a backhoe, we sampled the entire weathering zone at 28 sites and measured the depletion or enrichment of each major element in each soil horizon relative to parent material. We were able to assess the influence of both climate and substrate age on chemical weathering because each flow crosses a precipitation gradient from ˜ 600 to ˜ 2500 mm yr - 1 . Mass loss rates were highest for the 0-10 ka interval under the wettest climatic conditions (54 t km - 2 yr - 1 ), and decreased to near zero in the wet sites during the 10-170 and 170-350 ka intervals. Not surprisingly, weathering rates were lower in drier sites; ˜ 24 t km - 2 yr - 1 from 0-10 ka to < 2 t km - 2 yr - 1 thereafter. However the effects of precipitation were non-linear. There was a precipitation threshold below which mass loss was relatively small, and above which mass loss was substantial but insensitive to increased rainfall. Chemical weathering rates depend on tectonic uplift, erosion, climate, rock type or some combination thereof. By working on stable, uneroded surfaces of a single rock type across a well-constrained precipitation gradient, we were able to identify another potential driver: the rate of dust deposition. Although Hawaíi is one of the least dusty places in the northern hemisphere, dust inputs reached 82% of the total mass loss from the weathering zone at some sites, and averaged 30% on the 170 ka flow. This highlights the potential importance of dust as a component of observed weathering fluxes from catchments worldwide.

  9. Mono- and multistatic polarimetric sparse aperture 3D SAR imaging

    Science.gov (United States)

    DeGraaf, Stuart; Twigg, Charles; Phillips, Louis

    2008-04-01

    SAR imaging at low center frequencies (UHF and L-band) offers advantages over imaging at more conventional (X-band) frequencies, including foliage penetration for target detection and scene segmentation based on polarimetric coherency. However, bandwidths typically available at these center frequencies are small, affording poor resolution. By exploiting extreme spatial diversity (partial hemispheric k-space coverage) and nonlinear bandwidth extrapolation/interpolation methods such as Least-Squares SuperResolution (LSSR) and Least-Squares CLEAN (LSCLEAN), one can achieve resolutions that are commensurate with the carrier frequency (λ/4) rather than the bandwidth (c/2B). Furthermore, extreme angle diversity affords complete coverage of a target's backscatter, and a correspondingly more literal image. To realize these benefits, however, one must image the scene in 3-D; otherwise layover-induced misregistration compromises the coherent summation that yields improved resolution. Practically, one is limited to very sparse elevation apertures, i.e. a small number of circular passes. Here we demonstrate that both LSSR and LSCLEAN can reduce considerably the sidelobe and alias artifacts caused by these sparse elevation apertures. Further, we illustrate how a hypothetical multi-static geometry consisting of six vertical real-aperture receive apertures, combined with a single circular transmit aperture provide effective, though sparse and unusual, 3-D k-space support. Forward scattering captured by this geometry reveals horizontal scattering surfaces that are missed in monostatic backscattering geometries. This paper illustrates results based on LucernHammer UHF and L-band mono- and multi-static simulations of a backhoe.

  10. Late Holocene evolution of playa lakes in the central Ebro depression based on geophysical surveys and morpho-stratigraphic analysis of lacustrine terraces

    Science.gov (United States)

    Gutiérrez, F.; Valero-Garcés, B.; Desir, G.; González-Sampériz, P.; Gutiérrez, M.; Linares, R.; Zarroca, M.; Moreno, A.; Guerrero, J.; Roqué, C.; Arnold, L. J.; Demuro, M.

    2013-08-01

    The origin and morpho-stratigraphic evolution of the largest playa-lake system (La Playa-El Pueyo) in the Bujaraloz-Sástago endorheic area, located in the semiarid central sector of the Ebro Depression, are analysed. The enclosed depressions are developed on gypsiferous Tertiary bedrock and show a prevalent WNW-ESE orientation parallel to the direction of the prevalent strong local wind (Cierzo). Yardangs have been carved in bedrock and unconsolidated terrace deposits in the leeward sector of the largest lake basins. A sequence of three lacustrine terrace levels has been identified by detailed geomorphological mapping. The treads of the upper, middle and lower terrace levels are situated at + 9 m, + 6 m and + 0.5 m above the playa-lake floors, respectively. Seismic refraction and electrical resistivity profiles acquired in La Playa reveal a thin basin fill (~ 2 m) with a planar base. These data allow ruling out the genetic hypothesis for the depressions involving the collapse of large bedrock cavities and support a mixed genesis of combined widespread dissolution and subsidence by groundwater discharge and eolian deflation during dry periods. The 5 m thick deposit of the middle terrace was investigated in hand-dug and backhoe trenches. Six AMS radiocarbon ages from this terrace indicate an aggradation phase between 3.9 ka and ca. 2 ka. These numerical ages yield a maximum average aggradation rate of 2.6 mm/yr and a minimum excavation rate by wind deflation of 3 mm/yr subsequent to the accumulation of the middle terrace. The latter figure compares well with those calculated in several arid regions of the world using yardangs carved in palaeolake deposits. The aggradation phase between 4 and 2 ka is coherent with other Iberian and Mediterranean records showing relatively more humid conditions after 4 ka, including the Iron Ages and the Iberian-Roman Period.

  11. Chemical Weathering Across a Climate by Time Matrix in the Hawaiian Islands

    Science.gov (United States)

    Porder, S.; Hilley, G. E.; Chadwick, O. A.

