WorldWideScience

Sample records for preliminary underwater demolition

  1. Quality assurance and demolition: 2006 symposium

    International Nuclear Information System (INIS)

    Thierfeldt, S.

    2006-01-01

    The '2006 Symposium: Quality Assurance and Demolition' jointly organized by compra GmbH and Brenk Systemplanung GmbH this year again focused on quality assurance and the demolition of nuclear facilities as its main topics. The papers presented ranged from issues of clearance and disposal to demolition technologies and status reports about specific demolition projects. The sixteen presentations at the '2006 Symposium: Quality Assurance and Demolition' offered an interesting and very topical cross section of decommissioning and demolition of nuclear facilities in Germany. In 2007, the conference about similar main topics will again be held at the Schloss Bensberg Grand Hotel. (orig.)

  2. Drilling-and-blasting method of demolition

    Directory of Open Access Journals (Sweden)

    Sinitsyn Denis

    2018-01-01

    Full Text Available This article analyzes the experience and gives the examples of dismantling and demolition of the construction structures of the buildings and facilities using the drilling-and-blasting method. The drilling-and-blasting method is widely used in construction and reconstruction. The demolition means may be classified according to impact on a material of structures to be demolished and to forces application, where, by virtue of an impact energy type, we choose the blasting method. This method is used during the complete demolition or fragmentation of concrete, reinforced concrete, masonry structures, of old buildings and facilities demolition to their base or in the intended direction. Blasting method may be used as well during the steel and reinforced concrete structures demolition to the smaller easy-to-move parts. Reviewed are the organizational-process activities, which are performed during the various structures dismantling. Given are the areas of application for the various methods of structures demolition. Given is the example of demolition of “Sevemaya” boiler house brick chimney at the territory of Murmansk DSK using the blast in confined spaces of the operating company. Subject of research: methods of construction structures demolition in alarm situations and acts of God. Objects: determination of the most efficient demolition methods in the present conditions of construction operations development. Materials and methods: the developed activities on the construction structures dismantling are given. Results: the most efficient methods and ways of construction structures demolition are defined. Conclusions: it is required for improvement of methods and ways of the structures drilling-and-blasting demolition.

  3. Decommissioning and demolition 1992

    International Nuclear Information System (INIS)

    Whyte, I.L.

    1992-01-01

    The decommissioning and demolition of structures offshore, onshore and in nuclear works involves new technologies and industries in demolition and removal. The aim of the conference was to provide a forum to keep up to date with technological developments, to publicise new techniques and to share and discuss present and future plans. A particular feature was the multi-disciplinary approach to promote and encourage communication between different sectors of this difficult field of operations. The conference emphasised not only technical issues but also legislative, management and health and safety aspects. Papers were presented by practising engineers, contractors and research workers involved in offshore structures, buildings, power stations, contaminated sites, nuclear plant and includes specialist techniques of cutting, lifting, explosives, ground treatment and decontamination. Many valuable case histories and records based on practical experience were reported. The volume provides a reference source on the state-of-the-art in decommissioning and demolition. The ten papers relevant to the decommissioning and demolition of nuclear facilities are indexed separately. (Author)

  4. DEMOLITION OF HANFORD'S 232-Z WASTE INCINERATION FACILITY

    International Nuclear Information System (INIS)

    LLOYD, E.R.

    2006-01-01

    The 232-Z Plutonium Incinerator Facility was a small, highly alpha-contaminated, building situated between three active buildings located in an operating nuclear complex. Approximately 500 personnel worked within 250 meters (800 ft) of the structure and expectations were that the project would neither impact plant operations nor result in any restrictions when demolition was complete. Precision demolition and tight controls best describe the project. The team used standard open-air demolition techniques to take the facility to slab-on-grade. Several techniques were key to controlling contamination and confining it to the demolition area: spraying fixatives before demolition began; using misting systems, frequently applying fixatives, and using a methodical demolition sequence and debris load-out process. Detailed air modeling was done before demolition to determine necessary facility source-term levels, establish radiological boundaries, and confirm the adequacy of the proposed demolition approach. By only removing the major source term in equipment, HEPA filters, gloveboxes, and the like, and leaving fixed contamination on the walls, ceilings and floors, the project showed considerable savings and reduced worker hazards and exposure. The ability to perform this demolition safely and without the spread of contamination provides confidence that similar operations can be performed successfully. By removing the major source terms, fixing the remaining contamination in the building, and using controlled demolition and contamination control techniques, similar structures can be demolished cost effectively and safely

  5. Preliminary Investigation of an Underwater Ramjet Powered by Compressed Air

    Science.gov (United States)

    Mottard, Elmo J.; Shoemaker, Charles J.

    1961-01-01

    Part I contains the results of a preliminary experimental investigation of a particular design of an underwater ramjet or hydroduct powered by compressed air. The hydroduct is a propulsion device in which the energy of an expanding gas imparts additional momentum to a stream of water through mixing. The hydroduct model had a fineness ratio of 5.9, a maximum diameter of 3.2 inches, and a ratio of inlet area to frontal area of 0.32. The model was towed at a depth of 1 inch at forward speeds between 20 and 60 feet per second for airflow rates from 0.1 to 0.3 pound per second. Longitudinal force and pressures at the inlet and in the mixing chamber were determined. The hydroduct produced a positive thrust-minus-drag force at every test speed. The force and pressure coefficients were functions primarily of the ratio of weight airflow to free-stream velocity. The maximum propulsive efficiency based on the net internal thrust and an isothermal expansion of the air was approximately 53 percent at a thrust coefficient of 0.10. The performance of the test model may have been influenced by choking of the exit flow. Part II is a theoretical development of an underwater ramjet using air as "fuel." The basic assumption of the theoretical analysis is that a mixture of water and air can be treated as a compressible gas. More information on the properties of air-water mixtures is required to confirm this assumption or to suggest another approach. A method is suggested from which a more complete theoretical development, with the effects of choking included, may be obtained. An exploratory computation, in which this suggested method was used, indicated that the effect of choked flow on the thrust coefficient was minor.

  6. Quality assurance and demolition: 2008 symposium

    International Nuclear Information System (INIS)

    Schartmann, F.; Thierfeldt, S.

    2008-01-01

    The 'Quality Assurance and Demolition Symposium, which has become a tradition established jointly by Applus RTD Deutschland GmbH (formerly compra GmbH) and Brenk Systemplanung GmbH, Aachen, was held also in 2008 with the focus on quality assurance and the demolition of nuclear facilities. The conference began with a series of lectures on knowledge and document management in general, and the use of document management systems in the nuclear field in particular. The evening lecture was presented by Axel Weis (Karlsruhe Research Center) on 'Competence Preservation in Nuclear Technology'. The 24 technical papers presented on the next 2 days of the symposium dealt with non-destructive materials testing and with special problems of radiation protection, demolition, and waste management. In 2009, the meeting will cover similar main topics and will again be held in an interesting environment, perhaps in combination with a tour of a demolition project. (orig.)

  7. Handling construction waste of building demolition

    Directory of Open Access Journals (Sweden)

    Vondráčková Terezie

    2018-01-01

    Full Text Available Some building defects lead to their demolition. What about construction and demolition waste? According to the Waste Act 185/2001 Coll. and its amendment 223/2015 Coll., which comes into force on January 1, 2017, the production of waste has to be reduced because, as already stated in the amendment to Act No. 229/2014 Coll., the ban on landfilling of waste will apply from 2024 onwards. The main goals of waste management can thus be considered: Preventing or minimizing waste; Waste handling to be used as a secondary raw material - recycling, composting, combustion and the remaining waste to be dumped. Company AZS 98 s. r. o. was established, among other activities, also for the purpose of recycling construction and demolition waste. It operates 12 recycling centers throughout the Czech Republic and therefore we have selected it for a demonstration of the handling of construction and demolition waste in addressing the defects of the buildings.

  8. Sustainable Management of Construction and Demolition Materials

    Science.gov (United States)

    This web page discusses how to sustainably manage construction and demolition materials, Information covers, what they are, and how builders, construction crews, demolition teams,and deign practitioners can divert C&D from landfills.

  9. Underwater image mosaicking and visual odometry

    Science.gov (United States)

    Sadjadi, Firooz; Tangirala, Sekhar; Sorber, Scott

    2017-05-01

    This paper summarizes the results of studies in underwater odometery using a video camera for estimating the velocity of an unmanned underwater vehicle (UUV). Underwater vehicles are usually equipped with sonar and Inertial Measurement Unit (IMU) - an integrated sensor package that combines multiple accelerometers and gyros to produce a three dimensional measurement of both specific force and angular rate with respect to an inertial reference frame for navigation. In this study, we investigate the use of odometry information obtainable from a video camera mounted on a UUV to extract vehicle velocity relative to the ocean floor. A key challenge with this process is the seemingly bland (i.e. featureless) nature of video data obtained underwater which could make conventional approaches to image-based motion estimation difficult. To address this problem, we perform image enhancement, followed by frame to frame image transformation, registration and mosaicking/stitching. With this approach the velocity components associated with the moving sensor (vehicle) are readily obtained from (i) the components of the transform matrix at each frame; (ii) information about the height of the vehicle above the seabed; and (iii) the sensor resolution. Preliminary results are presented.

  10. 26 CFR 1.280B-1 - Demolition of structures.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 3 2010-04-01 2010-04-01 false Demolition of structures. 1.280B-1 Section 1... (CONTINUED) INCOME TAXES Items Not Deductible § 1.280B-1 Demolition of structures. (a) In general. Section 280B provides that, in the case of the demolition of any structure, no deduction otherwise allowable...

  11. A Sandia National Laboratories decontamination and demolition success story

    International Nuclear Information System (INIS)

    Miller, D.R.; Barber, D.S.; Lipka, G.

    1994-01-01

    Sandia National Laboratories/New Mexico (SNL/NM) has established a formal facility assessment, decontamination and demolition oversight process with the goal of ensuring that excess or contaminated facilities are managed in a cost-effective manner that is protective of human health and the environment. The decontamination and demolition process is designed so that all disciplines are consulted and have input from the initiation of a project. The committee consists of all essential Environmental, Safety and Health (ES and H) and Facilities disciplines. The interdisciplinary-team approach has provided a mechanism that verifies adequate building and site assessment activities are conducted. This approach ensures that wastes generated during decontamination and demolition activities are handled and disposed according to Department of Energy (DOE), Federal, state, and local requirements. Because of the comprehensive nature of the SNL decontamination and demolition process, the strategy can be followed for demolition, renovation and new construction projects, regardless of funding source. An overview of the SNL/NM decontamination and demolition process is presented through a case study which demonstrates the practical importance of the formal process

  12. K-25 Structural Separation and Demolition

    International Nuclear Information System (INIS)

    Cater, Frank

    2008-01-01

    The K-25 building is a former gaseous diffusion plant, built in 1944-1945 as part of the United States Manhattan Project. The structure was the largest structure under one roof, surpassed only by the Pentagon. Together the three wings represent about 17.8 hectare (44 acres) under roof and are generally about 18.3 meters (60 ft.) high on the outside face and approximately 12.2 meters (40 ft.) high on the inside face. The entire structure was built in the shape of a 'U', with a lateral distance of approximately one mile. It was constructed in individual building units with each unit connected using expansion joint-type connection. A single unit is approximately 24.4 meters (80 ft.) across and 122 meters (400 ft.) deep. The northern structure is connected to the eastern and western structures at the upper level floors. The four-level, U-shaped building is a steel-frame structure with corrugated cement-asbestos siding. The cell level is an elevated concrete structure supported by reinforced concrete columns located in the basement, or vault area. The vault area can be accessed at grade level from the outside perimeter. Inside the courtyard, the grade level has been raised to provide entry to the second or cell floor level. An engineering evaluation of the structure was performed to determine the condition of the structure and possibility of unplanned collapse of any portion of the structure. The evaluation included physical inspections, calculations for wind, pre-demolition loads, and evaluation of failure modes. The results of the evaluation have provided guidance for the demolition plan and the development of criteria for protection of personnel performing pre-demolition activities. Challenges include degradation of the structure that necessitated repair, dealing with changes in the code revisions from both the American Concrete Institute (ACI) and the American Institute of Steel Construction (AISC), access to areas of the structure that were not necessarily designed

  13. Large-Scale Residential Demolition

    Science.gov (United States)

    The EPA provides resources for handling residential demolitions or renovations. This includes planning, handling harmful materials, recycling, funding, compliance assistance, good practices and regulations.

  14. THE EFFECT OF VESSEL SUPPLY ON SHIP-DEMOLITION PRICES

    Directory of Open Access Journals (Sweden)

    Nikos Kagkarakis

    2017-02-01

    Full Text Available The ship-demolition is one of the four main markets that form the shipping industry and plays an important role on the seaborne trade, as it mitigates imbalances between supply and demand for transportation services by adjusting the merchant fleet supply. The aim of this study is to examine whether the factors that determine the supply of vessels for demolition are capable of affecting materially the ship-demolition price formation. The availability of ships for demolition is primarily a function of the fleet’s age and the conditions on the freight and secondhand markets. The analysis is conducted on the crude tanker and the bulk carrier segments and the vector autoregressive model methodology is employed, whereby the effect of both the supply and the demand factors on the ship-demolition prices is examined. The results indicate that the supply side has limited effect on the price formation in the industry, which is driven by the demand for the steel-scrap commodity.

  15. 200 West Area Ash Pit Demolition Site closure plan. Revision 1

    International Nuclear Information System (INIS)

    Ruck, F.R.

    1994-01-01

    The Ash Pit Demolition Site had two known demolition events, the first occurred in November of 1984, and the second occurred in June of 1986. These demolition events were a form of thermal treatment for discarded explosive chemical products. Because the Ash Pit Demolition Site will no longer be used for this thermal activity, the site will be closed. Closure will be conducted pursuant to the requirements of the Washington State Department of Ecology (Ecology) ''Dangerous Waste Regulations'', Washington Administrative Code (WAC) 173-303-610 and 40 Code of Federal Regulations (CFR) 270.1. The 200 West Area Ash Pit Demolition Site Closure Plan consists of a Part A, Form 3, Dangerous Waste Permit Application (Revision 4) and a closure plan. An explanation of the Part A, Form 3, submitted with this closure plan is provided at the beginning of the Part A Section. The closure plan consists of nine chapters and five appendices. This closure plan presents a description of the Ash,Pit Demolition Site, the history of the waste treated, and the approach that will be followed to close the Ash Pit Demolition Site. Because there were no radioactively contaminated chemicals involved in the demolitions, the information on radionuclides is provided for ''information only''. Remediation of any radioactive contamination is not within the scope of this closure plan. Only dangerous constituents derived from Ash Pit Demolition Site operations will be addressed in this closure plan in accordance with WAC 173-303-610(2)(b)(i)

  16. 218-E-8 Borrow Pit Demolition Site closure plan. Revision 1

    International Nuclear Information System (INIS)

    Ruck, F.R.

    1994-01-01

    The 218-E-8 Demolition Site was the site of a single demolition event in November of 1984. This demolition event was a form of thermal treatment for discarded explosive chemical products. Because the 218-E-8 Demolition Site will no longer be used for this thermal activity, the site will be closed. Closure will be conducted pursuant to the requirements of the Washington State Department of Ecology (Ecology) ''Dangerous Waste Regulations,'' Washington Administrative Code (WAC) 173-303-610 and 40 Code of Federal Regulations (CFR) 270.1. The 218-E-8 Borrow Pit Demolition Site Closure Plan consists of a Hanford Facility Dangerous Waste Part A Permit Application, Form 3, Revision 4, and a closure plan. An explanation of the Part A Form 3, submitted with this closure plan is provided at the beginning of the Part A Section. The closure plan consists of nine chapters and five appendices. This closure plan presents a description of the 218-E-8 Demolition Site, the history of the waste treated, and the approach that will be followed to close the 218-E-8 Demolition Site. Because there were no radioactively contaminated chemicals involved in t he demolitions at the 218-E-8 Borrow Pit site, the information on radionuclides is provided for ''information only.'' Remediation of any radioactive contamination is not within the scope of this closure plan. Only dangerous constituents derived from 218-E-8 Demolition Site operations will be addressed in this closure plan in accordance with WAC 173-303-610(2)(b)(i)

  17. Management of construction and demolition wastes as secondary building resources

    Science.gov (United States)

    Manukhina, Lyubov; Ivanova, Irina

    2017-10-01

    The article analyzes the methods of management of construction and demolition wastes. The authors developed suggestions for improving the management system of the turnover of construction and demolition wastes. Today the issue of improving the management of construction and demolition wastes is of the same importance as problems of protecting the life-support field from pollution and of preserving biological and land resources. The authors educed the prospective directions and methods for improving the management of the turnover processes for construction and demolition wastes, including the evaluation of potential of wastes as secondary raw materials and the formation of a centralized waste management system.

  18. Construction and demolition waste indicators.

    Science.gov (United States)

    Mália, Miguel; de Brito, Jorge; Pinheiro, Manuel Duarte; Bravo, Miguel

    2013-03-01

    The construction industry is one of the biggest and most active sectors of the European Union (EU), consuming more raw materials and energy than any other economic activity. Furthermore, construction waste is the commonest waste produced in the EU. Current EU legislation sets out to implement construction and demolition waste (CDW) prevention and recycling measures. However it lacks tools to accelerate the development of a sector as bound by tradition as the building industry. The main objective of the present study was to determine indicators to estimate the amount of CDW generated on site both globally and by waste stream. CDW generation was estimated for six specific sectors: new residential construction, new non-residential construction, residential demolition, non-residential demolition, residential refurbishment, and non-residential refurbishment. The data needed to develop the indicators was collected through an exhaustive survey of previous international studies. The indicators determined suggest that the average composition of waste generated on site is mostly concrete and ceramic materials. Specifically for new residential and new non-residential construction the production of concrete waste in buildings with a reinforced concrete structure lies between 17.8 and 32.9 kg m(-2) and between 18.3 and 40.1 kg m(-2), respectively. For the residential and non-residential demolition sectors the production of this waste stream in buildings with a reinforced concrete structure varies from 492 to 840 kg m(-2) and from 401 to 768 kg/m(-2), respectively. For the residential and non-residential refurbishment sectors the production of concrete waste in buildings lies between 18.9 and 45.9 kg/m(-2) and between 18.9 and 191.2 kg/m(-2), respectively.