    2006-12-01

    We determined the total mass loss and rate of chemical weathering for three, minimally eroded, lava flows (~ 10, 170, and 350 ky old) on the Island of Hawai'i. Using a backhoe, we sampled the entire weathering zone in 7-14 locations on each flow, and calculated mass loss of each major element by comparison to an immobile element (niobium). Each flow crosses a precipitation gradient that ranges from ~ 600 to ~ 2,500 mm yr -1, so we were able to assess the relative influence of climate and substrate age on the chemical depletion of the parent material. Time-averaged mass loss rates were highest on the youngest flow under the wettest climatic conditions (55 t km -2 yr -1), and decreased almost twenty fold on the older flows under similar conditions. There was a precipitation threshold below which mass loss was relatively small, and above which mass loss was substantial but insensitive to increased rainfall. This threshold was dependent on parent material age, ranging from 1650 mm yr -1 on the youngest flow to 1000 mm yr ^{- 1} on the oldest. Rainfall had a smaller effect than flow age on weathering rates, which increased by a factor of <5 with increased rainfall. Every site exhibited mass loss rates within the range measured in granitic catchments, despite the higher reactivity of basalt than granite. Thus these data underscore the importance of physical weathering in producing chemically weatherable substrate. Finally, the soils on each of these basaltic flows contain quartz-rich dust blown predominantly from Asian deserts, and we calculated the total mass of dust added to each weathering zone during its development. Surprisingly, even though Hawai'i is one of the least dusty places in the northern hemisphere, dust inputs equaled up to 45% of the total mass loss from the weathering zone at some sites, highlighting the potential importance of dust as a component of observed weathering fluxes from catchments worldwide.

  12. Novel approach for assessing uncertainty propagation via information-theoretic divergence metrics and multivariate Gaussian Copula modeling

    Science.gov (United States)

    Thelen, Brian J.; Rickerd, Chris J.; Burns, Joseph W.

    2014-06-01

    With all of the new remote sensing modalities available, with ever increasing capabilities, there is a constant desire to extend the current state of the art in physics-based feature extraction and to introduce new and innovative techniques that enable the exploitation within and across modalities, i.e., fusion. A key component of this process is finding the associated features from the various imaging modalities that provide key information in terms of exploitative fusion. Further, it is desired to have an automatic methodology for assessing the information in the features from the various imaging modalities, in the presence of uncertainty. In this paper we propose a novel approach for assessing, quantifying, and isolating the information in the features via a joint statistical modeling of the features with the Gaussian Copula framework. This framework allows for a very general modeling of distributions on each of the features while still modeling the conditional dependence between the features, and the final output is a relatively accurate estimate of the information-theoretic J-divergence metric, which is directly related to discriminability. A very useful aspect of this approach is that it can be used to assess which features are most informative, and what is the information content as a function of key uncertainties (e.g., geometry) and collection parameters (e.g., SNR and resolution). We show some results of applying the Gaussian Copula framework and estimating the J-Divergence on HRR data as generated from the AFRL public release data set known as the Backhoe Data Dome.

  13. Characteristics and origin of Earth-mounds on the Eastern Snake River Plain, Idaho

    International Nuclear Information System (INIS)

    Earth-mounds are common features on the Eastern Snake River Plain, Idaho. The mounds are typically round or oval in plan view, <0.5 m in height, and from 8 to 14 m in diameter. They are found on flat and sloped surfaces, and appear less frequently in lowland areas. The mounds have formed on deposits of multiple sedimentary environments. Those studied included alluvial gravel terraces along the Big Lost River (late Pleistocene/early Holocene age), alluvial fan segments on the flanks of the Lost River Range (Bull Lake and Pinedale age equivalents), and loess/slopewash sediments overlying basalt flows. Backhoe trenches were dug to allow characterization of stratigraphy and soil development. Each mound has features unique to the depositional and pedogenic history of the site; however, there are common elements to all mounds that are linked to the history of mound formation. Each mound has a open-quotes floorclose quotes of a sediment or basement rock of significantly different hydraulic conductivity than the overlying sediment. These paleosurfaces are overlain by finer-grained sediments, typically loess or flood-overbank deposits. Mounds formed in environments where a sufficient thickness of fine-grained sediment held pore water in a system open to the migration to a freezing front. Heaving of the sediment occurred by the growth of ice lenses. Mound formation occurred at the end of the Late Pleistocene or early in the Holocene, and was followed by pedogenesis. Soils in the mounds were subsequently altered by bioturbation, buried by eolian deposition, and eroded by slopewash runoff. These secondary processes played a significant role in maintaining or increasing the mound/intermound relief

  14. Wireless optics protection of fiber via SONET ring closure

    Science.gov (United States)

    Mullen, Ruth Ann; Celmer, Ken T.; Foster, Michael; Wooten, Jimmie; Miller, Jared; Kean, John C.; Carter, Doug; Kefauver, Michael; Singh, Bhupendra; Achour, Maha; Willebrand, Heinz A.

    2001-02-01

    12 A free-space laser link closes an otherwise all-fiber SONET ring, demonstrating for the first time the feasibility of using wireless optics as a back-up to fiber in an application demanding the highest levels of statistical availability and sub-50-ms protection-restoral times. This experiment demonstrates that protocol-transparent wireless optical links can be readily internetworked with industry- standard fiber-based protection protocols to achieve SONET restoral times in the event of a fiber cut. By using the wireless optics as a back-up to fiber rather than as the primary link, end-users are normally protected from the unavoidable burst errors and outages that can arise on a wireless optical link in the event of anomalously poor atmospheric visibility or unanticipated line-of-sight obstructions. While an all-fiber SONET ring operating over physically diverse paths is generally preferred, hybrid fiber/air rings operating over physically-diverse paths (fiber as one path and air as the other) will easily meet or exceed existing Bellcore availability standards for SONET rings. The hybrid part-fiber, part-air ring advantageously protects customers from fiber cuts (a.k.a. `backhoe fade') and may be preferable to over service via either an unprotected fiber spur or over a `collapsed' fiber ring made up of fiber segments sharing a common conduit. The experiment is performed at an OC-12 (622 Mbps) data rate in a point-to-consecutive point configuration which demonstrates the use of a relay site to work-around a line- of-sight obstruction.

  15. Environmental remediation following the Fukushima-Daiichi accident

    International Nuclear Information System (INIS)

    A wide area of Fukushima Prefecture was contaminated with radioactivity released by the Fukushima Daiichi nuclear accident. The decontamination pilot projects conducted by JAEA aimed at demonstrating the applicability of different techniques to rehabilitate affected areas. As most radioactive cesium is concentrated at the top of the soil column and strongly bound to mineral surfaces, there are 3 options left to decrease the gamma dose rate (usually measured 1 m above the ground surface): the stripping of the contaminated topsoil (i.e. direct removal of cesium), the dilution by mixing and the soil profile inversion. The last two options do not generate waste. As the half-distance of 137Cs gammas in soil is in the order of 5-6 cm (depending on density and water content), the shielding by 50 cm of uncontaminated deep soil would theoretically reduce gamma doses by about 3 orders of magnitude. Which option is employed depends basically on the Cesium concentration in the topsoil, averaged over a 15-cm thickness. The JAEA's decontamination pilot projects focus on soil profile inversion and topsoil stripping. Two different techniques have been tested for the soil profile inversion: one is the reversal tillage by which surface soil of thickness of several tens of cm is reversed by using a tractor plough and the other is the complete interchanging of contaminated topsoil with uncontaminated subsoil by using a back-hoe. Reversal tillage with a tractor plough cost about 30 yen/m2, which is an order of magnitude lower than that of topsoil-subsoil interchange (about 300 yen/m2). Topsoil stripping is significantly more costly (between 550 yen/m2 and 690 yen/m2 according to the equipment used)

  16. Lithology, fault displacement, and origin of secondary calcium carbonate and opaline silica at Trenches 14 and 14D on the Bow Ridge Fault at Exile Hill, Nye County, Nevada

    International Nuclear Information System (INIS)

    Yucca Mountain, a proposed site for a high-level nuclear-waste repository, is located in southern Nevada, 20 km east of Beatty, and adjacent to the southwest comer of the Nevada Test Site (NTS) (fig. 1). Yucca Mountain is located within the Basin and Range province of the western United States. The climate is semiarid, and the flora is transitional between that of the Mojave Desert to the south and the Great Basin Desert to the north. As part of the evaluation, hydrologic conditions, especially water levels, of Yucca Mountain and vicinity during the Quaternary, and especially the past 20,000 years, are being characterized. In 1982, the US Geological Survey, in cooperation with the US Department of Energy (under interagency agreement DE-A104-78ET44802), excavated twenty-six bulldozer and backhoe trenches in the Yucca Mountain region to evaluate the nature and frequency of Quaternary faulting (Swadley and others, 1984). The trenches were oriented perpendicular to traces of suspected Quaternary faults and across projections of known bedrock faults into Quaternary deposits. Trench 14 exposes the Bow Ridge Fault on the west side of Exile Hill. Although the original purpose of the excavation of trench 14 was to evaluate the nature and frequency of Quaternary faulting on the Bow Ridge Fault, concern arose as to whether or not the nearly vertical calcium carbonate (the term ''carbonate'' in this study refers to calcium carbonate) and opaline silica veins in the fault zone were deposited by ascending waters (ground water). These veins resemble in gross morphology veins commonly formed by hydrothermal processes

  17. Clamshell excavation of a permeable reactive barrier

    Science.gov (United States)

    Molfetta, Antonio Di; Sethi, Rajandrea

    2006-06-01

    Nowadays, permeable reactive barriers (PRB) are one of the most widespread techniques for the remediation of contaminated aquifers. Over the past 10 years, the use of iron-based PRBs has evolved from innovative to accepted standard practice for the treatment of a variety of groundwater contaminants (ITRC in: Permeable reactive barriers: lessons learned/new directions. The Interstate Technology and Regulatory Council, Permeable Reactive Barriers Team 2005). Although, a variety of excavation methods have been developed, backhoe excavators are often used for the construction of PRBs. The aim of this study is to describe the emplacement of a full-scale PRB and the benefits deriving from the use of a crawler crane equipped with a hydraulic grab (also known as clamshell excavator) in the excavation phases. The studied PRB was designed to remediate a chlorinated hydrocarbons plume at an old industrial landfill site, in Avigliana, near the city of Torino, in Italy. The continuous reactive barrier was designed to be 120 m long, 13 m deep, and 0.6 m thick. The installation of the barrier was accomplished using a clamshell for the excavation of the trench and a guar-gum slurry to support the walls. The performance of this technique was outstanding and allowed the installation of the PRB in 7 days. The degree of precision of the excavation was very high because of the intrinsic characteristics of this excavation tool and of the use of a concrete curb to guide the hydraulic grab. Moreover, the adopted technique permitted a saving of bioslurry thus minimizing the amount of biocide required.

  18. Corrective Action Investigation Plan for Corrective Action Unit 230: Area 22 Sewage Lagoons and Corrective Action Unit 320: Area 22 Desert Rock Airport Strainer Box, Nevada Test Site, Nevada

    International Nuclear Information System (INIS)

    This Corrective Action Investigation Plan contains the U.S. Department of Energy, Nevada Operation Office's approach to collect the data necessary to evaluate corrective action alternatives appropriate for the closure of Corrective Action Unit (CAU) 230/320 under the Federal Facility Agreement and Consent Order. Corrective Action Unit 230 consists of Corrective Action Site (CAS) 22-03-01, Sewage Lagoon; while CAU 320 consists of CAS 22-99-01, Strainer Box. These CAUs are referred to as CAU 230/320 or the Sewage Lagoons Site. The Sewage Lagoons Site also includes an Imhoff tank, sludge bed, and associated buried sewer piping. Located in Area 22, the site was used between 1951 to 1958 for disposal of sanitary sewage effluent from the historic Camp Desert Rock Facility at the Nevada Test Site in Nevada. Based on site history, the contaminants of potential concern include volatile organic compounds (VOCs), semivolatile organic compounds, total petroleum hydrocarbons (TPH), and radionuclides. Vertical migration is estimated to be less than 12 feet below ground surface, and lateral migration is limited to the soil immediately adjacent to or within areas of concern. The proposed investigation will involve a combination of field screening for VOCs and TPH using the direct-push method and excavation using a backhoe to gather soil samples for analysis. Gamma spectroscopy will also be conducted for waste management purposes. Sampling locations will be biased to suspected worst-case areas including the nearby sludge bed, sewage lagoon inlet(s) and outlet(s), disturbed soil surrounding the lagoons, surface drainage channel south of the lagoons, and the area near the Imhoff tank. The results of this field investigation will support a defensible evaluation of corrective action alternatives in the corrective action decision document