  19. Estimation of construction and demolition waste using waste generation rates in Chennai, India.

    Science.gov (United States)

    Ram, V G; Kalidindi, Satyanarayana N

    2017-06-01

    A large amount of construction and demolition waste is being generated owing to rapid urbanisation in Indian cities. A reliable estimate of construction and demolition waste generation is essential to create awareness about this stream of solid waste among the government bodies in India. However, the required data to estimate construction and demolition waste generation in India are unavailable or not explicitly documented. This study proposed an approach to estimate construction and demolition waste generation using waste generation rates and demonstrated it by estimating construction and demolition waste generation in Chennai city. The demolition waste generation rates of primary materials were determined through regression analysis using waste generation data from 45 case studies. Materials, such as wood, electrical wires, doors, windows and reinforcement steel, were found to be salvaged and sold on the secondary market. Concrete and masonry debris were dumped in either landfills or unauthorised places. The total quantity of construction and demolition debris generated in Chennai city in 2013 was estimated to be 1.14 million tonnes. The proportion of masonry debris was found to be 76% of the total quantity of demolition debris. Construction and demolition debris forms about 36% of the total solid waste generated in Chennai city. A gross underestimation of construction and demolition waste generation in some earlier studies in India has also been shown. The methodology proposed could be utilised by government bodies, policymakers and researchers to generate reliable estimates of construction and demolition waste in other developing countries facing similar challenges of limited data availability.

  20. Chronic lower respiratory diseases among demolition and cement workers

    DEFF Research Database (Denmark)

    Mølgaard, Ellen Fischer; Hannerz, Harald; Tüchsen, Finn

    2013-01-01

    To estimate standardised hospitalisation ratios (SHR) for chronic lower respiratory diseases among demolition and cement workers in Denmark, 1995-2009.......To estimate standardised hospitalisation ratios (SHR) for chronic lower respiratory diseases among demolition and cement workers in Denmark, 1995-2009....

  1. Stripping demolition of concrete by applying electric current through reinforcing bars

    International Nuclear Information System (INIS)

    Nakagawa, Wahei; Kumegawa, Sadatsune

    1995-01-01

    The presence of reinforcing bars in reinforced concrete structures is an obstruction hindering the smooth progress of demolition works. The electric heating method is, on the other hand, a demolition technique of unique concept since it adopts the bars to help the demolition of reinforced concrete structures. This technique has the following advantages for demolition: 1) the more densely a structure is reinforced with bars, the greater is the effect of the electric heating, 2) demolition after heating produces little dust, and 3) electric heating of reinforcing bars causes no damage to the portions of concrete not subjected to electric current. The present paper describes the procedures and results of a series of experiments we conducted to verify the efficiency of the electric heating method. In this method, a low-voltage high-current is run through reinforcing bars existing in a concrete structure, inducing intense heat in the bars which in its turn brings about cracks in the surrounding concrete mass, facilitating secondary demolition by hammer picks or other means. The experiments were performed on full-scale biological shield wall mock-ups of a BWR and a small nuclear reactor. The experiments revealed that these excellent features of the electric heating method are worth utilizing in stripping demolition of radioactivated regions of biological shield walls in nuclear power plants. The electric heating method is currently being adopted and shows effective results in partial demolition works in diaphragm wall shafts where starting/arriving holes are to be fixed for shield machines without damaging surrounding portions. (author)

  2. 76 FR 35006 - Recovery Policy RP9523.4, Demolition of Private Structures

    Science.gov (United States)

    2011-06-15

    ...] Recovery Policy RP9523.4, Demolition of Private Structures AGENCY: Federal Emergency Management Agency, DHS... (FEMA) is accepting comments on Recovery Policy RP9523.4, Demolition of Private Structures. DATES... guidance in determining the eligibility of demolition of private structures under the provisions of the...

  3. OPEN AIR DEMOLITION OF FACILITIES HIGHLY CONTAMINATED WITH PLUTONIUM

    International Nuclear Information System (INIS)

    LLOYD, E.R.

    2007-01-01

    The demolition of highly contaminated plutonium buildings usually is a long and expensive process that involves decontaminating the building to near free- release standards and then using conventional methods to remove the structure. It doesn't, however, have to be that way. Fluor has torn down buildings highly contaminated with plutonium without excessive decontamination. By removing the select source term and fixing the remaining contamination on the walls, ceilings, floors, and equipment surfaces; open-air demolition is not only feasible, but it can be done cheaper, better (safer), and faster. Open-air demolition techniques were used to demolish two highly contaminated buildings to slab-on-grade. These facilities on the Department of Energy's Hanford Site were located in, or very near, compounds of operating nuclear facilities that housed hundreds of people working on a daily basis. To keep the facilities operating and the personnel safe, the projects had to be creative in demolishing the structures. Several key techniques were used to control contamination and keep it within the confines of the demolition area: spraying fixatives before demolition; applying fixative and misting with a fine spray of water as the buildings were being taken down; and demolishing the buildings in a controlled and methodical manner. In addition, detailed air-dispersion modeling was done to establish necessary building and meteorological conditions and to confirm the adequacy of the proposed methods. Both demolition projects were accomplished without any spread of contamination outside the modest buffer areas established for contamination control. Furthermore, personnel exposure to radiological and physical hazards was significantly reduced by using heavy equipment rather than ''hands on'' techniques

  4. 218 E-8 Borrow Pit Demolition Site clean closure soil evaluation report

    International Nuclear Information System (INIS)

    Korematsu-Olund, D.M.

    1995-01-01

    This report summarizes the sampling activities undertaken and the analytical results obtained in a soil sampling and analyses study performed for the 218 E-8 Borrow Pit Demolition Site (218 E-8 Demolition Site). The 218 E-8 Demolition Site is identified as a Resource Conservation and Recovery Act (RCRA) treatment unit that will be closed in accordance with the applicable laws and regulations. The site was used for the thermal treatment of discarded explosive chemical products. No constituents of concern were found in concentrations indicating contamination of the soil by 218 E-8 Demolition Site activities

  5. Measurement and Analysis of the Diffusible Hydrogen in Underwater Wet Welding Joint

    Directory of Open Access Journals (Sweden)

    Kong Xiangfeng

    2016-01-01

    Full Text Available The diffusible hydrogen in steel weldments is one of the main reasons that led to hydrogen assisted cracking. In this paper, the results of literatures survey and preliminary tests of the diffusible hydrogen in underwater wet welding joint were presented. A fluid-discharge method of for measuring the diffusible hydrogen in weldment was introduced in detail. Two kinds of underwater welding electrode diffusible hydrogen are 26.5 mL/100g and 35.5 mL/100g by fluid-discharge method, which are high levels. The diffusible hydrogen of underwater welding is higher than atmospheric welding, and the result is closely related to welding material. The best way to control the diffusible hydrogen is adjusting welding material and improving fluidity of slag.

  6. Mercury-Containing Devices and Demolition

    Science.gov (United States)

    Some items inside residential buildings contain mercury, which poses a persistent and toxic human health and environmental threat. These materials should be carefully salvaged for proper recycling to prevent mercury contamination prior to demolition.

  7. 200 West Ash Pit Demolition Site closure plan

    International Nuclear Information System (INIS)

    1992-11-01

    The Hanford Facility is owned by the US Government and operated by the US Department of Energy, Richland Field Office. Dangerous waste and mixed waste (containing both radioactive and dangerous components) are managed and produced on the Hanford Facility. Westinghouse Hanford Company is a major contractor to the US Department of Energy, Richland Field Office and serves as cooperator of the 200 West Ash Pit Demolition Site, the unit addressed in this closure plan. The 200 West Ash Pit Demolition Site Closure Plan consists of a Part A Permit Application (Revision 3) and a closure plan. An explanation of the Part A Permit Application revision is provided at the beginning of the Part A section. The closure plan consists of nine chapters and three appendices. This 200 West Ash Pit Demolition Site Closure Plan submittal contains information current as of October 15, 1992

  8. Underwater robots

    CERN Document Server

    Antonelli, Gianluca

    2014-01-01

    This book, now at the third edition, addresses the main control aspects in underwater manipulation tasks. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is deeply investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.       

  9. Demolition wastes recycling; Reciclado de residuos de construccion y demolicion

    Energy Technology Data Exchange (ETDEWEB)

    Aguilar, A.; Monge, G. [INGURU Constructore, S.A. (Spain)

    1995-06-01

    This paper wants to show the up-to-date situation of demolition wastes from an international point of view. On the one hand it describes the different type of demolition wastes; on the other hand it explains the kind of treatment that is more adequate to each one. (Author)

  10. 22 CFR 121.11 - Military demolition blocks and blasting caps.

    Science.gov (United States)

    2010-04-01

    ... 22 Foreign Relations 1 2010-04-01 2010-04-01 false Military demolition blocks and blasting caps... blasting caps. Military demolition blocks and blasting caps referred to in Category IV(a) do not include the following articles: (a) Electric squibs. (b) No. 6 and No. 8 blasting caps, including electric...

  11. 46 CFR 176.635 - Preliminary examination requirements.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Preliminary examination requirements. 176.635 Section... (UNDER 100 GROSS TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.635 Preliminary examination requirements. (a) If you exclusively use divers to examine the underwater hull plating, you must...

  12. Environmental impacts of manufactured gas plant demolition: examples from site remediation experience

    Energy Technology Data Exchange (ETDEWEB)

    Unites, D. [Atlantic Environmental Services, Inc., Colchester, CT (United States)

    1995-12-31

    Inappropriate demolition of manufactured gas plant (MGP) sites may leave a continuing legacy in the environmental record. Much of the contamination encountered at former gas plants originated from on-site disposal or from spills and leaks during operations. However, some of the greatest potential for continual release comes from inappropriately decommissioned vessels and tanks. These structures contained liquids such as tars, oils, water, and other fluids associated with by-product removal or the gas stream purification process. Inorganic `solids` constitute another, although generally minor, source of contaminants during demolition. These contaminants include: cyanide- and sulfide-containing purifier materials; asbestos from roofing, pipe lagging, etc.; mercury from controls and manometers; and lead from painted surfaces. Normal elements of decommissioning and dismantling include: purging the piping system with inert gas; removal and sale of liquids having commercial value; disposal or abandonment of non-saleable liquids; scrapping and dismantling of above-grade metal vessels; abandonment of below-grade vessels; and demolition of above-grade buildings. Depending on the time from the cessation of operations to the demolition, some steps may have been omitted. Appropriate demolition would also take into account removal and disposal of asbestos, cyanide, lead, and mercury-containing materials prior to razing structures. By employing precautions during demolition, widespread contamination can be avoided and subsequent reuse of the site can be facilitated.

  13. Green Residential Demolitions: Case Study of Vacant Land Reuse in Storm Water Management in Cleveland

    Science.gov (United States)

    The demolition process impacts how vacant land might be reused for storm water management. For five residential demolition sites (Cleveland, Ohio), an enhanced green demolition process was observed in 2012, and soil physical and hydrologic characteristics were measured predemolit...

  14. Warfare Ecology on an Underwater Demolition Range: Acoustic Observations of Marine Life and Shallow Water Detonations in Hawai`i

    Science.gov (United States)

    Shannon, Lee H.

    Most studies investigating the effects of military-associated anthropogenic noise concentrate on deep sea or open ocean propagation of sonar and its effect on marine mammals. In littoral waters, U.S. military special operations units regularly conduct shallow water explosives training, yet relatively little attention has been given to the potential impact on nearshore marine ecosystems from these underwater detonations. This dissertation research focused on the Pu'uloa Underwater Detonation Range off the coast of O`ahu, and examined multiple aspects of the surrounding marine ecosystem and the effects of detonations using acoustic monitoring techniques. The soundscape of a nearshore reef ecosystem adjacent to the UNDET range was characterized through analysis of passive acoustic recordings collected over the span of 6 years. Snapping shrimp were the predominant source of noise, and a diel pattern was present, with increased sound energy during the night hours. Results revealed a difference of up to 7dB between two Ecological Acoustic Recorder locations 2.5km apart along the 60ft isobath. Passive acoustic recording files were searched visually and aurally for odontocete whistles. Whistles were detected in only 0.6% of files analyzed, indicating this area is not frequently transited by coastal odontocete emitting social sounds. The study also opportunistically captured a humpback whale singing during a detonation event, during which the animal showed no obvious alteration of its singing behavior. Four separate underwater detonation events were recorded using a surface deployed F-42C transducer, and the resulting analysis showed no measurable drop in the biologically produced acoustic energy in reaction to the explosive events. Coral reef fishes were recorded visually and acoustically during detonation events at a known distance and bearing from a known explosive sound source. Individual fish behavioral responses to the explosion varied, and a sharp uptick in fish

  15. Decommissioning and demolition in the European Union. Current status

    International Nuclear Information System (INIS)

    Blohm-Hieber, Ute

    2009-01-01

    The European Commission pursues the environmental and energy policy goals of limiting global warming to a maximum of 2 C and, therefore, reducing CO 2 emissions by at least 20%. Nuclear power, with its present 30% contribution to the Community's electricity supply and the low CO 2 emissions of the entire fuel cycle, makes an important contribution to an energy mix matching the 3 factors of competitiveness, security of supply, and sustainability. The decision to use nuclear power plants in their respective countries for electricity production is left to each member state. As of mid-2008, 146 nuclear power plants were in operation in the European Union, while 74 had been shut down permanently. Two nuclear power plants had been demolished completely, showing that the European Community is just at the beginning of the learning curve in this field. The importance of nuclear power plant decommissioning and demolition will increase in the future as replacement capacity in nuclear power generation will become necessary. The European Commission's activities in decommissioning and demolition date from the 1990s: The provisions about environmental impact assessment and the recommendations to apply Article 37 (potential impacts on water, soil and air) of the Euratom Treaty demand a description of decommissioning and demolition of nuclear power plants. In a ruling of 2002, the European Court of Justice assigns to the Community the required competences in the fields of nuclear safety and, consequently, also decommissioning and demolition. The financial provisions necessary for these activities are covered in the Electricity Directive within the framework of the rules for a common single market in 2003. After a first status report, the Commission published recommendations about financing decommissioning and demolition in 2006. (orig.)

  16. Nuclear Rocket Facility Decommissioning Project: Controlled Explosive Demolition of Neutron-Activated Shield Wall

    International Nuclear Information System (INIS)

    Michael R, Kruzic

    2008-01-01

    Located in Area 25 of the Nevada Test Site (NTS), the Test Cell A (TCA) Facility (Figure 1) was used in the early to mid-1960s for testing of nuclear rocket engines, as part of the Nuclear Rocket Development Program, to further space travel. Nuclear rocket testing resulted in the activation of materials around the reactors and the release of fission products and fuel particles. The TCA facility, known as Corrective Action Unit 115, was decontaminated and decommissioned (D and D) from December 2004 to July 2005 using the Streamlined Approach for Environmental Restoration (SAFER) process, under the Federal Facility Agreement and Consent Order. The SAFER process allows environmental remediation and facility closure activities (i.e., decommissioning) to occur simultaneously, provided technical decisions are made by an experienced decision maker within the site conceptual site model. Facility closure involved a seven-step decommissioning strategy. First, preliminary investigation activities were performed, including review of process knowledge documentation, targeted facility radiological and hazardous material surveys, concrete core drilling and analysis, shield wall radiological characterization, and discrete sampling, which proved to be very useful and cost-effective in subsequent decommissioning planning and execution and worker safety. Second, site setup and mobilization of equipment and personnel were completed. Third, early removal of hazardous materials, including asbestos, lead, cadmium, and oil, was performed ensuring worker safety during more invasive demolition activities. Process piping was to be verified void of contents. Electrical systems were de-energized and other systems were rendered free of residual energy. Fourth, areas of high radiological contamination were decontaminated using multiple methods. Contamination levels varied across the facility. Fixed beta/gamma contamination levels ranged up to 2 million disintegrations per minute (dpm)/100

  17. Nuclear Rocket Facility Decommissioning Project: Controlled Explosive Demolition of Neutron-Activated Shield Wall

    Energy Technology Data Exchange (ETDEWEB)

    Michael R. Kruzic

    2008-06-01

    Located in Area 25 of the Nevada Test Site (NTS), the Test Cell A (TCA) Facility (Figure 1) was used in the early to mid-1960s for testing of nuclear rocket engines, as part of the Nuclear Rocket Development Program, to further space travel. Nuclear rocket testing resulted in the activation of materials around the reactors and the release of fission products and fuel particles. The TCA facility, known as Corrective Action Unit 115, was decontaminated and decommissioned (D&D) from December 2004 to July 2005 using the Streamlined Approach for Environmental Restoration (SAFER) process, under the Federal Facility Agreement and Consent Order. The SAFER process allows environmental remediation and facility closure activities (i.e., decommissioning) to occur simultaneously, provided technical decisions are made by an experienced decision maker within the site conceptual site model. Facility closure involved a seven-step decommissioning strategy. First, preliminary investigation activities were performed, including review of process knowledge documentation, targeted facility radiological and hazardous material surveys, concrete core drilling and analysis, shield wall radiological characterization, and discrete sampling, which proved to be very useful and cost-effective in subsequent decommissioning planning and execution and worker safety. Second, site setup and mobilization of equipment and personnel were completed. Third, early removal of hazardous materials, including asbestos, lead, cadmium, and oil, was performed ensuring worker safety during more invasive demolition activities. Process piping was to be verified void of contents. Electrical systems were de-energized and other systems were rendered free of residual energy. Fourth, areas of high radiological contamination were decontaminated using multiple methods. Contamination levels varied across the facility. Fixed beta/gamma contamination levels ranged up to 2 million disintegrations per minute (dpm)/100

  18. Hanford Patrol Academy Demolition Sites Closure Plan

    International Nuclear Information System (INIS)

    1992-11-01

    From 1975 to 1991 the Hanford Patrol Academy Demolition Sites (HPADS) were used for demolition events. These demolition events were a form of thermal treatment for spent or abandoned chemical waste. Because the HPADS will no longer be used for this thermal activity, the sites will be closed. Closure will be conducted pursuant to the requirements of the Washington State Department of Ecology (Ecology) Dangerous Waste Regulations, Washington Administrative Code (WAC) 173-303-610 and 40 CFR 270.1. Closure also will satisfy closure requirements of WAC 173-303-680 and for the thermal treatment closure requirements of 40 CFR 265.381. This closure plan presents a description of the HPADS, the history of the waste treated, and the approach that will be followed to close the HPADS. Because dangerous waste does not include the source, special nuclear, and by-product material components of mixed waste, radionuclides are not within the scope of WAC 173-303 or of this closure plan. The information on radionuclides is provided only for general knowledge where appropriate. Only dangerous constituents derived from HPADS operations will be addressed in this closure plan in accordance with WAC 173-303-610(2)(b)(i). The HPADS are actually two distinct soil closure areas within the Hanford Patrol Academy training area

  19. Choosing a sustainable demolition waste management strategy using multicriteria decision analysis

    International Nuclear Information System (INIS)

    Roussat, Nicolas; Dujet, Christiane; Mehu, Jacques

    2009-01-01

    This paper presents an application of the ELECTRE III decision-aid method in the context of choosing a sustainable demolition waste management strategy for a case study in the city of Lyon, France. This choice of waste management strategy takes into consideration the sustainable development objectives, i.e. economic aspects, environmental consequences, and social issues. Nine alternatives for demolition waste management were compared with the aid of eight criteria, taking into account energy consumption, depletion of abiotic resources, global warming, dispersion of dangerous substances in the environment, economic activity, employment, and quality of life of the local population. The case study concerned the demolition of 25 buildings of an old military camp. Each alternative was illustrated with different waste treatments, such as material recovery, recycling, landfilling, and energy recovery. The recommended solution for sustainable demolition waste management for the case study is a selective deconstruction of each building with local material recovery in road engineering of inert wastes, local energy recovery of wood wastes, and specific treatments for hazardous wastes

  20. Investigation of the Propagation Characteristics of Underwater Shock Waves in Underwater Drilling Blasting

    Directory of Open Access Journals (Sweden)

    Xin Liu

    2018-01-01

    Full Text Available During the first-stage project of the main channel of Ningbo-Zhoushan Port’s Shipu Harbor, underwater shock waves were monitored. By analyzing a typical measured pressure time history curve, the characteristics of underwater shock waves in an engineering context were obtained. We obtained a traditional exponential attenuation formula for underwater shock waves based on the measured data, simplified the model of underwater drilling blasting based on engineering practice, deduced a revised formula for underwater shock wave peak overpressure on the basis of dimensional analysis, established a linear fitting model, and obtained the undetermined coefficients of the revised formula using a linear regression analysis. In addition, the accuracies of the two formulas used to predict underwater shock wave peak overpressure and the significance order of influence and influence mechanism of factors included in the revised formula on the underwater shock wave peak overpressure were discussed.