  19. Technology for concrete pipe manipulator

    Science.gov (United States)

    Li, Bin; Wang, Dan; Lin, Renzhi

    2010-01-01

    The pipe manipulator is a developing mechatronic system to enhance productivity and protects workers from cave-ins in the trench while excavating and laying pipe. The pipe manipulator is for installing concrete pipe into the trench. It is an optical-electro-mechanical system. The mechanism is make up of two parts, the upside and underside. The upside is for lifting the equipment by backhoe and rotating the underside mechanism. It includes rigidity lift beams, holding pad, four-bar linkages, hydraulic cylinder, rotating support, and rotating mechanism. Holding pad will press the bucket back to keep the bucket hooking the pipe man safely and stably. The underside mechanism is for lifting, holding and adjusting the pipe section's stance. The underside mechanism includes support trolley, and lift fork. The support trolley is driven by hydraulic cylinder for moving the fork forward or backward while laying a pipe into trench. The fork is with a self-lock mechanism for preventing the pipe from slide out of the prongs. A new photoelectric locating system is developed for auto-measuring the installing pipe section's stance within the work area. The laser target has been developed as a key part in the photoelectric locating systems. The photoelectric target is a rotating polar coordinate. Photodiodes are used for making the polar radius. There is an angular displacement sensor sitting on the heart-axis of the target for measuring angle of the target rotating. The pipe manipulator can be located by the system, and the locating methods have been presented at last of the paper.

  20. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Kress, R.L.; Jansen, J.F. [Oak Ridge National Lab., TN (United States). Robotics and Process Systems Div.; Love, L.J. [Oak Ridge Inst. for Science and Education, TN (United States); Basher, A.M.H. [South Carolina State Univ., Orangeburg, SC (United States)

    1996-09-01

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  1. Natural Propagation and Habitat Improvement, Volume 1, Oregon, 1985 Annual and Final Reports.

    Energy Technology Data Exchange (ETDEWEB)

    McDonald, Ken

    1986-10-01

    The Hot Springs Fork of the Collawash River is a major sub-drainage in the Clackamas River drainage. Emphasis species for natural production are spring chinook, coho salmon, and winter steelhead. Increased natural production appears limited by a lack of quality rearing habitat. Habitat complexity over approximately 70% of accessible area to anadromous fish has been reduced over the last 40 years by numerous factors. Natural passage barriers limit anadromous fish access to over 7 miles of high quality habitat. In the first year of a multi-year effort to improve fish habitat in the Hot Springs Fork drainage, passage enhancement on two tributaries and channel rehabilitation on one of those tributaries was completed. Three waterfalls on Nohorn Creek were evaluated and passage improved on the uppermost waterfall to provide steelhead full access to 2.4 miles of good quality habitat. The work was completed in October 1985 and involved blasting three jump pools and two holding pools into the waterfall. On Pansy Creek, four potential passage barriers were evaluated and passage improvement work conducted on two logjams and one waterfall. Minor modifications were made to a waterfall to increase flow into a side channel which allows passage around the waterfall. Channel rehabilitation efforts on Pansy Creek (RM 0.0 to 0.3) to increase low flow pool rearing habitat and spawning habitat including blasting five pools into areas of bedrock substrate and using a track-mounted backhoe to construct instream structures. On site materials were used to construct three log sills, three boulder berms, a boulder flow deflector, and five log and boulder structures. Also, an alcove was excavated to provide overwinter rearing habitat. Pre-project monitoring consisting of physical and biological data collection was completed in the project area.

  2. Hydraulic manipulator design, analysis, and control at Oak Ridge National Laboratory

    International Nuclear Information System (INIS)

    To meet the increased payload capacities demanded by present-day tasks, manipulator designers have turned to hydraulics as a means of actuation. Hydraulics have always been the actuator of choice when designing heavy-life construction and mining equipment such as bulldozers, backhoes, and tunneling devices. In order to successfully design, build, and deploy a new hydraulic manipulator (or subsystem) sophisticated modeling, analysis, and control experiments are usually needed. To support the development and deployment of new hydraulic manipulators Oak Ridge National Laboratory (ORNL) has outfitted a significant experimental laboratory and has developed the software capability for research into hydraulic manipulators, hydraulic actuators, hydraulic systems, modeling of hydraulic systems, and hydraulic controls. The hydraulics laboratory at ORNL has three different manipulators. First is a 6-Degree-of-Freedom (6-DoF), multi-planer, teleoperated, flexible controls test bed used for the development of waste tank clean-up manipulator controls, thermal studies, system characterization, and manipulator tracking. Finally, is a human amplifier test bed used for the development of an entire new class of teleoperated systems. To compliment the hardware in the hydraulics laboratory, ORNL has developed a hydraulics simulation capability including a custom package to model the hydraulic systems and manipulators for performance studies and control development. This paper outlines the history of hydraulic manipulator developments at ORNL, describes the hydraulics laboratory, discusses the use of the equipment within the laboratory, and presents some of the initial results from experiments and modeling associated with these hydraulic manipulators. Included are some of the results from the development of the human amplifier/de-amplifier concepts, the characterization of the thermal sensitivity of hydraulic systems, and end-point tracking accuracy studies. Experimental and analytical

  3. Three-Dimensional Investigation of a 5 m Deflected Swale along the San Andreas Fault in the Carrizo Plain

    KAUST Repository

    Akciz, S. O.

    2014-10-21

    Topographic maps produced from Light Detection and Ranging (LiDAR) data are useful for paleoseismic and neotectonic research because they provide submeter representation of faulting-related surface features. Offset measurements of geomorphic features, made in the field or on a remotely sensed imagery, commonly assume a straight or smooth (i.e., undeflected) pre-earthquake geometry. Here, we present results from investigation of an ∼20 cm deep and >5 m wide swale with a sharp bend along the San Andreas fault (SAF) at the Bidart fan site in the Carrizo Plain, California. From analysis of LiDAR topography images and field measurements, the swale was initially interpreted as a channel tectonically offset ∼4:7 m. Our observations from exposures in four backhoe excavations and 25 hand-dug trenchettes show that even though a sharp bend in the swale coincides with the trace of the A.D. 1857 fault rupture, the swale formed after the 1857 earthquake and was not tectonically offset. Subtle fractures observed within a surficial gravel unit overlying the 1857 rupture trace are similar to fractures previously documented at the Phelan fan and LY4 paleoseismic sites 3 and 35 km northwest of Bidart fan, respectively. Collectively, the fractures suggest that a post-1857 moderate-magnitude earthquake caused ground cracking in the Carrizo and Cholame stretches of the SAF. Our observations emphasize the importance of excavation at key locations to validate remote and ground-based measurements, and we advocate more geomorphic characterization for each site if excavation is not possible.

  4. Decontamination Technologies, Task 3, Urban Remediation and Response Project

    International Nuclear Information System (INIS)

    In the aftermath of a Radiological Dispersal Device (RDD, also known as a dirty bomb) it will be necessary to remediate the site including building exteriors and interiors, equipment, pavement, vehicles, personal items etc. Remediation will remove or reduce radioactive contamination from the area using a combination of removing and disposing of many assets (including possible demolition of buildings), decontaminating and returning to service other assets, and fixing in place or leaving in place contamination that is deemed 'acceptable'. The later will require setting acceptable dose standards, which will require negotiation with all involved parties and a balance of risk and cost to benefit. To accomplish the first two, disposal or decontamination, a combination of technologies will be deployed that can be loosely classified as: Decontamination; Equipment removal and size reduction; and Demolition. This report will deal only with the decontamination technologies that will be used to return assets to service or to reduce waste disposal. It will not discuss demolition, size reduction or removal technologies or equipment (e.g., backhoe mounted rams, rock splitter, paving breakers and chipping hammers, etc.). As defined by the DOE (1994), decontamination is removal of radiological contamination from the surfaces of facilities and equipment. Expertise in this field comes primarily from the operation and decommissioning of DOE and commercial nuclear facilities as well as a small amount of ongoing research and development closely related to RDD decontamination. Information related to decontamination of fields, buildings, and public spaces resulting from the Goiania and Chernobyl incidents were also reviewed and provide some meaningful insight into decontamination at major urban areas. In order to proceed with decontamination, the item being processed needs to have an intrinsic value that exceeds the cost of the cleaning and justifies the exposure of any workers during the

  5. Calibration Shots Recorded for the Salton Seismic Imaging Project, Salton Trough, California

    Science.gov (United States)

    Murphy, J. M.; Rymer, M. J.; Fuis, G. S.; Stock, J. M.; Goldman, M.; Sickler, R. R.; Miller, S. A.; Criley, C. J.; Ricketts, J. W.; Hole, J. A.

    2009-12-01

    .5-Hz velocity sensor, and a 60-channel cabled array with 40-Hz sensors. Irrigation districts in both the Coachella Valley and Imperial Valley use clay drainage pipes buried beneath fields to remove irrigation water and prevent ponding. To determine the effect of seismic energy on the drain pipes, we exposed sections of pipe several meters long with a backhoe at distances of 7-15 meters from the shot holes, and, after each shot, visually inspected the pipes. Our shots produced no pipe damage.

  6. Decontamination Technologies, Task 3, Urban Remediation and Response Project

    Energy Technology Data Exchange (ETDEWEB)

    Heiser,J.; Sullivan, T.

    2009-06-30

    In the aftermath of a Radiological Dispersal Device (RDD, also known as a dirty bomb) it will be necessary to remediate the site including building exteriors and interiors, equipment, pavement, vehicles, personal items etc. Remediation will remove or reduce radioactive contamination from the area using a combination of removing and disposing of many assets (including possible demolition of buildings), decontaminating and returning to service other assets, and fixing in place or leaving in place contamination that is deemed 'acceptable'. The later will require setting acceptable dose standards, which will require negotiation with all involved parties and a balance of risk and cost to benefit. To accomplish the first two, disposal or decontamination, a combination of technologies will be deployed that can be loosely classified as: Decontamination; Equipment removal and size reduction; and Demolition. This report will deal only with the decontamination technologies that will be used to return assets to service or to reduce waste disposal. It will not discuss demolition, size reduction or removal technologies or equipment (e.g., backhoe mounted rams, rock splitter, paving breakers and chipping hammers, etc.). As defined by the DOE (1994), decontamination is removal of radiological contamination from the surfaces of facilities and equipment. Expertise in this field comes primarily from the operation and decommissioning of DOE and commercial nuclear facilities as well as a small amount of ongoing research and development closely related to RDD decontamination. Information related to decontamination of fields, buildings, and public spaces resulting from the Goiania and Chernobyl incidents were also reviewed and provide some meaningful insight into decontamination at major urban areas. In order to proceed with decontamination, the item being processed needs to have an intrinsic value that exceeds the cost of the cleaning and justifies the exposure of any workers

  7. Spatial Heterogeneity of Loess Tilled Slope Surface Roughness%黄土坡耕地地表糙度的空间异质性研究

    Institute of Scientific and Technical Information of China (English)