  1. Hanford Patrol Academy demolition sites closure plan

    Energy Technology Data Exchange (ETDEWEB)

    1993-09-30

    The Hanford Site is owned by the U.S. Government and operated by the U.S. Department of Energy, Richland Operations Office. Westinghouse Hanford Company is a major contractor to the U.S. Department of Energy, Richland Operations Office and serves as co-operator of the Hanford Patrol Academy Demolition Sites, the unit addressed in this paper. This document consists of a Hanford Facility Dangerous Waste Part A Permit Application, Form 3 (Revision 4), and a closure plan for the site. An explanation of the Part A Form 3 submitted with this closure plan is provided at the beginning of the Part A section. This Hanford Patrol Academy Demolition Sites Closure Plan submittal contains information current as of December 15, 1994.

  2. Recycling the construction and demolition waste to produce polymer concrete

    Science.gov (United States)

    Hamza, Mohammad T.; Hameed, Awham M., Dr.

    2018-05-01

    The sustainable management for solid wastes of the construction and demolition waste stimulates searching for safety applications for these wastes. The aim of this research is recycling of construction and demolition waste with some different types of polymeric resins to be used in manufacturing process of polymer mortar or polymer concrete, and studying their mechanical and physical properties, and also Specify how the values of compressive strength and the density are affected via the different parameters. In this research two types of construction and demolition waste were used as aggregates replacement (i.e. waste cement/concrete debris, and the waste blocks) while the two types of polymer resins (i.e. Unsaturated polyester and Epoxy) as cement replacements. The used weight percentages of the resins were changed within (1°, 20, 25 and 30) % to manufacture this polymer concrete.

  3. Influence of construction and demolition waste management on the environmental impact of buildings

    International Nuclear Information System (INIS)

    Coelho, André; Brito, Jorge de

    2012-01-01

    Highlights: ► Environmental impacts of different demolition practices. ► “Top-down” approach to the Life Cycle Analysis methodology. ► Results based on real buildings measurements and demolition contractor activities. ► Not every type of selective demolition brings about environmental benefits. - Abstract: The purpose of this study is to quantify comparable environmental impacts within a Life Cycle Analysis (LCA) perspective, for buildings in which the first (Materials) and last (End of Life) life cycle stages are adjusted to several waste/material management options. Unlike most LCAs, the approach is “top-down” rather than “bottom-up”, which usually involves large amounts of data and the use of specific software applications. This approach is considered appropriate for a limited but expedient LCA designed to compare the environmental impacts of different life cycle options. Present results, based on real buildings measurements and demolition contractor activities, show that shallow, superficial, selective demolition may not result in reduced environmental impacts. Calculations actually show an increase (generally less than 5%) in most impact categories for the Materials and End of Life stages because of extra transportation needs. However, core material separation in demolition operations and its recycling and/or reuse does bring environmental benefits. A reduction of around 77% has been estimated in the climate change impact category, 57% in acidification potential and 81% in the summer smog impact (for the life cycle stages referred).

  4. The Effects of Data Collection Method and Monitoring of Workers’ Behavior on the Generation of Demolition Waste

    Directory of Open Access Journals (Sweden)

    Gi-Wook Cha

    2017-10-01

    Full Text Available The roles of both the data collection method (including proper classification and the behavior of workers on the generation of demolition waste (DW are important. By analyzing the effect of the data collection method used to estimate DW, and by investigating how workers’ behavior can affect the total amount of DW generated during an actual demolition process, it was possible to identify strategies that could improve the prediction of DW. Therefore, this study surveyed demolition waste generation rates (DWGRs for different types of building by conducting on-site surveys immediately before demolition in order to collect adequate and reliable data. In addition, the effects of DW management strategies and of monitoring the behavior of workers on the actual generation of DW were analyzed. The results showed that when monitoring was implemented, the estimates of DW obtained from the DWGRs that were surveyed immediately before demolition and the actual quantities of DW reported by the demolition contractors had an error rate of 0.63% when the results were compared. Therefore, this study has shown that the proper data collection method (i.e., data were collected immediately before demolition applied in this paper and monitoring on the demolition site have a significant impact on waste generation.

  5. OPERATIONAL LIMITATIONS FOR DEMOLITION OF A HIGHLY ALPHA CONTAMINATED BUILDING MODLES VERSUS MEASURED AIR & SURFACE ACTIVITY CONCENTRATIONS

    Energy Technology Data Exchange (ETDEWEB)

    LLOYD, E.R.

    2006-11-02

    The demolition of a facility historically used for processing and handling transuranic materials is considered. Residual alpha emitting radionuclide contamination poses an exposure hazard if released to the local environment during the demolition. The process of planning for the demolition of this highly alpha contaminated building, 232-Z, included a predemolition modeling analysis of potential exposures. Estimated emission rates were used as input to an air dispersion model to estimate frequencies of occurrence of peak air and surface exposures. Postdemolition modeling was also conducted, based on the actual demolition schedule and conditions. The modeling results indicated that downwind deposition is the main operational limitation for demolition of a highly alpha-contaminated building. During the demolition of 232-Z, airborne radiation and surface contamination were monitored. The resultant non-detect monitoring results indicate a significant level of conservatism in the modeled results. This comparison supports the use of more realistic assumption in the estimating emission rates. The resultant reduction in modeled levels of potential exposures has significant implications in terms of the projected costs of demolition of such structures.

  6. Demolition of the FRJ-1 research reactor (MERLIN)

    International Nuclear Information System (INIS)

    Stahn, B.; Matela, K.; Zehbe, C.; Poeppinghaus, J.; Cremer, J.

    2003-01-01

    FRJ-2 (MERLIN), the swimming pool reactor cooled and moderated by light water, was built at the then Juelich Nuclear Research Establishment (KFA) between 1958 and 1962. In the period between 1964 and 1985, it was used for. The reactor was decommissioned in 1985. Since 1996, most of the demolition work has been carried out under the leadership of a project team. The complete secondary cooling system was removed by late 1998. After the cooling loops and experimental installations had been taken out, the reactor vessel internals were removed in 2000 after the water had been drained from the reactor vessel. After the competent authority had granted a license, demolition of the reactor block, the central part of the research reactor, was begun in October 2001. In a first step, the reactor operating floor and the reactor attachment structures were removed by the GNS/SNT consortium charged with overall planning and execution of the job. This phase gave rise to approx. The reactor block proper is dismantled in a number of steps. A variety of proven cutting techniques are used for this purpose. Demolition of the reactor block is to be completed in the first half of 2003. (orig.) [de

  7. Progressively safer, cheaper demolition of Fernald

    International Nuclear Information System (INIS)

    Nichols, Robert; Pennington, Norman

    2000-01-01

    Fluor Fernald, Inc. has been progressively improving Decontamination and Dismantlement (D and D) at the Department of Energy's Fernald Environmental Management Project by applying new technologies and better methodologies to the work. Demolition issues existed in the past that necessitated new or improved solutions to maintain worker safety, protect the environment and accomplish the work in a cost effective manner. Lessons learned from D and D of 80 structures has led to a systematic approach, which can be implemented in various D and D arenas. When facility production was halted, hold-up material and process residues remained in the process piping and components. Over 500,000 pounds of material was removed by workers who completed the tasks two years ahead of schedule, $7 million under budget and with an excellent safety record. This success was the result of detailed planning and irdision of lessons learned as work progressed from facility to facility. Work sequences were developed that reduced airborne contamination. Demolition of structures has been performed at Fernald by carefully selected and qualified subcontractors. Asbestos and lead abatement, equipment, piping and conduit removal, and structural demolition have been completed to progressively higher performance specifications developed by Fluor Fernald based on lessons learned during execution. Safety continues to be the primary consideration in performing potentially hazardous work. Technologies such as hydraulic shears have been developed and used to keep workers away from danger. A new technology, ''Cool Suits,'' has been demonstrated to help prevent heat stress when anti-contamination clothing is required in elevated temperature working conditions. For tall structures, implosion technologies have been employed with progressively improved results, Several other new technologies have been evaluated by Fluor Fernald and applied by subcontractors. The improved technologies included the oxy-gas torch

  8. Characterizing the environmental impact of metals in construction and demolition waste.

    Science.gov (United States)

    Yu, Danfeng; Duan, Huabo; Song, Qingbin; Li, Xiaoyue; Zhang, Hao; Zhang, Hui; Liu, Yicheng; Shen, Weijun; Wang, Jinben

    2018-05-01

    Large quantities of construction and demolition (C&D) waste are generated in China every year, but their potential environmental impacts on the surrounding areas are rarely assessed. This study focuses on metals contained in C&D waste, characterizing the metal concentrations and their related environmental risks. C&D waste samples were collected in Shenzhen City, China, from building demolition sites, renovation areas undergoing refurbishment, landfill sites, and recycling companies (all located in Shenzhen city) that produce recycled aggregate, in order to identify pollution levels of the metals As, Cd, Cr, Cu, Pb, Ni, and Zn. The results showed that (1) the metal concentrations in most demolition and renovation waste samples were below the soil environmental quality standard for agricultural purposes (SQ-Agr.) in China; (2) Cd, Cu, and Zn led to relatively higher environmental risks than other metals, especially for Zn (DM5 tile sample, 360 mg/kg; R4 tile sample, 281 mg/kg); (3) non-inert C&D waste such as wall insulation and foamed plastic had high concentrations of As and Cd, so that these materials required special attention for sound waste management; and (4) C&D waste collected from landfill sites had higher concentrations of Cd and Cu than did waste collected from demolition and refurbishment sites.

  9. Pilot-based assessment of the economics of recycling construction demolition waste.

    Science.gov (United States)

    Srour, Issam M; Chehab, Ghassan R; El-Fadel, Mutasem; Tamraz, Sandy

    2013-11-01

    The significant amount of waste generated from construction demolition has become a chronic problem in many developing countries. Using data obtained from demolition contractors and various other sources, this paper proposes a framework for proper handling of construction demolition waste (CDW) to serve as a decision support tool in countries suffering from the lack of national CDW management guidelines. The framework is then demonstrated through a case study in the city of Beirut, Lebanon, and a sensitivity analysis is carried out to examine the economic feasibility of developing a recycling facility. The analysis showed that in order for a facility to be feasible, a gate fee should be charged in the presence of a market for recycled aggregates. The results confirm the significance of instigating and implementing legislation to control illegal dumping, constructing, and managing engineered landfills, and establishing markets for recycled CDW.

  10. Application of Updated Construction and Demolition Waste Reduction Policy to Army Projects

    Science.gov (United States)

    2015-12-01

    recovering materials for reuse and recycling from demolition, new construction, and renovation and repurposing projects. In its efforts to improve the...Building contents; reuse and recycling potential (including the follow- ing specific materials, products and components that are potentially re- usable...conventional demolition. Implement deconstruction wherever markets or on-site reuse opportunities exist or are anticipated.  Page 24, 3-7 REDUCE

  11. Preliminary results of algorithms to determine horizontal and vertical underwater visibilities of coastal waters

    Digital Repository Service at National Institute of Oceanography (India)

    Suresh, T.; Joshi, Shreya; Talaulikar, M.; Desa, E.J.

    the underwater average cosine. These algorithms for vertical and horizontal visibilities have been validated for the coastal waters of Goa with the measured and those derived from the ocean color data of OCM-2 and MODIS...

  12. Design of underwater work systems

    International Nuclear Information System (INIS)

    Lovelace, R.B.

    1980-01-01

    In the near future, underwater vehicles will replace divers as the principal means for inspection and maintenance work. These vehicles will provide a maneuverable work platform for an underwater viewing system and manipulator/tool package. Some of the problems faced by the underwater designer, and some areas to consider in the design of an integrated underwater work system, are considered

  13. PROJECT EXPERIENCE REPORT DEMOLITION OF HANFORDS 233-S PLUTONIUM CONCENTRATION FACILITY

    International Nuclear Information System (INIS)

    BERLIN, G.T.; ORGILL, T.K.

    2004-01-01

    This report provides a summary of the preparation, operations, innovative work practices, and lessons learned associated with demolition of the 2334 Plutonium Concentration Facility. This project represented the first open-air demolition of a highly-contaminated plutonium facility at the Hanford Site. This project may also represent the first plutonium facility in the US. Department of Energy (DOE) complex to have been demolished without first decontaminating surfaces to near ''free release'' standards. Demolition of plutonium contaminated structures, if not properly managed, can subject cleanup personnel and the environment to significant risk. However, with proper sequencing and innovative use of commercially available equipment, materials, and services, this project demonstrated that a plutonium processing facility can be demolished while avoiding the need to perform extensive decontamination or to construct large enclosures. This project utilized an excavator with concrete shears, diamond circular saws, water misting and fogging equipment, commercially available fixatives and dust suppressants, conventional mobile crane and rigging services, and near real-time modeling of meteorological and radiological conditions. Following a significant amount of preparation, actual demolition of the 233-S Facility began in October 2003 and was completed in late April 2004. The knowledge and experience gained on this project are important to the Hanford Site as additional plutonium processing facilities are scheduled for demolition in the near future. Other sites throughout the DOE Complex may also be faced with similar challenges. Numerous innovations and effective work practices were implemented on this project. Accordingly, a series of ''Lessons Learned and Innovative Practices Fact Sheets'' were developed and are included as an appendix to this report. This collection of fact sheets is not intended to capture every innovative work practice and lesson learned, but rather

  14. PROJECT EXPERIENCE REPORT DEMOLITION OF HANFORDS 233-S PLUTONIUM CONCENTRATION FACILITY

    International Nuclear Information System (INIS)

    BERLIN, G.T.

    2004-01-01

    This report provides a summary of the preparation, operations, innovative work practices, and lessons learned associated with demolition of the 2334 Plutonium Concentration Facility. This project represented the first open-air demolition of a highly-contaminated plutonium facility at the Hanford Site. This project may also represent the first plutonium facility in the US. Department of Energy (DOE) complex to have been demolished without first decontaminating surfaces to near ''free release'' standards. Demolition of plutonium contaminated structures, if not properly managed, can subject cleanup personnel and the environment to significant risk. However, with proper sequencing and innovative use of commercially available equipment, materials, and services, this project demonstrated that a plutonium processing facility can be demolished while avoiding the need to perform extensive decontamination or to construct large enclosures. This project utilized an excavator with concrete shears, diamond circular saws, water misting and fogging equipment, commercially available fixatives and dust suppressants, conventional mobile crane and rigging services, and near real-time modeling of meteorological and radiological conditions. Following a significant amount of preparation, actual demolition of the 2333 Facility began in October 2003 and was completed in late April 2004. The knowledge and experience gained on this project are important to the Hanford Site as additional plutonium processing facilities are scheduled for demolition in the near future. Other sites throughout the DOE Complex may also be faced with similar challenges. Numerous innovations and effective work practices were implemented on this project. Accordingly, a series of ''Lessons Learned and Innovative Practices Fact Sheets'' were developed and are included as an appendix to this report. This collection of fact sheets is not intended to capture every innovative work practice and lesson learned, but rather to

  15. Taiwan's underwater cultural heritage documentation management

    Science.gov (United States)

    Tung, Y.-Y.

    2015-09-01

    Taiwan is an important trading and maritime channels for many countries since ancient time. Numerous relics lie underwater due to weather, wars, and other factors. In the year of 2006, Bureau of Cultural Heritage (BOCH) entrusted the Underwater Archaeological Team of Academia Sinica to execute the underwater archaeological investigation projects. Currently, we verified 78 underwater targets, with 78 site of those had been recognized as shipwrecks sites. Up to date, there is a collection of 638 underwater objects from different underwater archaeological sites. Those artefacts are distributed to different institutions and museums. As very diverse management methods/systems are applied for every individual institution, underwater cultural heritage data such as survey, excavation report, research, etc. are poorly organized and disseminated for use. For better communication regarding to Taiwan's underwater cultural heritage in every level, a universal format of documentation should be established. By comparing the existing checklist used in Taiwan with guidelines that are followed in other countries, a more intact and appropriate underwater cultural heritage condition documentation system can be established and adapted in Taiwan.