    张莉; 张青峰; 赵龙山; 王健; 吴发启

    2014-01-01

    Objective]The objective of this paper is to reveal the spatial heterogeneity of surface roughness of 4 typical loess tilled slopes during different erosive stages under a micro-scale (2 cm×2 cm) condition.[Method]When slopes with 4 different gradients and tillage measures were prepared (artificial backhoe, artificial digging, contour tillage and straight cultivated slope (check), an erosive rainfall with a rainfall intensity of 60 mm/h was carried out. Soil surface roughness relative elevation data points were taken by a laser scanner and analyzed with both the semivariogram function and fractal dimension models.[Result]The result of classical statistical analysis showed that the loess tillage slope surface roughness has a weak spatial variability. The result of the semivariogram analysis indicated that the loess tilled slope surface roughness had a higher spatial autocorrelation, their spatial autocorrelation scale of surface roughness ranged from 2.02 m to 3.82 m. The spatial heterogeneity caused by the spatial structure characteristic accounted for the greater proportion of the total heterogeneity. The fractal dimension analysis showed that the surface roughness had good fractal features, and it ranged from 1.59 to 1.91. With the increase of gradient, the spatial distribution of slope surface roughness tended to complex, its spatial heterogeneity was stronger. The spatial heterogeneities of the artificial backhoe (AB), artificial digging (AD) and contour tillage (CT) increase in turn within the scope of the small scale, and had a good effect on soil and water conservation.[Conclusion]The main reason for the differences of the spatial heterogeneity of surface roughness is the spatial structural characteristics formed by the integrated interaction of human farming and slope and the artificial cultivation. The space configuration pattern of surface roughness is mainly controlled by slope gradient factor in a smaller scale range, and by the rainfall with its

  8. Physical properties of the surface materials at the Viking landing sites on Mars

    Science.gov (United States)

    Moore, H.J.; Hutton, R.E.; Clow, G.D.; Spitzer, C.R.

    1987-01-01

    include: (1) acquiring motor-current data while excavating trenches, (2) performing surface-bearing tests, (3) performing backhoe touchdowns, (4) attempting to chip or scratch rocks, (5) comminuting samples, (6) measuring subsurface diurnal temperatures, and (7) constructing conical piles of materials on and among rocks. Sample trenches in the three major types of soil-like materials were different from one another. Trenches in drift material, which were typically 0.06 m deep, had steep walls along much of their lengths, lumpy tailings and floors, and smooth domed surfaces with sparse fine fractures around their tips. Trenches in blocky material, which were typically 0.03-0.04 m deep, had steep walls near their tips, and surfaces around their tips were displaced upward and some appeared blocky. Trenches in crusty to cloddy material, which were typically 0.04-0.05 m deep, had steep and often irregular slopes near their tips, clods and slabs of crust in their tailings, and disrupted areas around their tips composed of mixed fine-grained material and slabs of crust or thick polygonal clods that had been displaced upwards. Data acquired during landing, trenching, surface-bearing tests, backhoe touchdowns, and from other science experiments were used to determine the mechanical properties of drift, blocky, and crusty to cloddy materials. Drift material appeared to be very fine grained, with local planes of weakness; in general, the drift material was consistent with a material having an angle of internal friction about 18?, a cohesion ranging from 0.7 to 3.0 kPa, and a bulk density of 1,200 kg/m 3 . Blocky material was consistent with a material having an angle of internal friction about 30?, cohesions from 1.5 to 16 kPa, and a bulk density of 1,600 kg/m 3 . Crusty to cloddy material had variable properties. For chiefly crusty to cloddy material, angles of internal friction were about 35 ? , and cohesions were from 0.5 to 5.2 kPa. For mixed fines and crusts, a

  9. Soil analyses for 1,3-dichloropropene (1,3-DCP), sodium n-methyldithiocarbamate (metam-sodium), and their degradation products near Fort Hall Idaho, September 1999 through March 2000

    Science.gov (United States)

    Parliman, D.J.

    2001-01-01

    Between September 1999 and March 2000, soil samples from the Fort Hall, Idaho, area were analyzed for two soil fumigants, 1,3-dichloropropene (1,3-DCP) and sodium n-methyldithiocarbamate (metam-sodium), and their degradation products. Ground water is the only source of drinking water at Fort Hall, and the purpose of the investigation was to determine potential risk of ground-water contamination from persistence and movement of these pesticides in cropland soils. 1,3-DCP, metam-sodium, or their degradation products were detected in 42 of 104 soil samples. The samples were collected from 1-, 2-, and 3-foot depths in multiple backhoe trenches during four sampling events—before pesticide application in September; after application in October; before soil freeze in December; and after soil thaw in March. In most cases, concentrations of the pesticide compounds were at or near their laboratory minimum reporting limits. U.S. Environmental Protection Agency Method 5035 was used as the guideline for soil sample preparation and analyses, and either sodium bisulfate (NaHSO4), an acidic preservative, or pesticide-free water was added to samples prior to analyses. Addition of NaHSO4 to the samples resulted in a greater number of compound detections, but pesticide-free water was added to most samples to avoid the strong reactions of soil carbonate minerals with the NaHSO4. As a result, nondetection of compounds in samples containing pesticide-free water did not necessarily indicate that the compounds were absent. Detections of these compounds were inconsistent among trenches with similar soil characteristics and histories of soil fumigant use. Compounds were detected at different depths and different trench locations during each sampling event. Overall results of this study showed that the original compounds or their degradation products can persist in soil 6 months or more after their application and are present to at least 3 feet below land surface in some areas. A few of

  10. Assesing tree-root & soil interaction using pull-out test apparatus

    Science.gov (United States)

    Wibowo, J.; Corcoran, M. K.; Kala, R.; Leavell, D.

    2011-12-01

    Knowing in situ root strength provides a better understanding of the responses of tree root systems against external loads. Root pullout devices are used to record these strengths and can be expressed in two ways: pullout force, which is a direct output from the load cell (measured in pounds) or pullout stress, which is the pullout force divided by root cross section area (measured in pounds per square in.). Pullout tests show not only the possible tensile strength of a tree root, but also the interaction between the tree root and the surrounding geological materials. After discussion with engineers from the University of Nottingham-Trent, the U.S. Army Engineer Research and Development Center (ERDC) constructed a root pullout apparatus with some modifications. These modifications included using a T-System configuration at the base of an aluminum frame instead of a diagonal rod and varying the size of the clamp placed around the tested root. The T-System is placed in front of the root perpendicular to the root path. In the ERDC pullout device, the root was pulled directly without a lever system. A string pot was used to measure displacement when the root was pulled. The device is capable of pulling tree roots with a diameter of up to 2.5 in. and a maximum load of 5000 lbs. Using this device, ERDC conducted field operations in Portland, Oregon; Burlington, Washington; and Albuquerque, New Mexico, on Oregon ash, alder, maple, and cedar trees. In general, pullout tests were conducted approximately 60 deg around the tree selected for the tests. The location of a test depended on the availability of a root near the ground surface. A backhoe was used to remove soil around the tree to locate roots. Before the root was secured in a clamp, root diameter was measured and recorded, and the root was photographed. The tree species, dip angle and dip direction of the root, root location with respect to the tree, tree location, dates, weather, and soil type were also recorded

  11. Preliminary results from water content and density measurements of the backfill and buffer in the prototype repository at Aespoe HRL

    International Nuclear Information System (INIS)

    Document available in extended abstract form only. Since 2001 the Prototype Repository at Aespoe Hard Rock Laboratory has been carried out as a large-scale experimental installation of the KBS-3 Swedish/Finnish concept for final disposal of spent nuclear fuel. The Prototype Repository consists of a total of six full-scale deposition holes with a centre distance of 6 m, located in a TBM tunnel at a depth of 450 m. Each deposition hole is fitted with a full-scale bentonite buffer, consisting of altogether 14 blocks and a full-scale canister, Figure 1. The canisters are equipped with heaters to simulate the heat from spent nuclear fuel. There are two sections of the installation; The inner section (I) consisting of four deposition holes (no. 1-4) with buffer and canister, and the outer section (II) consisting of two deposition holes (no. 5-6). The deposition tunnel is filled with a mixture of crushed rock and bentonite (30% of bentonite). A massive concrete plug, designed to withstand full water and swelling pressures, separates the test area from the open tunnel system and a second plug separates the two sections. This layout provides two more or less independent test sections. The outer section was opened and retrieved during 2011. The backfill was excavated with a back-hoe loader in layers of two metres. Samples were taken in these layers with the object of determining density and water content. Important items of the backfill to examine were the contact between backfill and the tunnel wall and the contact between the buffer and backfill in the deposition holes. The water content of the backfill was determined by drying samples in an oven at a temperature of 105 C for 24 h and the density was determined by weighting the sample both in air and merged into paraffin oil with known density. Altogether more than 900 tons of backfill material was excavated from the tunnel and more than 1100 samples, distributed over 11 sections, were taken for determining the water

  12. Short-term recovery of soil physical, chemical, micro- and mesobiological functions in a new vineyard under organic farming

    Science.gov (United States)

    Costantini, E. A. C.; Agnelli, A. E.; Fabiani, A.; Gagnarli, E.; Mocali, S.; Priori, S.; Simoni, S.; Valboa, G.

    2015-06-01

    Deep earthwork activities carried out before vineyard plantation can severely affect soil profile properties. As a result, soil features in the root environment are often much more similar to those of the underlying substratum than those of the original profile. The time needed to recover the original soil functions is ecologically relevant and may strongly affect vine phenology and grape yield, particularly under organic viticulture. The general aim of this work was to investigate soil resilience after vineyard pre-planting earthworks. In particular, an old and a new vineyard, established on the same soil type, were compared over a 5-year period for soil chemical, physical, micro- and mesobiological properties. The investigated vineyards (Vitis vinifera L., cv. Sangiovese) were located in the Chianti Classico district (central Italy), on stony and calcareous soils, and were not irrigated. The older vineyard was planted in 2000, after slope reshaping by bulldozing and back-hoe ploughing down to about 0.8-1.0 m. The new vineyard was planted in 2011, after equivalent earthwork practices carried out in the summer of 2009. Both vineyards were organically managed, and they were fertilized with compost only every autumn (1000 kg ha-1 per year). The new vineyard was cultivated by periodic tillage, while the old vineyard was managed with alternating grass-covered and tilled inter-rows. Soil samples were collected at 0-15 cm depth from fixed locations in each vineyard every spring from 2010 to 2014. The old vineyard was sampled in both tilled and grass-covered inter-rows. According to the results from physical and chemical analyses, the new vineyard, during the whole 2010-2014 period, showed lower total organic carbon, total nitrogen, carbon to nitrogen ratio and electrical conductivity, along with higher silt and total CaCO3 contents than the old vineyard, suggesting still-evolving equilibrium conditions. The microarthropod analysis showed significantly different

  13. Estudo dos efeitos auditivos e extra-auditivos da exposição ocupacional a ruído e vibração Auditory and extra-auditory effects of occupational exposure to noise and vibration

    Directory of Open Access Journals (Sweden)

    Márcia Fernandes

    2002-10-01

    Full Text Available Objetivo: Este estudo teve como objetivo investigar as queixas de saúde e achados audiológicos de dois grupos de trabalhadores. Forma de estudo: Clínico prospectivo randomizado. Material e método: Grupo 1- exposto a níveis de pressão sonora elevados e vibração transmitida por meio das mãos-braços nos trabalhadores que operam motorroçadeiras, e Grupo 2- exposto a níveis elevados de pressão sonora e vibração transmitida por meio do corpo inteiro nos trabalhadores que operam equipamentos pesados como pá-carregadeira, moto niveladora, retro-escavadeira e rolo compressor. Os 73 participantes passaram por entrevista, inspeção do meato acústico externo e audiometria tonal. Resultado: Em relação aos problemas de saúde, o grupo 2, exposto a vibração de corpo inteiro, é o que apresenta um maior número de queixas. Os trabalhadores do Grupo 1, sem exceção, fazem uso do protetor auditivo e apenas 4 (11% referem zumbido. No Grupo 2 nem todos os trabalhadores usam o protetor auditivo e 6 (17% referem apresentar zumbido. Entretanto, a porcentagem de audiogramas alterados é mais elevada no grupo 1, expostos a vibração transmitida por meio das mãos-braços. Conclusão: Este estudo revelou uma série de deficiências no acompanhamento de saúde dessas populações e demonstrou a necessidade da implantação de programas preventivos tanto no que se refere à exposição a níveis de pressão sonora elevados quanto à vibração.Aim: The present study aimed to investigate the health complaints and the audiological findings of 2 groups of workers. Study design: Clinical prospective randomized. Material and method: Group 1 was exposed to high sound pressure levels and vibration transmitted by hands and arms through the use of power brush cutter/string trimmers. Group 2 was exposed to high sound pressure levels and whole-body vibration transmitted by heavy machinery such as vibrating compactor rollers, skid-steer loaders, backhoes and