  16. Development of underwater laser cutting technology

    International Nuclear Information System (INIS)

    Sato, Seiichi; Inaba, Takanori; Inose, Koutarou; Matsumoto, Naoyuki; Sakakibara, Yuji

    2015-01-01

    In is desirable to use remote underwater device for the decommissioning work of highly radioactive components such as the nuclear internals from a view point of reducing the ranitidine exposure to the worker. Underwater laser cutting technology has advantages. First advantage in underwater laser cutting technology is that low reaction force during cutting, namely, remote operability is superior. Second point is that underwater laser cutting generates a little amount of secondary waste, because cutting kerf size is very small. Third point is that underwater laser cutting has low risk of the process delay, because device trouble is hard to happen. While underwater laser cutting has many advantages, the careful consideration in the safe treatment of the offgas which underwater laser cutting generates is necessary. This paper describes outline of underwater laser cutting technology developed by IHI Corporation (IHI) and that this technology is effective in various dismantling works in water. (author)

  17. Blind equalization for underwater communications

    NARCIS (Netherlands)

    Blom, K.C.H.

    2014-01-01

    Underwater wireless (sensor) networks would vastly improve man's ability to explore and exploit remote aquatic environments. Despite underwater sensor and vehicle technology being relatively mature, underwater communications is still a major challenge. The most challenging characteristics of the

  18. Concrete decontamination and demolition methods

    International Nuclear Information System (INIS)

    LaGuardia, T.S.

    1980-01-01

    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. Construction and Demolition Waste

    DEFF Research Database (Denmark)

    Christensen, Thomas Højlund; Andersen, L.

    2011-01-01

    Construction and demolition waste (C&D waste) is the waste generated during the building, repair, remodeling or removal of constructions. The constructions can be roads, residential housing and nonresidential buildings. C&D waste has traditionally been considered without any environmental problems...... should be managed accordingly. Another reason is that it has been documented that a large fraction of C&D waste (about 90 %) can be easily recycled and thus can conserve landfill capacity. C&D waste may conveniently be divided into three subcategories: Buildings, roads and excavations. This chapter...

  20. Underwater wireless communication system

    International Nuclear Information System (INIS)

    Goh, J H; Shaw, A; Al-Shamma'a, A I

    2009-01-01

    Underwater communication has a range of applications including remotely operated vehicle (ROV) and autonomous underwater vehicle (AUV) communication and docking in the offshore industry. Current underwater transmission techniques is primarily utilise sound waves for large distance at lower frequencies and the velocity of sound in water is approximately 1500m/s the resultant communications have problems with multi-path propagation and low bandwidth problems. The use of electromagnetic (EM) techniques underwater has largely been overlooked because of the attenuation due to the conductivity of seawater. However, for short range applications, the higher frequencies and much higher velocity can prove advantageous. This paper will outline a project which will utilise recent investigations that demonstrate EM wave propagation up to the MHz frequency range is possible in seawater.

  1. Underwater Scene Composition

    Science.gov (United States)

    Kim, Nanyoung

    2009-01-01

    In this article, the author describes an underwater scene composition for elementary-education majors. This project deals with watercolor with crayon or oil-pastel resist (medium); the beauty of nature represented by fish in the underwater scene (theme); texture and pattern (design elements); drawing simple forms (drawing skill); and composition…

  2. Remediation and demolition of coke by-products plants

    Energy Technology Data Exchange (ETDEWEB)

    Stiffler, M A; Gould, W C

    1992-08-01

    The programme undertaken by ICF Kaiser Engineers and LTV Steel Co. to clean up and demolish four closed coking plants is described, including PCB removal, asbestos abatement, pipe removal and cleaning, tank cleaning, demolition and soil bioremediation. Costs are discussed.

  3. Resources for Underwater Robotics Education

    Science.gov (United States)

    Wallace, Michael L.; Freitas, William M.

    2016-01-01

    4-H clubs can build and program underwater robots from raw materials. An annotated resource list for engaging youth in building underwater remotely operated vehicles (ROVs) is provided. This article is a companion piece to the Research in Brief article "Building Teen Futures with Underwater Robotics" in this issue of the "Journal of…

  4. Environmental and economical feasibility of selective demolition project; Viabilidad ambiental y economica de un proyecto de demolicion selectiva: hacia una optima gestion de los RCD

    Energy Technology Data Exchange (ETDEWEB)

    Vegas, I.

    2004-07-01

    Selective demolition practices have not yet become popular in our country. Unlike conventional demolition practices, selective demolition helps to increase the amount of components to be reused or materials to be recycled. Thus, the percentage of demolition waste deposited in landfills can be reduced, and the production of recycled materials with optimum quality is fostered. Taking the case study of selective demolition carried out in the municipally of Lasarte-Oria (Basque Country-Spain) as its basis, this paper presents an economic and environmental analysis of the same. Likewise, the economic costs deriving from selective demolition are compared with analogous costs from conventional demolition with an aim to establishing the ideal frame supporting economically feasible selective demolition. (Author)

  5. Underwater cutting of reactor core internals by CO laser using local-dry-zone creating nozzle

    Energy Technology Data Exchange (ETDEWEB)

    Matsumoto, Osa (Mitsubishi Heavy Industries Ltd., Takasago, Hyogo (Japan). Takasago Research and Development Center); Sugihara, Masaaki; Miya, Kenzo

    1992-11-01

    With a view to practical application of the CO laser to underwater cutting of thick steel plates, a nozzle for creating a local dry zone on the workpiece has been developed and tested. The nozzle directed against the workpiece surface discharges a jet of air, which forms the local dry zone, bounded by a cone of high-speed water jet discharged from a concentric annular outlet. Preliminary tests were performed to optimize the nozzle shape and operating conditions. The resulting nozzle was used with a 5 kW CO laser for actual underwater cutting tests on stainless steel plates: Entirely satisfactory cutting performance was confirmed on various workpiece geometries and working positions. (author).

  6. GIS-based planning system for managing the flow of construction and demolition waste in Brazil.

    Science.gov (United States)

    Paz, Diogo Henrique Fernandes da; Lafayette, Kalinny Patrícia Vaz; Sobral, Maria do Carmo

    2018-05-01

    The objective of this article was to plan a network for municipal management of construction and demolition waste in Brazil with the assistance of a geographic information system, using the city of Recife as a case study. The methodology was carried out in three stages. The first was to map the illegal construction and demolition of waste disposal points across Recife and classify the waste according to its recyclability. In sequence, a method for indicating suitable areas for installation of voluntary delivery points, for small waste generators, are presented. Finally, a method for indicating suitable areas for the installation of trans-shipment and waste sorting areas, developed for large generators, is presented. The results show that a geographic information system is an essential tool in the planning of municipal construction and demolition waste management, in order to facilitate the spatial analysis and control the generation, sorting, collection, transportation, and final destination of construction and demolition waste, increasing the rate of recovery and recycling of materials.

  7. Construction and Demolition Waste Characteristics in Tanzania ...

    African Journals Online (AJOL)

    The construction industry generates a lot of construction and demolition (C&D) waste which puts some challenges to its management. For example, currently, in many towns in Tanzania, there are no landfill sites for solid waste disposal; and as a consequence open air dumping sites are used. Dumping C&D waste puts ...

  8. A new technique for robot vision in autonomous underwater vehicles using the color shift in underwater imaging

    Science.gov (United States)

    2017-06-01

    FOR ROBOT VISION IN AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING by Jake A. Jones June 2017 Thesis Advisor...techniques to determine the distances from each pixel to the camera. 14. SUBJECT TERMS unmanned undersea vehicles (UUVs), autonomous ... AUTONOMOUS UNDERWATER VEHICLES USING THE COLOR SHIFT IN UNDERWATER IMAGING Jake A. Jones Lieutenant Commander, United States Navy B.S

  9. Potential role of resurfacing Subtropical Underwater in ENSO evolution

    Science.gov (United States)

    Qu, T.; Chi, J.

    2017-12-01

    Results from a model of the Estimating the Circulation and Climate of the Ocean (ECCO) have shown that the resurfacing of high salinity Subtropical Underwater contributes to the sea surface salinity variability in the equatorial Pacific. On interannual time scale, this contribution can account for as much as 25% of the surface freshwater flux anomalies and is believed to play a role in ENSO evolution. Having these results in mind, this study investigates the surface salinity budget and its primary controls in the equatorial Pacific using ECCO output for the period 1993-2016. Particular attention is paid to 2014/2015 and 2015/2016. Preliminary analyses of the model results suggest that enhanced subsurface processes and in particular enhanced entrainment of Subtropical Underwater are primarily responsible for the positive sea surface salinity anomalies in the central equatorial Pacific during 2014/2015, which represents an opposite phase of El Niño. These subsurface processes weakened during 2015/2016, diretly contributing to the development of the 2015/2016 El Niño. The mechanisms controlling these subsurface processes are discussed.

  10. Quantities of arsenic-treated wood in demolition debris generated by Hurricane Katrina.

    Science.gov (United States)

    Dubey, Brajesh; Solo-Gabriele, Helena M; Townsendt, Timothy G

    2007-03-01

    The disaster debris from Hurricane Katrina is one of the largest in terms of volume and economic loss in American history. One of the major components of the demolition debris is wood waste of which a significant proportion is treated with preservatives, including preservatives containing arsenic. As a result of the large scale destruction of treated wood structures such as electrical poles, fences, decks, and homes a considerable amount of treated wood and consequently arsenic will be disposed as disaster debris. In this study an effort was made to estimate the quantity of arsenic disposed through demolition debris generated in the Louisiana and Mississippi area through Hurricane Katrina. Of the 72 million cubic meters of disaster debris generated, roughly 12 million cubic meters were in the form of construction and demolition wood resulting in an estimated 1740 metric tons of arsenic disposed. Management of disaster debris should consider the relatively large quantities of arsenic associated with pressure-treated wood.

  11. Stripping demolition of reinforced concrete by electric heating method

    International Nuclear Information System (INIS)

    Nakagawa, Wahei; Nishita, Kiwamu; Kasai, Yoshio

    1993-01-01

    The present paper describes the procedures and results of a series of experiments the authors conducted to verify the efficiency of the electric heating method, previously proposed for so-called stripping demolition by applying electric current through reinforcing bars. In this method, a low voltage high current is run from one end to the other of a reinforcing bar or bars existing in a concrete structure, inducing intense heat in the bar(s) which in its turn brings about cracks in the surrounding concrete mass, facilitating secondary demolition by hammer picks or other means. The experiments were performed on full-scale biological shield wall mock-ups of a BWR and a small reactor. The results of the experiments are summarized as follows. (1) When electric current is applied through reinforcing bars, the bond between concrete and bars is loosened, and cracks start from one bar and progress toward other bars. Under appropriate conditions, the cracks in concrete run from the contact surface at one bar all the way to its the contact surface on another bar. (2) Cracks appear and grow only between two electrodes between which current is applied, not extending out of the area thus defined. (3) The concrete in the region closer to a current-bearing bar is intensely heated, whereas the concrete far from the bars remains nearly unheated. (4) Concrete walls after electric heating of bars disintegrates, if demolished with hammers, with the covering concrete are removed from the remaining portion of the structure together with heated bars, in shapes of flakes. (5) The reinforced concrete collapses in massive pieces of concrete, without generating much dust as is the case with the demolition of a concrete structure not heated by electricity. Results of the experiments show that the electric heating method is worth applying also to the demolition of nuclear power plants where concrete in the radioactivated surface region of shield walls needs to be stripped off in flakes

  12. Does demolition or refurbishment of old and inefficient homes help to increase our environmental, social and economic viability?

    International Nuclear Information System (INIS)

    Power, Anne

    2008-01-01

    The issue of whether to demolish or refurbish older housing has been debated for over a century. It has been an active policy area since the late 1880s, when the Government first authorised the statutory demolition of insanitary slums. In the 1960s, revulsion at the scale of 'demolition blight' and new building caused a rethink, leading to a major reinvestment in inner city neighbourhoods of older housing. In the past 5 years, debate on demolition and new building has been intensified by the Government's Sustainable Communities Plan of 2003, with its proposals for large-scale clearance and building. Environmental arguments about renovating the existing stock have gained increasing prominence as people have sought to defend their communities from demolition. The evidence on whether demolition would reduce the amount of greenhouse gases we emit into the atmosphere is unclear and disputed. This paper summarises the evidence and arguments, and attempts to clarify the most realistic, achievable route to major reductions in energy use in homes

  13. Asbestos exposure among construction workers during demolition of old houses in Tehran, Iran.

    Science.gov (United States)

    Kakooei, Hossein; Normohammadi, Mohhammad

    2014-01-01

    Air quality in demolition practices has seldom been evaluated in Iran. Accordingly, we evaluated asbestos exposure among Tehran construction workers during the demolition of old houses. To identify possible sources of asbestos exposure, including thermal insulations, chimney pipes and cement sheets, were all sampled. This study also were taken the personal air samples to evaluate any asbestos exposure during the demolition. The asbestos fibers found in the samples were analyzed by phase-contrast optical microscopy (PCM), scanning electron microscopy (SEM) equipped with an energy dispersive X-ray analysis, and polarized light microscopy (PLM) methods. Personal monitoring of asbestos fiber levels indicated a range from 0.01 to 0.15 PCM f/ml (0.02-0.42 SEM f/ml). The geometric mean concentrations were 0.07 PCM f/ml (0.20 SEM f/ml), which is considerably higher than the threshold limit value (TLV) proposed by American Conference of Governmental Industrial Hygienist (ACGIH), which is 0.1 f/ml. The analysis showed a presence in the bulk samples only chrysotile asbestos and an absence of the other type asbestos. Therefore, it might be expected that workers who worked in the demolition of old houses will suffer from negative effects of exposing to the asbestos fibers.

  14. Stability analysis of hybrid-driven underwater glider

    Science.gov (United States)

    Niu, Wen-dong; Wang, Shu-xin; Wang, Yan-hui; Song, Yang; Zhu, Ya-qiang

    2017-10-01

    Hybrid-driven underwater glider is a new type of unmanned underwater vehicle, which combines the advantages of autonomous underwater vehicles and traditional underwater gliders. The autonomous underwater vehicles have good maneuverability and can travel with a high speed, while the traditional underwater gliders are highlighted by low power consumption, long voyage, long endurance and good stealth characteristics. The hybrid-driven underwater gliders can realize variable motion profiles by their own buoyancy-driven and propeller propulsion systems. Stability of the mechanical system determines the performance of the system. In this paper, the Petrel-II hybrid-driven underwater glider developed by Tianjin University is selected as the research object and the stability of hybrid-driven underwater glider unitedly controlled by buoyancy and propeller has been targeted and evidenced. The dimensionless equations of the hybrid-driven underwater glider are obtained when the propeller is working. Then, the steady speed and steady glide path angle under steady-state motion have also been achieved. The steady-state operating conditions can be calculated when the hybrid-driven underwater glider reaches the desired steady-state motion. And the steadystate operating conditions are relatively conservative at the lower bound of the velocity range compared with the range of the velocity derived from the method of the composite Lyapunov function. By calculating the hydrodynamic coefficients of the Petrel-II hybrid-driven underwater glider, the simulation analysis has been conducted. In addition, the results of the field trials conducted in the South China Sea and the Danjiangkou Reservoir of China have been presented to illustrate the validity of the analysis and simulation, and to show the feasibility of the method of the composite Lyapunov function which verifies the stability of the Petrel-II hybrid-driven underwater glider.

  15. The End of the Line, Preparing the Main Plant Process Building for Demolition at the West Valley Demonstration Project

    International Nuclear Information System (INIS)

    Rowell, L.E.; Kurasch, D.H.; Hackett, M.; Gorsuch, G.; Sullivan, D.W.

    2009-01-01

    The West Valley Demonstration Project (WVDP) Act of 1980 authorized the Department of Energy to conduct a high-level radioactive waste management demonstration project at the site of the former Spent Fuel Reprocessing Plant in West Valley, New York to demonstrate solidification techniques to prepare high-level liquid waste for disposal. The reprocessing facility at this site was the only commercial NRC-licensed spent fuel reprocessing plant to have operated in the United States. The spent fuel reprocessing operations ended in 1972 and DoE's cleanup operations have been underway since 1982. High-level waste solidification was safely concluded in 2002 and follow-on activities at the site have been concentrated on facility decontamination and waste management and off-site disposal. Among the features that remain at the WVDP site is the highly-contaminated Main Plant Process Building (MPPB). The five-story reinforced concrete structure, which was formerly used to reprocess irradiated nuclear fuel, contains residual levels of contamination in some areas that prohibit safe human entry. DoE's long-range plans for the site include demolition of the MPPB. Current site contractor, West Valley Environmental Services LLC (WVES), while actively working to dismantle equipment and decontaminate areas inside the MPPB, has developed a conceptual two-phase plan for demolishing the structure that provides a cost-effective, lower-dose alternative to conventional demolition techniques. This paper discusses the current condition of the MPPB and the demolition-ready preparations conducted in the facility thus far. This paper also introduces the concept of a two-part surgical demolition plan that has been proposed and is being evaluated as a safe method of demolishing the structure. The practical applications that support feasibility for the demolition approach are being demonstrated through current work applications in the MPPB. The Inside-Out Demolition proposal for the MPPB is a safe

  16. Application of micro blasting technique to demolition of biological shield wall of reactor building

    International Nuclear Information System (INIS)

    Kontani, Osamu

    2016-01-01

    Although heavily reinforced concrete structures in nuclear facilities could be dismantled effectively with the controlled blasting technique, the noises and vibrations caused by blasting were matters of concern. Recently, in the building replacement at urban areas, there are increasing cases of demolition of large reinforced concrete members below ground. Instead of applying heavy weight breakers, the micro blasting technique that enables to lower noises and vibrations has developed and applied to demolition work of large reinforced concrete members in urban areas. In this report, the features of the micro blasting technique is reviewed by comparing with existing controlled blasting technique and its applicability to demolition work of nuclear facilities is investigated. The results of those study find that it is confirmed that the micro blasting technique could be applicable to large reinforced concrete structures in nuclear facilities because of the low levels of noises and vibrations. However, it is recommended to perform mock-up tests to confirm the demolition efficiency and levels of the noises and vibrations since the rebar used in nuclear facilities is larger in diameters and in rebar ratio compared with ordinary reinforced concrete structures. (author)

  17. Distribution of materials in construction and demolition waste in Portugal.

    Science.gov (United States)

    Coelho, André; de Brito, Jorge

    2011-08-01

    It may not be enough simply to know the global volume of construction and demolition waste (CDW) generated in a certain region or country if one wants to estimate, for instance, the revenue accruing from separating several types of materials from the input entering a given CDW recycling plant. A more detailed determination of the distribution of the materials within the generated CDW is needed and the present paper addresses this issue, distinguishing different buildings and types of operation (new construction, retrofitting and demolition). This has been achieved by measuring the materials from buildings of different ages within the Portuguese building stock, and by using direct data from demolition/retrofitting sites and new construction average values reported in the literature. An attempt to establish a benchmark with other countries is also presented. This knowledge may also benefit industry management, especially that related to CDW recycling, helping to optimize procedures, equipment size and operation and even industrial plant spatial distribution. In an extremely competitive market, where as in Portugal low-tech and high environmental impact procedures remain the norm in the construction industry (in particular, the construction waste industry), the introduction of a successful recycling industry is only possible with highly optimized processes and based on a knowledge-based approach to problems.