  14. Integrating geomorphological mapping, InSAR, GPR and trenching for the identification and investigation of buried sinkholes in the mantled evaporite karst of the Ebro Valley (NE Spain)

    Science.gov (United States)

    Gutiérrez, Francisco; Galve, Jorge Pedro; Lucha, Pedro; Bonachea, Jaime; Castañeda, Carmen

    2010-05-01

    bedrock sagging. (2) Around 70% of the sinkholes have been filled by man-made ground. (3) Subsidence has caused severe damage to many human structures, primarily due to the ongoing activity of pre-existing buried sinkholes. Consequently, the identification of sinkholes is the key for preventive planning and the delineation of the main risk areas. A total of eleven sinkholes (S1-S11) covering around 20% of the study area were mapped. Six of the sinkholes were buried and the largest one (S8), which occupies approximately 35,500 m2, partially coincides with the area previously selected for the construction of a housing state. The investigation was developed in three main phases. A preliminary sinkhole map was produced in phase I using: (a) aerial photographs and satellite images from different dates (1927, 1957, 1984, 2003, 2006, 2007), (b) detailed topographical maps from 1969 (1:2000) and 1971-73 (1:1000) with contour intervals of 1 m, (c) thorough field surveys including interviews to local people and inspection to human structures, and (d) radar interferometry. Deformation measurements were obtained from 54 interferograms generated by means of the Stable Point Network technique with 23 ENVISAT images acquired from May 2003 to July 2008. The InSAR analysis provides data on the temporal evolution of the subsidence (magnitude and rate) for coherent 20 m-sized pixels. During phase II, 26 GPR profiles with a total length of 2,290 m were conducted using a 400 MHz antenna. In phase III, 13 backhoe trenches up to 2.8 m deep and totalling 323 m were investigated following the methodology commonly used in paleoseismological studies. Two samples were obtained for radiocarbon dating in a trench dug at the margin of sinkhole S8. The aerial photographs, specially the stereoscopic images taken in 1957, were the most useful tool for the identification of buried sinkholes. They allowed us the detection of 9 sinkholes out of 11. The topographical maps depict 7 of the inventoried sinkholes

  15. Challenges in planning and performing the retrieval of the prototype repository at Aespoe HRL- Project management's reflections and practical experiences from field work

    International Nuclear Information System (INIS)

    the outer plug could start in November 2010 and the field-work was fully completed according to schedule at the end of 2011. The field work included breaching of the outer plug and removal and sampling of the buffer and backfill. The removal of the plug was mainly made by external entrepreneurs and the technique used was to core drill trough the entire reinforced concrete dome to make it easier to mechanically tear the plug down. About 200 tons of concrete was removed and the work took about 12 weeks. The removal of the backfill material in the tunnel was made in two stages in order to minimise the upward swelling of the buffer in the deposition holes. The first stage included removal and sampling of the backfill to a sample-section in between the deposition holes. The remaining backfill was removed after the bentonite in the first deposition hole had been removed and the first canister had been retrieved. The backfill was excavated with a back-hoe loader in layers of two metres. Furthermore, samples were taken for determining the water content and density of the backfill. This work was made by a staff of 3 persons. The samples were wrapped in foil, to avoid them from drying, and transported to a local lab where the determination of the water content and density were performed. About 1100 samples were taken and about 900 tons of backfill material was removed. The total time for removing the backfill was about 10 weeks. No actual problems with the excavation method were observed. The main problem with this part of the work was to get representative samples due to the heterogeneity of the backfill material. The removal of the buffer was made by core drilling into the bentonite blocks from tunnel floor level. Double drilling machines were used and the sample-cores were placed in 8 directions to a depth of about 500 mm. The cores were used for determining the water content and the density of the buffer. The bentonite in between the cores was then mechanically removed

  16. Aplicação de uma técnica alternativa de manejo físico do solo no cultivo de Eucalyptus grandis W.Hill (Myrtaceae Application of an alternative technique for physical soil management in cultivation of Eucalyptus grandis W.Hill (Myrtaceae

    Directory of Open Access Journals (Sweden)

    João Paulo de Maçaneiro

    2013-02-01

    areas by E. grandis are considerably sensitive to the initial conditions of soil preparation was applied the technique of roughening (variations relief alternating concave and convex surfaces to cause over time emergent properties that accelerate the process of plant growth. The study area is located on the Itajai River Basin, in Brusque, SC. This was divided into four smaller portions: two treatments with irregular (IR-A and IR-B and two others with regular treatments (R-A and R-B. The treatments consisted of irregular armhole opening, using a hydraulic backhoe, interspersed with 1 meter wide, 4 to 5 meters long and 0.5 meters deep. In regular treatments was adopted minimum tillage of the soil, where soil preparation was restricted to lines or planting holes. In the analysis of the development of E. grandis (height, diameter and breast height - DBH was found statistical differences between the techniques of soil preparation, and the highest values in treatments irregular. In plots irregular (IR-A and IR-B were found higher mean values of height (5.29 meters and 5.46 meters, stem diameter (45.65 mm and 45.4 mm and DBH (4.44 cm to 4.79 cm, respectively. It is assumed that the roughness effectively functioned as auxiliary components in the internalization of matter, retaining water, sediments and nutrients, a fact that should have enhanced and accelerated the growth of E. grandis.