  18. Behavioural Response Thresholds in New Zealand Crab Megalopae to Ambient Underwater Sound

    Science.gov (United States)

    Stanley, Jenni A.; Radford, Craig A.; Jeffs, Andrew G.

    2011-01-01

    A small number of studies have demonstrated that settlement stage decapod crustaceans are able to detect and exhibit swimming, settlement and metamorphosis responses to ambient underwater sound emanating from coastal reefs. However, the intensity of the acoustic cue required to initiate the settlement and metamorphosis response, and therefore the potential range over which this acoustic cue may operate, is not known. The current study determined the behavioural response thresholds of four species of New Zealand brachyuran crab megalopae by exposing them to different intensity levels of broadcast reef sound recorded from their preferred settlement habitat and from an unfavourable settlement habitat. Megalopae of the rocky-reef crab, Leptograpsus variegatus, exhibited the lowest behavioural response threshold (highest sensitivity), with a significant reduction in time to metamorphosis (TTM) when exposed to underwater reef sound with an intensity of 90 dB re 1 µPa and greater (100, 126 and 135 dB re 1 µPa). Megalopae of the mud crab, Austrohelice crassa, which settle in soft sediment habitats, exhibited no response to any of the underwater reef sound levels. All reef associated species exposed to sound levels from an unfavourable settlement habitat showed no significant change in TTM, even at intensities that were similar to their preferred reef sound for which reductions in TTM were observed. These results indicated that megalopae were able to discern and respond selectively to habitat-specific acoustic cues. The settlement and metamorphosis behavioural response thresholds to levels of underwater reef sound determined in the current study of four species of crabs, enables preliminary estimation of the spatial range at which an acoustic settlement cue may be operating, from 5 m to 40 km depending on the species. Overall, these results indicate that underwater sound is likely to play a major role in influencing the spatial patterns of settlement of coastal crab

  19. Strategy of Construction and Demolition Waste Management after Chemical Industry Facilities Removal

    Science.gov (United States)

    Tashkinova, I. N.; Batrakova, G. M.; Vaisman, Ya I.

    2017-06-01

    Mixed waste products are generated in the process of irrelevant industrial projects’ removal if conventional techniques of their demolition and dismantling are applied. In Russia the number of unused chemical industry facilities including structures with high rate of wear is growing. In removing industrial buildings and production shops it is used conventional techniques of demolition and dismantling in the process of which mixed waste products are generated. The presence of hazardous chemicals in these wastes makes difficulties for their use and leads to the increasing volume of unutilized residues. In the process of chemical industry facilities’ removal this fact takes on special significance as a high level of hazardous chemicals in the waste composition demands for the realization of unprofitable measures aimed at ensuring environmental and industrial safety. The proposed strategy of managing waste originated from the demolition and dismantling of chemical industry facilities is based on the methodology of industrial metabolism which allows identifying separate material flows of recycled, harmful and ballast components, performing separate collection of components during removal and taking necessary preventive measures. This strategy has been tested on the aniline synthesis plant being in the process of removal. As a result, a flow of 10 wt. %, subjected to decontamination, was isolated from the total volume of construction and demolition waste (C&D waste). The considered approach allowed using the resource potential of more than 80wt. % of waste and minimizing the disposed waste volume.

  20. Construction and demolition waste generation rates for high-rise buildings in Malaysia.

    Science.gov (United States)

    Mah, Chooi Mei; Fujiwara, Takeshi; Ho, Chin Siong

    2016-12-01

    Construction and demolition waste continues to sharply increase in step with the economic growth of less developed countries. Though the construction industry is large, it is composed of small firms with individual waste management practices, often leading to the deleterious environmental outcomes. Quantifying construction and demolition waste generation allows policy makers and stakeholders to understand the true internal and external costs of construction, providing a necessary foundation for waste management planning that may overcome deleterious environmental outcomes and may be both economically and environmentally optimal. This study offers a theoretical method for estimating the construction and demolition project waste generation rate by utilising available data, including waste disposal truck size and number, and waste volume and composition. This method is proposed as a less burdensome and more broadly applicable alternative, in contrast to waste estimation by on-site hand sorting and weighing. The developed method is applied to 11 projects across Malaysia as the case study. This study quantifies waste generation rate and illustrates the construction method in influencing the waste generation rate, estimating that the conventional construction method has a waste generation rate of 9.88 t 100 m -2 , the mixed-construction method has a waste generation rate of 3.29 t 100 m -2 , and demolition projects have a waste generation rate of 104.28 t 100 m -2 . © The Author(s) 2016.

  1. Construction, Maintenance and Demolition of Nuclear Power Plants

    Energy Technology Data Exchange (ETDEWEB)

    Smet, Camiel de [Hilti Corporation, P.O. Box 333, FL-9494 Schaan (Liechtenstein)

    2008-07-01

    Hilti is your reliable partner in nuclear power plant construction, maintenance and demolition worldwide. Professional advice and innovative solutions for virtually every phase of construction and supply technologically leading products and systems to increase your productivity and help to create and maintain safe and lasting plants is offered. The solutions for nuclear power plants construction, maintenance and demolition have been employed with great success in many different countries on a wide variety of projects due in no small way to their worldwide availability. An unbroken, international exchange of experience upholds a permanent innovation process. This assures our customers that they always receive products on the very latest technological standard. This paper is not intended to cover all topics related to nuclear power plants. The idea is more to give a kind of an overview. The paper covers briefly the following topics: safety (corrosion and fire), fastenings, measuring and finally decommissioning of nuclear power plants. (author)

  2. Towards a more professional demolition and dismantling industry

    International Nuclear Information System (INIS)

    1988-01-01

    The work of the National Economic Development Office Demolition and Dismantling Group in four areas which are crucial to the economic performance of the demolition and dismantling industry and its safety record is considered. The first concerns the availability and accessibility of information about unconventional structures and details are given of the sort of information often kept for different types of structure. Secondly, the need is stressed for guidelines for the client, particularly on the risks involved and the choice of a competent contractor. Thirdly, basic credentials which it is important for contractors to set out in order to establish a good reputation for the industry are set out. Finally, the particular case of nuclear power station decommissioning is considered with reference to the size of the market, the pioneering knowledge to be gained from the decommissioning of the Windscale Advanced Gas-cooled Reactor, private sector involvement and the special techniques required. (U.K.)

  3. Construction, Maintenance and Demolition of Nuclear Power Plants

    International Nuclear Information System (INIS)

    Smet, Camiel de

    2008-01-01

    Hilti is your reliable partner in nuclear power plant construction, maintenance and demolition worldwide. Professional advice and innovative solutions for virtually every phase of construction and supply technologically leading products and systems to increase your productivity and help to create and maintain safe and lasting plants is offered. The solutions for nuclear power plants construction, maintenance and demolition have been employed with great success in many different countries on a wide variety of projects due in no small way to their worldwide availability. An unbroken, international exchange of experience upholds a permanent innovation process. This assures our customers that they always receive products on the very latest technological standard. This paper is not intended to cover all topics related to nuclear power plants. The idea is more to give a kind of an overview. The paper covers briefly the following topics: safety (corrosion and fire), fastenings, measuring and finally decommissioning of nuclear power plants. (author)

  4. A BIM-based system for demolition and renovation waste estimation and planning.

    Science.gov (United States)

    Cheng, Jack C P; Ma, Lauren Y H

    2013-06-01

    Due to the rising worldwide awareness of green environment, both government and contractors have to consider effective construction and demolition (C&D) waste management practices. The last two decades have witnessed the growing importance of demolition and renovation (D&R) works and the growing amount of D&R waste disposed to landfills every day, especially in developed cities like Hong Kong. Quantitative waste prediction is crucial for waste management. It can enable contractors to pinpoint critical waste generation processes and to plan waste control strategies. In addition, waste estimation could also facilitate some government waste management policies, such as the waste disposal charging scheme in Hong Kong. Currently, tools that can accurately and conveniently estimate the amount of waste from construction, renovation, and demolition projects are lacking. In the light of this research gap, this paper presents a building information modeling (BIM) based system that we have developed for estimation and planning of D&R waste. BIM allows multi-disciplinary information to be superimposed within one digital building model. Our system can extract material and volume information through the BIM model and integrate the information for detailed waste estimation and planning. Waste recycling and reuse are also considered in our system. Extracted material information can be provided to recyclers before demolition or renovation to make recycling stage more cooperative and more efficient. Pick-up truck requirements and waste disposal charging fee for different waste facilities will also be predicted through our system. The results could provide alerts to contractors ahead of time at project planning stage. This paper also presents an example scenario with a 47-floor residential building in Hong Kong to demonstrate our D&R waste estimation and planning system. As the BIM technology has been increasingly adopted in the architectural, engineering and construction industry

  5. Use of demolition residues construction in soil-lime bricks

    International Nuclear Information System (INIS)

    Figueiredo, S.S.; Silva, C.G.; Silva, I.A.; Neves, G.A.

    2011-01-01

    Besides being responsible for several environmental damage caused by its residues, the construction industry is also considered the greatest natural resources consumer. When finely ground, such residues can exhibit cementing properties, which may replace part of the lime used in the manufacture of soil-lime bricks. This study aimed to verify the viability of using demolition residues (DR) in soil-lime bricks without structural function. For this, test specimens were prepared using mixes in a 1:10 ratio of lime:soil and embedding residue in partial replacement of lime in the proportions of 25%, 50% and 75%. The test specimens were submitted to curing periods of 28 and 52 days, then it was determined the compression strength. The results showed that when embedded on moderate percentages, demolition residues construction can be used in the production of soil-lime bricks. (author)

  6. Energy savings from housing: Ineffective renovation subsidies vs efficient demolition and reconstruction incentives

    International Nuclear Information System (INIS)

    Dubois, Maarten; Allacker, Karen

    2015-01-01

    Energy savings in the housing sector are key to reduce global greenhouse gas emissions. Policies to incentivize energy savings are however disparate between countries. Taking into account environmental aspects and consumer surplus, the paper uses a stylized economic model to assess the effectiveness and efficiency of three economic instruments: subsidies for renovation, subsidies for demolition and reconstruction projects and subsidies for building new houses on virgin land. The assessment also relates to differentiated value added taxes and other financial incentives such as green loans. In a counter-intuitive way, the model highlights that subsidies for renovations with minor energy gains worsen the overall energy consumption of housing due to the inducement of lock-ins with energy inefficient houses. Structural changes are needed in the use of policy instruments. First, commonly applied support schemes for renovations with minor energy savings should be abolished. Second, scarce public resources should incentivize deep renovation and demolition and reconstruction. Finally, taxes should apply on the use of virgin land to persuade households with a high willingness to pay for a new house, to invest in demolition and reconstruction. - Highlights: • Renovation subsidies worsen overall energy consumption of housing. • Renovation induces a lock-in with energy inefficient houses. • Renovation subsidies should be abolished or structurally reformed. • Policy should incentivize demolition and reconstruction projects. • Building on virgin land should be taxed.

  7. ROV Based Underwater Blurred Image Restoration

    Institute of Scientific and Technical Information of China (English)

    LIU Zhishen; DING Tianfu; WANG Gang

    2003-01-01

    In this paper, we present a method of ROV based image processing to restore underwater blurry images from the theory of light and image transmission in the sea. Computer is used to simulate the maximum detection range of the ROV under different water body conditions. The receiving irradiance of the video camera at different detection ranges is also calculated. The ROV's detection performance under different water body conditions is given by simulation. We restore the underwater blurry images using the Wiener filter based on the simulation. The Wiener filter is shown to be a simple useful method for underwater image restoration in the ROV underwater experiments. We also present examples of restored images of an underwater standard target taken by the video camera in these experiments.

  8. Underwater 3D filming

    Directory of Open Access Journals (Sweden)

    Roberto Rinaldi

    2014-12-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  9. Ambivalence in Place Attachment : The Lived Experiences of Residents in Declining Neighbourhoods Facing Demolition in Shenyang, China

    NARCIS (Netherlands)

    Li, X.; Kleinhans, R.J.; van Ham, M.

    This paper investigates the place attachment of residents in declining neighbourhoods that are facing demolition in Shenyang, China. Through in-depth interviews with homeowners living in danwei communities, or urban villages, at the pre-demolition phase, this paper reveals the strong connection

  10. Underwater welding of steel

    International Nuclear Information System (INIS)

    Ibarra, S.; Olson, D.L.

    1992-01-01

    A fundamental basis to understand the behavior of wet underwater welding of steel is introduced. Both the pyrometallurgical and physical metallurgy concepts are discussed. Modifications of welding consumables and practice are suggested. This chapter promotes further contributions of meatllurgical research to improve and promote wet underwater welding. (orig.)

  11. Colour reconstruction of underwater images

    OpenAIRE

    Hoth, Julian; Kowalczyk, Wojciech

    2017-01-01

    Objects look very different in the underwater environment compared to their appearance in sunlight. Images with correct colouring simplify the detection of underwater objects and may allow the use of visual SLAM algorithms developed for land-based robots underwater. Hence, image processing is required. Current algorithms focus on the colour reconstruction of scenery at diving depth where different colours can still be distinguished. At greater depth this is not the case. In this study it is i...

  12. Quantum imaging for underwater arctic navigation

    Science.gov (United States)

    Lanzagorta, Marco

    2017-05-01

    The precise navigation of underwater vehicles is a difficult task due to the challenges imposed by the variable oceanic environment. It is particularly difficult if the underwater vehicle is trying to navigate under the Arctic ice shelf. Indeed, in this scenario traditional navigation devices such as GPS, compasses and gyrocompasses are unavailable or unreliable. In addition, the shape and thickness of the ice shelf is variable throughout the year. Current Arctic underwater navigation systems include sonar arrays to detect the proximity to the ice. However, these systems are undesirable in a wartime environment, as the sound gives away the position of the underwater vehicle. In this paper we briefly describe the theoretical design of a quantum imaging system that could allow the safe and stealthy navigation of underwater Arctic vehicles.

  13. Postwar City: Importance of Recycling Construction and Demolition Waste

    Science.gov (United States)

    Al-Qaraghuli, Hanan; Alsayed, Yaman; Almoghazy, Ali

    2017-10-01

    Wars and armed conflicts have heavy tolls on the built environment when they take place in cities. It is not only restricted to the actually fighting which destroys or damages buildings and infrastructure, but the damage and destruction inflicts its impacts way beyond the cessation of military actions. They can even have another impact through physical segregation of city quarters through walls and checkpoints that complicates, or even terminates, mobility of citizens, goods, and services in the post-war scenario. The accumulation of debris in the streets often impedes the processes of rescue, distribution of aid and services, and other forms of city life as well. Also, the amount of effort and energy needed to remove those residual materials to their final dumping sites divert a lot of urgently needed resources. In this paper, the components of construction and demolition waste found in post-war cities are to be discussed, relating each one to its origins and potential reuses. Then the issues related to the management of construction waste and demolition debris resulting from military actions are to be discussed. First, an outlook is to be given on the historical example of Berlin and how the city was severely damaged during World War II, and how the reconstruction of the city was aided in part by the reuse of demolition debris. Then two more recent examples will be given, the cities of Baghdad in Iraq, and Homs in Syria. In Baghdad, though major military actions have ceased but not all rubble is cleared out, some security structures in the form of concrete walls separate the cities into quarters and impede city life and lie around as poorly allocated resource needed for reconstruction. While in the case of Homs, and the wider Syrian context, major military operations are still raging, making more pressure on the resources needed for reconstruction. This recycling of demolition debris can bring economic and social stability through the conservation of resources

  14. 48 CFR 52.249-3 - Termination for Convenience of the Government (Dismantling, Demolition, or Removal of Improvements).

    Science.gov (United States)

    2010-10-01

    ... Convenience of the Government (Dismantling, Demolition, or Removal of Improvements). 52.249-3 Section 52.249-3... Convenience of the Government (Dismantling, Demolition, or Removal of Improvements). As prescribed in 49.502(b)(2), insert the following clause: Termination for Convenience of the Government (Dismantling...

  15. Autonomous Underwater Gliders

    OpenAIRE

    Wood,; Stephen,

    2009-01-01

    Autonomous Underwater Vehicles are only now being marketed as robust commercial vehicles for many industries, and of these vehicles underwater gliders are becoming the new tool for oceanographers. Satellites have provided scientists and marine specialists with measurements of the sea surface such as temperature since the late 1970s, and data via subsurface oceanographic moorings since the 1950's. As stated by David Smeed of the National Oceanography Centre, Southampton, England, that "gliders...

  16. Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

    2002-01-01

    As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

  17. HAZWOPER project documents for demolition of the Waste Evaporator Facility, Building 3506, at Oak Ridge National Laboratory, Oak Ridge, Tennessee

    International Nuclear Information System (INIS)

    1996-03-01

    This document, in support of the Waste Evaporator Facility (WEF) demolition project and contains the Project Work Plan and the Project Health and Safety Plan for demolition and partial remediation actions by ATG at the Waste Evaporator Facility, Building 3506. Various activities will be conducted during the course of demolition, and this plan provides details on the work steps involved, the identification of hazards, and the health and safety practices necessary to mitigate these hazards. The objective of this document is to develop an approach for implementing demolition activities at the WEF. This approach is based on prior site characterization information and takes into account all of the known hazards at this facility. The Project Work Plan provides instructions and requirements for identified work steps that will be utilized during the performance of demolition, while the Health and Safety Plan addresses the radiological, hazardous material exposure, and industrial safety concerns that will be encountered

  18. HAZWOPER project documents for demolition of the Waste Evaporator Facility, Building 3506, at Oak Ridge National Laboratory, Oak Ridge, Tennessee

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1996-03-01

    This document, in support of the Waste Evaporator Facility (WEF) demolition project and contains the Project Work Plan and the Project Health and Safety Plan for demolition and partial remediation actions by ATG at the Waste Evaporator Facility, Building 3506. Various activities will be conducted during the course of demolition, and this plan provides details on the work steps involved, the identification of hazards, and the health and safety practices necessary to mitigate these hazards. The objective of this document is to develop an approach for implementing demolition activities at the WEF. This approach is based on prior site characterization information and takes into account all of the known hazards at this facility. The Project Work Plan provides instructions and requirements for identified work steps that will be utilized during the performance of demolition, while the Health and Safety Plan addresses the radiological, hazardous material exposure, and industrial safety concerns that will be encountered.

  19. Demolition of Building 12, an old plutonium filter facility

    International Nuclear Information System (INIS)

    Christensen, E.L.; Garde, R.; Valentine, A.M.

    1975-01-01

    This report discusses the decommissioning and disposal of a plutonium-contaminated air filter facility that provided ventilation for the main plutonium processing plant at Los Alamos from 1945 until 1973. The health physics, waste management, and environmental aspects of the demolition are also discussed

  20. Underwater Acoustic Networking Techniques

    CERN Document Server

    Otnes, Roald; Casari, Paolo; Goetz, Michael; Husøy, Thor; Nissen, Ivor; Rimstad, Knut; van Walree, Paul; Zorzi, Michele

    2012-01-01

    This literature study presents an overview of underwater acoustic networking. It provides a background and describes the state of the art of all networking facets that are relevant for underwater applications. This report serves both as an introduction to the subject and as a summary of existing protocols, providing support and inspiration for the development of network architectures.

  1. OFDM for underwater acoustic communications

    CERN Document Server

    Zhou, Shengli

    2014-01-01

    A blend of introductory material and advanced signal processing and communication techniques, of critical importance to underwater system and network development This book, which is the first to describe the processing techniques central to underwater OFDM, is arranged into four distinct sections: First, it describes the characteristics of underwater acoustic channels, and stresses the difference from wireless radio channels. Then it goes over the basics of OFDM and channel coding. The second part starts with an overview of the OFDM receiver, and develops various modules for the receiver des

  2. Modeling end-of-life pathways of construction and demolition debris in the United States (poster for LCM 2017)

    Science.gov (United States)

    In 2013, the United States generated 530 million tons of construction and demolition debris (CDD), 90% of which was related to demolition. Despite this major contribution to national waste streams, Life Cycle Assessment (LCA) studies and product declarations of buildings and buil...

  3. Y-12 Construction/Demolition Landfill VII: Permit application: Part 1 and 2

    International Nuclear Information System (INIS)

    1992-04-01

    The United States Department of Energy (DOE) has three major operating facilities on the DOE Oak Ridge Reservation (ORR) at Oak Ridge, Tennessee: the Y-12 Plant, the K-25 Site, and the Oak Ridge National Laboratory (ORNL). Operations associated with the DOE energy research and production facilities at Oak Ridge result in the production of several types of waste materials. Disposal of solid waste (as defined in the Solid Waste Processing and Disposal Rules for Tennessee) in disposal facilities operated by the Y-12 Plant is the responsibility of Y-12 Waste Management Division (MWD). The WMD is proposing to develop a facility that will include two new disposal units: one for construction/demolition waste and spoil and one for industrial solid waste. This manual describes the closure and post-closure plans for the construction/demolition waste and spoil disposal unit. This disposal unit is referred to as the Y-12 Construction/Demolition Landfill VII (CD-VII) and is to be operated by the Y-12 Plant for the DOE. This will be a Tennessee Department of Environment and Conservation/Division of Solid Waste Management (TDEC/DSWM) Class IV disposal unit

  4. Quantum demolition filtering and optimal control of unstable systems.

    Science.gov (United States)

    Belavkin, V P

    2012-11-28

    A brief account of the quantum information dynamics and dynamical programming methods for optimal control of quantum unstable systems is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme, we exploit the separation theorem of filtering and control aspects as in the usual case of quantum stable systems with non-demolition observation. This allows us to start with the Belavkin quantum filtering equation generalized to demolition observations and derive the generalized Hamilton-Jacobi-Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton-Jacobi equation with an extra linear dissipative term if the control is restricted to Hamiltonian terms in the filtering equation. An unstable controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

  5. The FRJ-1 (MERLIN) research reactor: its main activity inventory has been removed by successful demolition of the reactor block

    International Nuclear Information System (INIS)

    Stahn, B.; Printz, R.; Matela, K.; Zehbe, C.; Poeppinghaus, J.; Cremer, J.

    2004-01-01

    The FRJ-1 (MERLIN) research reactor was decommissioned in 1985 after twenty-three years of operation. Demolition of the plant was begun in 1996. The article contains a survey of the demolition steps carried out so far within the framework of three partial permits. The main activity is the demolition of the reactor core structures as a precondition for subsequent measures to ensure clearance measurements of the building. The core structures are demolished which were exposed to high neutron fluxes during reactor operation and now show the highest activity and dose rate levels, except for the core internals. For demolition and disassembly of the metal structures in this part of the plant, the tools specially designed and made include a remotely operated sawing system and a pipe cutting system for internal segmentation of the beam lines. The universal demolition tool for use also above and beyond the concrete structures has been found to be a remotely controlled electrohydraulic demolition shovel. Spreading contamination in the course of the demolition work was avoided. One major reason for this success was the fact that no major airborne contamination existed at any time as a consequence of the quality of the material demolished and also of the consistent use of technical tools. While the reactor block was being demolished, an application for clearance measurement of the reactor hall and subsequent release from the scope of the Atomic Energy Act was filed as early as in mid-2003. The fourth partial permit covering these activities is expected to be issued in the spring of 2004. (orig.)

  6. Modified Brokk Demolition Machine with Remote Operator Console. Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    2001-01-01

    The Low-Cost D and D System modifies a commercially available BROKK demolition system for remote viewing and long tether remote operation that provides a portable facility camera pod and interfaces with the Compact Remote Operator Console (TMS Tech ID 2180) to extend the applicability of the BROKK system to projects that require removal of the operator from the work area due to exposure to radiological, chemical, or industrial hazards. The modified BROKK has been integrated with the Compact Remote Operator Console to provide a true remotely operated low-cost D and D system applicable to a wide range of small D and D demolition tasks across the DOE complex

  7. Underwater Acoustic Tracer System

    Science.gov (United States)

    2009-03-13

    for controlling and utilizing supercavitating projectile dynamics to produce a distinctive radiated noise signal. (2) Description of the Prior Art...metallic objects which travel relatively closely to a magnetic pickup. For larger, high speed, underwater projectiles, supercavitating underwater vehicles...have been proposed for use. The conditions for supercavitation are known in the art. Supercavitation allows for higher speeds to be sustainable

  8. Demolition Range Noise Abatement Technique Demonstration and Evaluation for the McAlester Army Ammunition Plant; TOPICAL

    International Nuclear Information System (INIS)

    CALDERONE, JAMES J.; GARBIN H, DOUGLAS

    2001-01-01

    Public concern regarding the effects of noise generated by the detonation of excess and obsolete explosive munitions at U.S. Army demolition ranges is a continuing issue for the Army's demilitarization and disposal groups. Recent concerns of citizens living near the McAlester Army Ammunition Plant (MCAAP) in Oklahoma have lead the U.S. Army Defense Ammunition Center (DAC) to conduct a demonstration and evaluation of noise abatement techniques that could be applied to the MCAAP demolition range. With the support of the DAC, MCAAP, and Sandia National Laboratories (SNL), three types of noise abatement techniques were applied: aqueous foams, overburden (using combinations of sand beds and dirt coverings), and rubber or steel blast mats. Eight test configurations were studied and twenty-four experiments were conducted on the MCAAP demolition range in July of 2000. Instrumentation and data acquisition systems were fielded for the collection of near-field blast pressures, far-field acoustic pressures, plant boundary seismic signals, and demolition range meteorological conditions. The resulting data has been analyzed and reported, and a ranking of each technique's effects has been provided to the DAC

  9. Nanomaterials in construction and demolition - how can we assess the risk if we don't know where they are?

    International Nuclear Information System (INIS)

    Jones, Wendy; Gibb, Alistair; Goodier, Chris; Bust, Phil; Jin, Jie; Song, Mo

    2015-01-01

    This research, funded by the Institution of Occupational Safety and Health in the United Kingdom, has used a combination of literature review, web searching and unstructured interviews with a range of industry professionals to compile a list of products used in construction and the built environment which might contain nanomaterials. Samples of these products have been analysed using Scanning Electron Microscopy and Energy Dispersive X- Ray Spectroscopy to investigate whether nanomaterials are actually present and to what extent. Preliminary results of this testing are presented here. It is concluded that there is a discrepancy between the academic literature and the reality regarding the current application of nanomaterials in the construction industry and the built environment. There are also inaccuracies and deficiencies in the information provided by manufacturers which makes it difficult to accurately assess the location and application of nanomaterials within the industry. Further testing is planned to evaluate the risk of nanoparticle release from nano-enabled building products at their end of life by reproducing common demolition and recycling processes such as crushing, grinding, burning and melting. Results of this will form the basis of practical guidance for the construction, demolition and recycling industries to help them identify where particular protection or control measures may be appropriate as well as providing reassurance where no additional action is required. (paper)

  10. Human Factors Issues When Operating Underwater Remotely Operated Vehicles and Autonomous Underwater Vehicles

    Science.gov (United States)

    2011-03-01

    etiquette (Parasuraman & Miller, 2004). Through natural and intuitive communication, Johnson et al., (2007) hope that this interface will instill greater...and etiquette in high criticality automated systems. Communications of the ACM, 47(4), 51-55. Parasuraman, R., & Riley, V. (1997). Humans and... protocols for underwater wireless communications. IEEE Communications Magazine, pp. 97-102. Quazi, A. H., & Konrad, W. L. (1982, March 1982). Underwater

  11. Determining spherical lens correction for astronaut training underwater.

    Science.gov (United States)

    Porter, Jason; Gibson, C Robert; Strauss, Samuel

    2011-09-01

    To develop a model that will accurately predict the distance spherical lens correction needed to be worn by National Aeronautics and Space Administration astronauts while training underwater. The replica space suit's helmet contains curved visors that induce refractive power when submersed in water. Anterior surface powers and thicknesses were measured for the helmet's protective and inside visors. The impact of each visor on the helmet's refractive power in water was analyzed using thick lens calculations and Zemax optical design software. Using geometrical optics approximations, a model was developed to determine the optimal distance spherical power needed to be worn underwater based on the helmet's total induced spherical power underwater and the astronaut's manifest spectacle plane correction in air. The validity of the model was tested using data from both eyes of 10 astronauts who trained underwater. The helmet's visors induced a total power of -2.737 D when placed underwater. The required underwater spherical correction (FW) was linearly related to the spectacle plane spherical correction in air (FAir): FW = FAir + 2.356 D. The mean magnitude of the difference between the actual correction worn underwater and the calculated underwater correction was 0.20 ± 0.11 D. The actual and calculated values were highly correlated (r = 0.971) with 70% of eyes having a difference in magnitude of astronauts. The model accurately predicts the actual values worn underwater and can be applied (more generally) to determine a suitable spectacle lens correction to be worn behind other types of masks when submerged underwater.

  12. Dynamics and Control of Underwater Gliders I: Steady Motions

    OpenAIRE

    Mahmoudian, N.; Geisbert, J.; Woolsey, C.

    2007-01-01

    This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive effici...

  13. Underwater welding and repair technologies applied in PWR environment

    International Nuclear Information System (INIS)

    Scandella, Fabrice; Carpreau, Jean-Michel

    2012-01-01

    The authors describe several welding processes and technologies which have been used for underwater applications and which can be applied when repairing components of a PWR type reactor. They address, describe and discuss wet arc welding processes, the peculiarities of underwater welding, and the use of various processes such as 111, 114 and 135 processes, underwater welding with the hybrid plasma MIG-MAG process, underwater welding with the laser wire process, underwater welding with the FSW, FSP or UWFSW processes, underwater welding with variants of the friction welding process (friction surfacing, taper stitch welding, hydro-pillar processing

  14. Environmental Impacts Assessment of Recycling of Construction and Demolition Waste

    DEFF Research Database (Denmark)

    Butera, Stefania

    .e. soil and stones, concrete, asphalt and masonry, and as such it has the potential to be used as aggregate in the construction sector. A typical application is in an unbound state as filler in road structures. This practice offers evident benefits in terms of resource savings, however it might lead......Construction and demolition waste (C&DW) is waste derived from the construction, demolition and renovation of buildings and civil infrastructure. With 900 million tons generated every year in Europe, it is the largest waste stream on the continent. C&DW is mainly constituted of mineral fractions, i...... be evaluated critically.Owing to its high toxicity and significant mobility, especially at high pH levels, Cr(VI) is one of the elements of concern found in C&DW leachates. Its fate in the sub-soil below road applications was assessed experimentally, and its vertical migration was then predicted through...

  15. Does demolition or refurbishment of old and inefficient homes help to increase our environmental, social and economic viability?

    Energy Technology Data Exchange (ETDEWEB)

    Power, Anne [London School of Economics, Houghton Street, London WC2A 2AE (United Kingdom); Sustainable Development Commission, Room 101, 55 Whitehall, c/o 3-8 Whitehall Place, London SW1A 2HH (United Kingdom)

    2008-12-15

    The issue of whether to demolish or refurbish older housing has been debated for over a century. It has been an active policy area since the late 1880s, when the Government first authorised the statutory demolition of insanitary slums. In the 1960s, revulsion at the scale of 'demolition blight' and new building caused a rethink, leading to a major reinvestment in inner city neighbourhoods of older housing. In the past 5 years, debate on demolition and new building has been intensified by the Government's Sustainable Communities Plan of 2003, with its proposals for large-scale clearance and building. Environmental arguments about renovating the existing stock have gained increasing prominence as people have sought to defend their communities from demolition. The evidence on whether demolition would reduce the amount of greenhouse gases we emit into the atmosphere is unclear and disputed. This paper summarises the evidence and arguments, and attempts to clarify the most realistic, achievable route to major reductions in energy use in homes. The arguments that apply to housing also apply to most other buildings and therefore to the overall built environment, which accounts for half of all carbon emissions. Three main sources of evidence have helped in the development of this paper, but there are many other studies we draw on in the discussion.

  16. Human Injury Criteria for Underwater Blasts.

    Directory of Open Access Journals (Sweden)

    Rachel M Lance

    Full Text Available Underwater blasts propagate further and injure more readily than equivalent air blasts. Development of effective personal protection and countermeasures, however, requires knowledge of the currently unknown human tolerance to underwater blast. Current guidelines for prevention of underwater blast injury are not based on any organized injury risk assessment, human data or experimental data. The goal of this study was to derive injury risk assessments for underwater blast using well-characterized human underwater blast exposures in the open literature. The human injury dataset was compiled using 34 case reports on underwater blast exposure to 475 personnel, dating as early as 1916. Using severity ratings, computational reconstructions of the blasts, and survival information from a final set of 262 human exposures, injury risk models were developed for both injury severity and risk of fatality as functions of blast impulse and blast peak overpressure. Based on these human data, we found that the 50% risk of fatality from underwater blast occurred at 302±16 kPa-ms impulse. Conservatively, there is a 20% risk of pulmonary injury at a kilometer from a 20 kg charge. From a clinical point of view, this new injury risk model emphasizes the large distances possible for potential pulmonary and gut injuries in water compared with air. This risk value is the first impulse-based fatality risk calculated from human data. The large-scale inconsistency between the blast exposures in the case reports and the guidelines available in the literature prior to this study further underscored the need for this new guideline derived from the unique dataset of actual injuries in this study.

  17. A BIM-based system for demolition and renovation waste estimation and planning

    International Nuclear Information System (INIS)

    Cheng, Jack C.P.; Ma, Lauren Y.H.

    2013-01-01

    Highlights: ► We developed a waste estimation system leveraging the BIM technology. ► The system can calculate waste disposal charging fee and pick-up truck demand. ► We presented an example scenario demonstrating this system. ► Automatic, time-saving and wide applicability are the features of the system. - Abstract: Due to the rising worldwide awareness of green environment, both government and contractors have to consider effective construction and demolition (C and D) waste management practices. The last two decades have witnessed the growing importance of demolition and renovation (D and R) works and the growing amount of D and R waste disposed to landfills every day, especially in developed cities like Hong Kong. Quantitative waste prediction is crucial for waste management. It can enable contractors to pinpoint critical waste generation processes and to plan waste control strategies. In addition, waste estimation could also facilitate some government waste management policies, such as the waste disposal charging scheme in Hong Kong. Currently, tools that can accurately and conveniently estimate the amount of waste from construction, renovation, and demolition projects are lacking. In the light of this research gap, this paper presents a building information modeling (BIM) based system that we have developed for estimation and planning of D and R waste. BIM allows multi-disciplinary information to be superimposed within one digital building model. Our system can extract material and volume information through the BIM model and integrate the information for detailed waste estimation and planning. Waste recycling and reuse are also considered in our system. Extracted material information can be provided to recyclers before demolition or renovation to make recycling stage more cooperative and more efficient. Pick-up truck requirements and waste disposal charging fee for different waste facilities will also be predicted through our system. The results

  18. A BIM-based system for demolition and renovation waste estimation and planning

    Energy Technology Data Exchange (ETDEWEB)

    Cheng, Jack C.P., E-mail: cejcheng@ust.hk [Department of Civil and Environmental Engineering, The Hong Kong University of Science and Technology (Hong Kong); Ma, Lauren Y.H., E-mail: yingzi@ust.hk [Department of Civil and Environmental Engineering, The Hong Kong University of Science and Technology (Hong Kong)

    2013-06-15

    Highlights: ► We developed a waste estimation system leveraging the BIM technology. ► The system can calculate waste disposal charging fee and pick-up truck demand. ► We presented an example scenario demonstrating this system. ► Automatic, time-saving and wide applicability are the features of the system. - Abstract: Due to the rising worldwide awareness of green environment, both government and contractors have to consider effective construction and demolition (C and D) waste management practices. The last two decades have witnessed the growing importance of demolition and renovation (D and R) works and the growing amount of D and R waste disposed to landfills every day, especially in developed cities like Hong Kong. Quantitative waste prediction is crucial for waste management. It can enable contractors to pinpoint critical waste generation processes and to plan waste control strategies. In addition, waste estimation could also facilitate some government waste management policies, such as the waste disposal charging scheme in Hong Kong. Currently, tools that can accurately and conveniently estimate the amount of waste from construction, renovation, and demolition projects are lacking. In the light of this research gap, this paper presents a building information modeling (BIM) based system that we have developed for estimation and planning of D and R waste. BIM allows multi-disciplinary information to be superimposed within one digital building model. Our system can extract material and volume information through the BIM model and integrate the information for detailed waste estimation and planning. Waste recycling and reuse are also considered in our system. Extracted material information can be provided to recyclers before demolition or renovation to make recycling stage more cooperative and more efficient. Pick-up truck requirements and waste disposal charging fee for different waste facilities will also be predicted through our system. The results

  19. Underwater Gliders by Dr. Kevin Smith [video

    OpenAIRE

    Naval Postgraduate School Physics

    2015-01-01

    NPS Physics NPS Physics Research Projects Underwater glider research is currently underway in the physics department at the naval postgraduate in Monterey Ca. Dr. Kevin Smith is a specialist in underwater acoustics and sonar systems. He and his team are currently focused on autonomous underwater gliders and developing systems capable of detecting parameters in the ocean and listening for various sources of sound.

  20. Influence of construction and demolition waste management on the environmental impact of buildings.

    Science.gov (United States)

    Coelho, André; de Brito, Jorge

    2012-03-01

    The purpose of this study is to quantify comparable environmental impacts within a Life Cycle Analysis (LCA) perspective, for buildings in which the first (Materials) and last (End of Life) life cycle stages are adjusted to several waste/material management options. Unlike most LCAs, the approach is "top-down" rather than "bottom-up", which usually involves large amounts of data and the use of specific software applications. This approach is considered appropriate for a limited but expedient LCA designed to compare the environmental impacts of different life cycle options. Present results, based on real buildings measurements and demolition contractor activities, show that shallow, superficial, selective demolition may not result in reduced environmental impacts. Calculations actually show an increase (generally less than 5%) in most impact categories for the Materials and End of Life stages because of extra transportation needs. However, core material separation in demolition operations and its recycling and/or reuse does bring environmental benefits. A reduction of around 77% has been estimated in the climate change impact category, 57% in acidification potential and 81% in the summer smog impact (for the life cycle stages referred). Copyright © 2011 Elsevier Ltd. All rights reserved.

  1. Underwater Ranging

    OpenAIRE

    S. P. Gaba

    1984-01-01

    The paper deals with underwater laser ranging system, its principle of operation and maximum depth capability. The sources of external noise and methods to improve signal-to-noise ratio are also discussed.

  2. UNDERWATER COATINGS FOR CONTAMINATION CONTROL

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Laboratory (INL) deactivated several aging nuclear fuel storage basins. Planners for this effort were greatly concerned that radioactive contamination present on the basin walls could become airborne as the sides of the basins became exposed during deactivation and allowed to dry after water removal. One way to control this airborne contamination was to fix the contamination in place while the pool walls were still submerged. There are many underwater coatings available on the market for marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives were easily applied and adhered well to the substrates (pool wall materials) found in INL fuel pools. Lab-scale experiments were conducted by applying fourteen different commercial underwater coatings to four substrate materials representative of the storage basin construction materials, and evaluating their performance. The coupons included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The evaluation criteria included ease of application, adherence to the four surfaces of interest, no change on water clarity or chemistry, non-hazardous in final applied form and be proven in underwater applications. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates was selected from the underwater coatings tested for application to all four pools. Divers scrubbed loose contamination off the basin walls and floors using a ship hull scrubber and vacuumed up the sludge. The divers then applied the coating using a special powered roller with two separate heated hoses that allowed the epoxy to mix at the roller surface was used to eliminate pot time concerns. The walls were successfully coated and water was removed from the pools with no detectable airborne contamination releases

  3. Concrete block production from construction and demolition waste in Tanzania

    NARCIS (Netherlands)

    Sabai, M.M.; Cox, M.G.D.M.; Mato, R.R.A.M.; Egmond - de Wilde De Ligny, van E.L.C.; Lichtenberg, J.J.N.

    2013-01-01

    In Tanzania, construction and demolition (C&D) waste is not recycled and knowledge on how it can be recycled especially into valuable products like building materials are still limited. This study aimed at investigating the possibility of recycling the C&D waste (mainly cementitious rubble) into

  4. Creation and demolition of illegal structures in Nigerian cities ...

    African Journals Online (AJOL)

    The paper examined the issue of demolition of illegal structures in Benin City. The study revealed that the poor economic condition of the country forced many landlords in the city to restructure and convert their houses into mixed uses in order to make a living. In the process many illegal structures sprang up as many ...

  5. Underwater Gliders: A Review

    OpenAIRE

    Javaid Muhammad Yasar; Ovinis Mark; Nagarajan T; Hashim Fakhruldin B M

    2014-01-01

    Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no ...

  6. Underwater Calibration of Dome Port Pressure Housings

    Science.gov (United States)

    Nocerino, E.; Menna, F.; Fassi, F.; Remondino, F.

    2016-03-01

    Underwater photogrammetry using consumer grade photographic equipment can be feasible for different applications, e.g. archaeology, biology, industrial inspections, etc. The use of a camera underwater can be very different from its terrestrial use due to the optical phenomena involved. The presence of the water and camera pressure housing in front of the camera act as additional optical elements. Spherical dome ports are difficult to manufacture and consequently expensive but at the same time they are the most useful for underwater photogrammetry as they keep the main geometric characteristics of the lens unchanged. Nevertheless, the manufacturing and alignment of dome port pressure housing components can be the source of unexpected changes of radial and decentring distortion, source of systematic errors that can influence the final 3D measurements. The paper provides a brief introduction of underwater optical phenomena involved in underwater photography, then presents the main differences between flat and dome ports to finally discuss the effect of manufacturing on 3D measurements in two case studies.

  7. Use of rubble from building demolition in mortars.

    Science.gov (United States)

    Corinaldesi, V; Giuggiolini, M; Moriconi, G

    2002-01-01

    Because of increasing waste production and public concerns about the environment, it is desirable to recycle materials from building demolition. If suitably selected, ground, cleaned and sieved in appropriate industrial crushing plants, these materials can be profitably used in concrete. Nevertheless, the presence of masonry instead of concrete rubble is particularly detrimental to the mechanical performance and durability of recycled-aggregate concrete and the same negative effect is detectable when natural sand is replaced by fine recycled aggregate fraction. An alternative use of both masonry rubble and fine recycled material fraction could be in mortars. These could contain either recycled instead of natural sand or powder obtained by bricks crushing as partial cement substitution. In particular, attention is focused on the modification that takes place when either polypropylene or stainless steel fibers are added to these mortars. Polypropylene fibers are added in order to reduce shrinkage of mortars, stainless steel fibers for improving their flexural strength. The combined use of polypropylene fibers and fine recycled material from building demolition could allow the preparation of mortars showing good performance, in particular when coupled with bricks. Furthermore, the combined use of stainless steel fibers and mortars containing brick powder seems to be an effective way to guarantee a high flexural strength.

  8. Natural hydrocarbon seeps observation with underwater gliders and UV fluorescence sensor

    Science.gov (United States)

    Rochet, V.

    2016-02-01

    Hydrocarbons may leak to the near-surface from subsurface accumulations, from mature source rock, or by buoyancy along major cross-strata routes. The presence of migrating near-surface hydrocarbons can provide strong evidence for the presence of a working petroleum system, as well as valuable information on source, maturity, and migration pathways. Detection and characterization of hydrocarbons in the water column may then help to de-risk hydrocarbon plays at a very preliminary stage of an exploration program. In order to detect hydrocarbons in the water column, an underwater glider survey was conducted in an offshore frontier area. Driven by buoyancy variation, underwater gliders enable collecting data autonomously along the water column for weeks to months. Underwater gliders are regularly piloted from shore by satellite telemetry and do not require a surface supervising vessel resulting in substantial operational costs savings. The data compiled, over 700m depth of the water column, included temperature, salinity, pressure, dissolved oxygen and hydrocarbon components (phenanthrene and naphthalene) measured by "MINIFLUO" sensors to particularly target representative crude oil compounds Two gliders were deployed at sea, one from coast in shallow water and the other one offshore on the survey area. Both accurately squared the survey area following pre-defined lines and cross lines. Data files were transmitted by satellite telemetry in near real time during the performance of the mission for real time observations and appropriate re-positioning of the gliders. Using rechargeable underwater gliders increased reliability reducing the risk of leakage and associated logistics during operation at sea. Despite strong evidences of seabed seepages such as pockmarks, faults, etc, over the area of interest, no hydrocarbon indices were detected in the water column, which was confirmed later by seabed sample analysis. The use of glider platforms for hydrocarbon detection has

  9. Bat Surveys of Retired Facilitiies Scheduled for Demolition by Washington Closure Hanford

    Energy Technology Data Exchange (ETDEWEB)

    Gano, K. A.; Lucas, J. G.; Lindsey, C. T.

    2011-06-30

    This project was conducted to evaluate buildings and facilities remaining in the Washington Closure Hanford (WCH) deactivation, decontamination, decommissioning, and demolition schedule for bat roost sites. The project began in spring of 2009 and was concluded in spring of 2011. A total of 196 buildings and facilities were evaluated for the presence of bat roosting sites. The schedule for the project was prioritized to accommodate the demolition schedule. As the surveys were completed, the results were provided to the project managers to facilitate planning and project completion. The surveys took place in the 300 Area, 400 Area, 100-H, 100-D, 100-N, and 100-B/C Area. This report is the culmination of all the bat surveys and summarizes the findings by area and includes recommended mitigation actions where bat roosts were found.

  10. Underwater 3D filming

    OpenAIRE

    Rinaldi, Roberto

    2014-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space (“Gravity” ) and the underwater realm look perfect to be reproduced in 3D. “Filming in space” was possible in “Gravity” using special effects and computer graphic. The underwater realm is still difficult to be handled. Unde...

  11. Coal and wood fuel for electricity production: An environmentally sound solution for waste and demolition wood

    Energy Technology Data Exchange (ETDEWEB)

    Penninks, F.W.M. [EPON, Zwolle (Netherlands)

    1997-12-31

    Waste wood from primary wood processing and demolition presents both a problem and a potential. If disposed in landfills, it consumes large volumes and decays, producing CH{sub 4}, CO{sub 2} and other greenhouse gases. As an energy source used in a coal fired power plant it reduces the consumption of fossil fuels reducing the greenhouse effect significantly. Additional advantages are a reduction of the ash volume and the SO{sub 2} and NO{sub x} emissions. The waste wood requires collection, storage, processing and burning. This paper describes a unique project which is carried out in the Netherlands at EPON`s Gelderland Power Plant (635 MW{sub e}) where 60 000 tonnes of waste and demolition wood will be used annually. Special emphasis is given to the processing of the powdered wood fuel. Therefore, most waste and demolition wood can be converted from an environmental liability to an environmental and economic asset. (author)

  12. Coal and wood fuel for electricity production: An environmentally sound solution for waste and demolition wood

    Energy Technology Data Exchange (ETDEWEB)

    Penninks, F W.M. [EPON, Zwolle (Netherlands)

    1998-12-31

    Waste wood from primary wood processing and demolition presents both a problem and a potential. If disposed in landfills, it consumes large volumes and decays, producing CH{sub 4}, CO{sub 2} and other greenhouse gases. As an energy source used in a coal fired power plant it reduces the consumption of fossil fuels reducing the greenhouse effect significantly. Additional advantages are a reduction of the ash volume and the SO{sub 2} and NO{sub x} emissions. The waste wood requires collection, storage, processing and burning. This paper describes a unique project which is carried out in the Netherlands at EPON`s Gelderland Power Plant (635 MW{sub e}) where 60 000 tonnes of waste and demolition wood will be used annually. Special emphasis is given to the processing of the powdered wood fuel. Therefore, most waste and demolition wood can be converted from an environmental liability to an environmental and economic asset. (author)

  13. IVO develops a new repair technique for underwater sites. Viscous doughlike substance underwater cracks

    Energy Technology Data Exchange (ETDEWEB)

    Klingstedt, G.; Leisio, C. [ed.

    1998-07-01

    A viscous sealant is revolutionizing repair of the stone and concrete masonry of underwater dams, bridges and canals. There is now no need for expensive and time-consuming cofferdams, since a diver can extrude quick-setting mortar into underwater structures needing repair. This technique has worked well in recent years in various parts of Finland even in strongly flowing water. IVO experts are now starting to look more beyond the borders of Finland

  14. A man-made object detection for underwater TV

    Science.gov (United States)

    Cheng, Binbin; Wang, Wenwu; Chen, Yao

    2018-03-01

    It is a great challenging task to complete an automatic search of objects underwater. Usually the forward looking sonar is used to find the target, and then the initial identification of the target is completed by the side-scan sonar, and finally the confirmation of the target is accomplished by underwater TV. This paper presents an efficient method for automatic extraction of man-made sensitive targets in underwater TV. Firstly, the image of underwater TV is simplified with taking full advantage of the prior knowledge of the target and the background; then template matching technology is used for target detection; finally the target is confirmed by extracting parallel lines on the target contour. The algorithm is formulated for real-time execution on limited-memory commercial-of-the-shelf platforms and is capable of detection objects in underwater TV.

  15. Design of Autonomous Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Tadahiro Hyakudome

    2011-03-01

    Full Text Available There are concerns about the impact that global warming will have on our environment, and which will inevitably result in expanding deserts and rising water levels. While a lot of underwater vehicles are utilized, AUVs (Autonomous Underwater Vehicle were considered and chosen, as the most suitable tool for conduction survey concerning these global environmental problems. AUVs can comprehensive survey because the vehicle does not have to be connected to the support vessel by tether cable. When such underwater vehicles are made, it is necessary to consider about the following things. 1 Seawater and Water Pressure Environment, 2 Sink, 3 There are no Gas or Battery Charge Stations, 4 Global Positioning System cannot use, 5 Radio waves cannot use. In the paper, outline of above and how deal about it are explained.

  16. Fracture analysis of cement treated demolition waste using a lattice model

    NARCIS (Netherlands)

    Xuan, D.; Schlangen, H.E.J.G.; Molenaar, A.A.A.; Houben, L.J.M.

    2013-01-01

    Fracture properties of cement treated demolition waste were investigated using a lattice model. In practice the investigated material is applied as a cement treated road base/subbase course. The granular aggregates used in this material were crushed recycled concrete and masonry. This results in six

  17. Preliminary plan for decommissioning - repository for spent nuclear fuel

    International Nuclear Information System (INIS)

    Hallberg, Bengt; Tiberg, Liselotte

    2010-06-01

    The final disposal facility for spent nuclear fuel is part of the KBS-3 system, which also consists of a central facility for interim storage and encapsulation of the spent nuclear fuel and a transport system. The nuclear fuel repository will be a nuclear facility. Regulation SSMFS 2008:1 (Swedish Radiation Safety Authority's regulations on safety of nuclear facilities) requires that the licensee must have a current decommissioning plan throughout the facility lifecycle. Before the facility is constructed, a preliminary decommissioning plan should be reported to the Swedish Radiation Safety Authority. This document is a preliminary decommissioning plan, and submitted as an attachment to SKB's application for a license under the Nuclear Activities Act to construct, own and operate the facility. The final disposal facility for spent nuclear fuel consists of an above ground part and a below ground part and will be built near Forsmark and the final repository for radioactive operational waste, SFR. The parts above and below ground are connected by a ramp and several shafts, e.g. for ventilation. The below ground part consists of a central area, and several landfill sites. The latter form the repository area. The sealed below ground part constitutes the final repository. The decommissioning is taking place after the main operation has ended, that is, when all spent nuclear fuel has been deposited and the deposition tunnels have been backfilled and plugged. The decommissioning involves sealing of the remaining parts of the below ground part and demolition of above ground part. When decommissioning begins, there will be no contamination in the facility. The demolition is therefore performed as for a conventional plant. Demolition waste is sorted and recycled whenever possible or placed in landfill. Hazardous waste is managed in accordance with current regulations. A ground investigation is performed and is the basis for after-treatment of the site. The timetable for the

  18. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, Walter David

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The underwater characterization equipment is often required to operate at depths exceeding 20 ft (6.1 m) and in relatively confined or congested spaces. The typical baseline approach has been the use of radiation detectors and underwater cameras mounted on long poles, or stationary cameras with pan and tilt features mounted on the sides of the underwater facility. There is a perceived need for an inexpensive, more mobile method of performing close-up inspection and radiation measurements in confined spaces underwater. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available ''Scallop'' vehicle, but has been modified by Department of Energy's Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at Idaho National Engineering and environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head'' fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  19. The decommissioning and demolition of four suites of high active chemical analysis cells at DNPDE

    International Nuclear Information System (INIS)

    Black, R.M.; Spence, B.W.; Stewart, C.W.

    1987-11-01

    The decommissioning and demolition of four laboratory suites of high active cells at DNPDE is described. All four suites had suffered drain leaks of high active liquor into underfloor ducts; the options available at the time and current policy for dealing with the resultant activity deposits are given. The decommissioning procedures are detailed to provide information for future similar exercises. Features to ease demolition of such facilities and to eliminate the possibility of long term activity deposition from drain leaks are highlighted for incorporation in future designs. The waste arisings and radiation doses received during the work are tabulated. (author)

  20. An Underwater Image Enhancement Algorithm for Environment Recognition and Robot Navigation

    Directory of Open Access Journals (Sweden)

    Kun Xie

    2018-03-01

    Full Text Available There are many tasks that require clear and easily recognizable images in the field of underwater robotics and marine science, such as underwater target detection and identification of robot navigation and obstacle avoidance. However, water turbidity makes the underwater image quality too low to recognize. This paper proposes the use of the dark channel prior model for underwater environment recognition, in which underwater reflection models are used to obtain enhanced images. The proposed approach achieves very good performance and multi-scene robustness by combining the dark channel prior model with the underwater diffuse model. The experimental results are given to show the effectiveness of the dark channel prior model in underwater scenarios.

  1. Underwater fiber-wireless communication with a passive front end

    Science.gov (United States)

    Xu, Jing; Sun, Bin; Lyu, Weichao; Kong, Meiwei; Sarwar, Rohail; Han, Jun; Zhang, Wei; Deng, Ning

    2017-11-01

    We propose and experimentally demonstrate a novel concept on underwater fiber-wireless (Fi-Wi) communication system with a fully passive wireless front end. A low-cost step-index (SI) plastic optical fiber (POF) together with a passive collimating lens at the front end composes the underwater Fi-Wi architecture. We have achieved a 1.71-Gb/s transmission at a mean BER of 4.97 × 10-3 (1.30 × 10-3 when using power loading) over a 50-m SI-POF and 2-m underwater wireless channel using orthogonal frequency division multiplexing (OFDM). Although the wireless part is very short, it actually plays a crucial role in practical underwater implementation, especially in deep sea. Compared with the wired solution (e.g. using a 52-m POF cable without the UWOC part), the proposed underwater Fi-Wi scheme can save optical wet-mate connectors that are sophisticated, very expensive and difficult to install in deep ocean. By combining high-capacity robust POF with the mobility and ubiquity of underwater wireless optical communication (UWOC), the proposed underwater Fi-Wi technology will find wide application in ocean exploration.

  2. Downcycling versus recycling of construction and demolition waste: Combining LCA and LCC to support sustainable policy making.

    Science.gov (United States)

    Di Maria, Andrea; Eyckmans, Johan; Van Acker, Karel

    2018-05-01

    Urgent solutions are needed in Europe to deal with construction and demolition waste (CDW). EU policy has contributed to significantly reducing the amount of CDW going to landfill, but most of the effort has been put in downcycling practices. Therefore, further policies are needed to stimulate high-quality recycling of CDW. The present paper presents a combined life cycle assessment (LCA) and life cycle costing (LCC) methodologies to analyse the environmental and the economic drivers in four alternative CDW end-of-life scenarios in the region of Flanders, in Belgium. The four analysed alternatives are (i) landfilling, (ii) downcycling, (iii) advanced recycling and (iv) recycling after selective demolition. LCA results show that landiflling is the scenario having the highest environmental impacts in terms of person equivalent (PE), followed by downcycling and recycling (-36%) and recycling after selective demolition (-59%). The decrease in environmental impacts is mostly due to the avoided landfilling of CDW and the recovery of materials from selective demolition. LCC results indicate that landfilling is the scenario bearing the highest total economic costs. This is due to the high landfill tax in Flanders. The recycling after selective demolition bears the second highest cost. The increase of high-quality CDW recycling can significantly reduce the overall environmental impact of the system. Implementing a high landfill tax, increasing the gate fee to the recycling plant, and boosting the sales price of recycled aggregates are the most effective drivers to facilitate a transition towards a more sustainable CDW management system. The paper demonstrates that the combined LCA and LCC results can highlight the environmental and economic drivers in CDW management. The results of the combined analysis can help policymakers to promote the aspects contributing to sustainability and to limit the ones creating a barrier. Copyright © 2018 Elsevier Ltd. All rights reserved.

  3. Construction and Demolition Debris 2014 US Final Disposition Estimates Using the CDDPath Method

    Data.gov (United States)

    U.S. Environmental Protection Agency — Estimates of the final amount and final disposition of materials generated in the Construction and Demolition waste stream measured in total mass of each material....

  4. An integrated approach for the management of demolition waste in Cyprus.

    Science.gov (United States)

    Kourmpanis, Basilis; Papadopoulos, Achilleas; Moustakas, Konstantinos; Kourmoussis, Fotis; Stylianou, Marinos; Loizidou, Maria

    2008-12-01

    This study investigated the generation and management of demolition waste (DW) in Cyprus. A methodology has been developed and applied for the estimation of the quantities of the waste stream under examination, since quantitative primary data were not available. The existing situation relating to the practices applied for the management of DW was investigated and assessed. Furthermore, a multi-criteria analysis method (PROMETHEE II) was developed and applied in order to examine alternative systems that could be implemented for the management of the DW in the country. In particular, nine management systems (scenarios) were examined, evaluated and ranked according to their efficiency using seventeen individual criteria, divided into four groups (social-legislative, environmental, economic and technical). The ranking of the alternative waste management scenarios indicated that the optimum management system for possible implementation in the island included complete selective demolition procedures and transfer of mixed recyclable materials to the recycling centre and non-recyclable material to landfill.

  5. Delay Tolerance in Underwater Wireless Communications: A Routing Perspective

    Directory of Open Access Journals (Sweden)

    Safdar Hussain Bouk

    2016-01-01

    Full Text Available Similar to terrestrial networks, underwater wireless networks (UWNs also aid several critical tasks including coastal surveillance, underwater pollution detection, and other maritime applications. Currently, once underwater sensor nodes are deployed at different levels of the sea, it is nearly impossible or very expensive to reconfigure the hardware, for example, battery. Taking this issue into account, considerable amount of research has been carried out to ensure minimum energy costs and reliable communication between underwater nodes and base stations. As a result, several different network protocols were proposed for UWN, including MAC, PHY, transport, and routing. Recently, a new paradigm was introduced claiming that the intermittent nature of acoustic channel and signal resulted in designing delay tolerant routing schemes for the UWN, known as an underwater delay tolerant network. In this paper, we provide a comprehensive survey of underwater routing protocols with emphasis on the limitations, challenges, and future open issues in the context of delay tolerant network routing.

  6. 3D Laser Scanner for Underwater Manipulation.

    Science.gov (United States)

    Palomer, Albert; Ridao, Pere; Youakim, Dina; Ribas, David; Forest, Josep; Petillot, Yvan

    2018-04-04

    Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.

  7. Underwater hearing in the great cormorant (Phalacrocorax carbo sinensis)

    DEFF Research Database (Denmark)

    Hansen, Kirstin Anderson; Larsen, Ole Næsbye; Wahlberg, Magnus

    2016-01-01

    The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016). Prelim......The underwater hearing threshold of a great cormorant (Phalacrocroax carbo sinensis) was measured at 2 kHz using psychophysical methods. Previous in-air and underwater testing suggests that cormorants have rather poor in-air hearing compared to other birds of similar size (Johansen, 2016...

  8. Intelligent Navigation for a Solar Powered Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Francisco García-Córdova

    2013-04-01

    Full Text Available In this paper, an intelligent navigation system for an unmanned underwater vehicle powered by renewable energy and designed for shadow water inspection in missions of a long duration is proposed. The system is composed of an underwater vehicle, which tows a surface vehicle. The surface vehicle is a small boat with photovoltaic panels, a methanol fuel cell and communication equipment, which provides energy and communication to the underwater vehicle. The underwater vehicle has sensors to monitor the underwater environment such as sidescan sonar and a video camera in a flexible configuration and sensors to measure the physical and chemical parameters of water quality on predefined paths for long distances. The underwater vehicle implements a biologically inspired neural architecture for autonomous intelligent navigation. Navigation is carried out by integrating a kinematic adaptive neuro-controller for trajectory tracking and an obstacle avoidance adaptive neuro- controller. The autonomous underwater vehicle is capable of operating during long periods of observation and monitoring. This autonomous vehicle is a good tool for observing large areas of sea, since it operates for long periods of time due to the contribution of renewable energy. It correlates all sensor data for time and geodetic position. This vehicle has been used for monitoring the Mar Menor lagoon.

  9. Optimal Node Placement in Underwater Acoustic Sensor Network

    KAUST Repository

    Felemban, Muhamad

    2011-10-01

    Almost 70% of planet Earth is covered by water. A large percentage of underwater environment is unexplored. In the past two decades, there has been an increase in the interest of exploring and monitoring underwater life among scientists and in industry. Underwater operations are extremely difficult due to the lack of cheap and efficient means. Recently, Wireless Sensor Networks have been introduced in underwater environment applications. However, underwater communication via acoustic waves is subject to several performance limitations, which makes the relevant research issues very different from those on land. In this thesis, we investigate node placement for building an initial Underwater Wireless Sensor Network infrastructure. Firstly, we formulated the problem into a nonlinear mathematic program with objectives of minimizing the total transmission loss under a given number of sensor nodes and targeted volume. We conducted experiments to verify the proposed formulation, which is solved using Matlab optimization tool. We represented each node with a truncated octahedron to fill out the 3D space. The truncated octahedrons are tiled in the 3D space with each node in the center where locations of the nodes are given using 3D coordinates. Results are supported using ns-3 simulator. Results from simulation are consistent with the obtained results from mathematical model with less than 10% error.

  10. Effect of Co-Composting Cattle Manure with Construction and Demolition Waste on the Archaeal, Bacterial, and Fungal Microbiota, and on Antimicrobial Resistance Determinants.

    Science.gov (United States)

    Holman, Devin B; Hao, Xiying; Topp, Edward; Yang, Hee Eun; Alexander, Trevor W

    2016-01-01

    Agricultural operations generate large quantities of manure which must be eliminated in a manner that is consistent with public health guidelines. Meanwhile, construction and demolition waste makes up about 25% of total solid municipal waste. Co-composting of manure with construction and demolition waste offers a potential means to make manure safe for soil amendment and also divert construction and demolition waste from municipal landfills. Therefore, the archaeal, bacterial, and fungal microbiota of two different types of composted cattle manure and one co-composted with construction and demolition waste, were assessed over a 99-day composting period. The microbiota of the three compost mixtures did not differ, but significant changes over time and by sampling depth were observed. Bacillus and Halocella, however, were more relatively abundant in composted manure from cattle fed dried distillers' grains and solubles. Proteobacteria and Bacteroidetes were enriched at day 0 and Firmicutes at day 99. The fungal genus Kernia was the most relatively abundant overall and was enriched at day 0. The concentration of 12 antimicrobial resistance determinants in the compost mixtures was also determined, and 10 of these determinants decreased significantly from days 0 to 99. The addition of construction and demolition waste did not affect the persistence of antimicrobial resistance genes or community structure of the compost microbiota and therefore co-composting construction and demolition waste with cattle manure offers a safe, viable way to divert this waste from landfills.

  11. Effect of Co-Composting Cattle Manure with Construction and Demolition Waste on the Archaeal, Bacterial, and Fungal Microbiota, and on Antimicrobial Resistance Determinants

    Science.gov (United States)

    Holman, Devin B.; Hao, Xiying; Topp, Edward; Yang, Hee Eun; Alexander, Trevor W.

    2016-01-01

    Agricultural operations generate large quantities of manure which must be eliminated in a manner that is consistent with public health guidelines. Meanwhile, construction and demolition waste makes up about 25% of total solid municipal waste. Co-composting of manure with construction and demolition waste offers a potential means to make manure safe for soil amendment and also divert construction and demolition waste from municipal landfills. Therefore, the archaeal, bacterial, and fungal microbiota of two different types of composted cattle manure and one co-composted with construction and demolition waste, were assessed over a 99-day composting period. The microbiota of the three compost mixtures did not differ, but significant changes over time and by sampling depth were observed. Bacillus and Halocella, however, were more relatively abundant in composted manure from cattle fed dried distillers’ grains and solubles. Proteobacteria and Bacteroidetes were enriched at day 0 and Firmicutes at day 99. The fungal genus Kernia was the most relatively abundant overall and was enriched at day 0. The concentration of 12 antimicrobial resistance determinants in the compost mixtures was also determined, and 10 of these determinants decreased significantly from days 0 to 99. The addition of construction and demolition waste did not affect the persistence of antimicrobial resistance genes or community structure of the compost microbiota and therefore co-composting construction and demolition waste with cattle manure offers a safe, viable way to divert this waste from landfills. PMID:27300323

  12. Life cycle assessment and life cycle costing for demolition waste management

    NARCIS (Netherlands)

    Hu, M.; Miranda-Xicotencat, B.; Ita-Nagy, D.; Prado, V.; Guinée, J.B.; van Roekel, E; Huismans, R.; Rens, F.; Lotfi, Somayeh; Di Maio, F.; Di Maio, F.; Lotfi, S.; Bakker, M.; Hu, M.; Vahidi, A.

    2017-01-01

    Ninety five percent of the construction and demolition waste is recycled in the Netherlands. Most of it is used for low value applications such as road base materials; the use of secondary material in buildings is still less than 3%7. In order to recover waste for higher value applications,

  13. Portland blended cements: demolition ceramic waste management

    International Nuclear Information System (INIS)

    Trezza, M.A.; Zito, S.; Tironi, A.; Irassar, E.F.; Rahhal, V.F.

    2017-01-01

    Demolition ceramic wastes (DCWs) were investigated in order to determine their potential use as supplementary cementitious materials in Portland Blended Cements (PBCs). For this purpose, three ceramic wastes were investigated. After characterization of the materials used, the effect of ceramic waste replacement (8, 24 and 40% by mass) was analyzed. Pozzolanic activity, hydration progress, workability and compressive strength were determined at 2, 7 and 28 days. The results showed that the ground wastes behave as filler at an early age, but as hydration progresses, the pozzolanic activity of ceramic waste contributes to the strength requirement. [es

  14. Underwater television camera for monitoring inner side of pressure vessel

    International Nuclear Information System (INIS)

    Takayama, Kazuhiko.

    1997-01-01

    An underwater television support device equipped with a rotatable and vertically movable underwater television camera and an underwater television camera controlling device for monitoring images of the inside of the reactor core photographed by the underwater television camera to control the position of the underwater television camera and the underwater light are disposed on an upper lattice plate of a reactor pressure vessel. Both of them are electrically connected with each other by way of a cable to rapidly observe the inside of the reactor core by the underwater television camera. The reproducibility is extremely satisfactory by efficiently concentrating the position of the camera and image information upon inspection and observation. As a result, the steps for periodical inspection can be reduced to shorten the days for the periodical inspection. Since there is no requirement to withdraw fuel assemblies over a wide reactor core region, and the device can be used with the fuel assemblies being left as they are in the reactor, it is suitable for inspection of detectors for nuclear instrumentation. (N.H.)

  15. 3D Laser Scanner for Underwater Manipulation

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2018-04-01

    Full Text Available Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS is used to autonomously grasp an object from the bottom of a water tank.

  16. Centralised versus Decentralised Control Reconfiguration for Collaborating Underwater Robots

    DEFF Research Database (Denmark)

    Furno, Lidia; Nielsen, Mikkel Cornelius; Blanke, Mogens

    2015-01-01

    The present paper introduces an approach to fault-tolerant reconfiguration for collaborating underwater robots. Fault-tolerant reconfiguration is obtained using the virtual actuator approach, Steen (2005). The paper investigates properties of a centralised versus a decentralised implementation an...... an underwater drill needs to be transported and positioned by three collaborating robots as part of an underwater autonomous operation....

  17. Assessment of leaching from Construction & Demolition Waste concrete

    DEFF Research Database (Denmark)

    Butera, Stefania; Christensen, Thomas Højlund; Astrup, Thomas

    2012-01-01

    Construction and demolition waste features two very important properties when considering its management options: the large amounts, and the low environmental hazardousness. Therefore, concrete waste can be recycled relatively easily: most common end-of-life option is utilization as unbound...... approaches exist, often implying unrealistic or not relevant conditions if compared to real life utilization scenarios. A modified version of the CEN/TS 14405 column percolation test has been implemented on four crushed concrete samples, with the purpose of analysing the release of chromium, one...

  18. Dehomed: the impacts of house demolitions on the well-being of women from the unrecognized Bedouin-Arab villages in the Negev/Israel.

    Science.gov (United States)

    Gottlieb, Nora; Feder-Bubis, Paula

    2014-09-01

    Thirty-five Bedouin-Arab villages in South Israel are regarded illegal settlements by the state. Consequently, the residents׳ homes are subject to demolition. Based on 12 semi-structured multiple-participant interviews, this paper examines the house demolitions׳ impacts on women, in the context of gendered constructions of social roles and space. It highlights that the marginalized position of Arab-Bedouin women - as women in a patriarchal community, as members of a minority within Israeli society, and as residents of an "invisible" settlement - contributes to the devastating effects of the house demolitions. In particular, the study׳s results show that the house demolitions inflict severe personal and collective trauma, amplified by women׳s primary role as mothers. Paradoxically, the very same role also becomes a source of resilience and political resistance, as women act to defend a sense of home and restore family life in the face of state violence. Copyright © 2014 Elsevier Ltd. All rights reserved.

  19. Equipment and appliances for underwater operations. Pt. 2

    International Nuclear Information System (INIS)

    Krueger, P.

    1976-01-01

    The 6/75 edition of 'mt' reported on the 'ARGE underwater appliances' and the study on 'design development of appliances and equipment for underwater use' in a brief summary. One of these designs, the 'unmanned DSWS underwater appliance' was described in detail. The present article describes three further design developments mentioned in the above study and which are based on unmanned appliances connected to the mother-ship. These designs were developed by Preussag-Meerestechnik. (orig.) [de

  20. Underwater cladding with laser beam and plasma arc welding

    International Nuclear Information System (INIS)

    White, R.A.; Fusaro, R.; Jones, M.G.; Solomon, H.D.; Milian-Rodriguez, R.R.

    1997-01-01

    Two welding processes, plasma arc (transferred arc) (PTA) and laser beam, were investigated to apply cladding to austenitic stainless steels and Inconel 600. These processes have long been used to apply cladding layers , but the novel feature being reported here is that these cladding layers were applied underwater, with a water pressure equivalent to 24 m (80 ft). Being able to apply the cladding underwater is very important for many applications, including the construction of off-shore oil platforms and the repair of nuclear reactors. In the latter case, being able to weld underwater eliminates the need for draining the reactor and removing the fuel. Welding underwater in reactors presents numerous challenges, but the ability to weld without having to drain the reactor and remove the fuel provides a huge cost savings. Welding underwater in reactors must be done remotely, but because of the radioactive corrosion products and neutron activation of the steels, remote welding would also be required even if the reactor is drained and the fuel removed. In fact, without the shielding of the water, the remote welding required if the reactor is drained might be even more difficult than that required with underwater welds. Furthermore, as shall be shown, the underwater welds that the authors have made were of high quality and exhibit compressive rather than tensile residual stresses

  1. Underwater Gliders: A Review

    Directory of Open Access Journals (Sweden)

    Javaid Muhammad Yasar

    2014-07-01

    Full Text Available Underwater gliders are a type of underwater vehicle that transverse the oceans by shifting its buoyancy, during which its wings develop a component of the downward motion in the horizontal plane, thus producing a forward force. They are primarily used in oceanography sensing and data collection and play an important role in ocean research and development. Although there have been considerable developments in these gliders since the development of the first glider concept in 1989, to date, no review of these gliders have been done. This paper reviews existing underwater gliders, with emphasis on their respective working principles, range and payload capacity. All information on gliders available in the public domain or published in literature from the year 2000-2013 was reviewed. The majority of these gliders have an operational depth of 1000 m and a payload of less than 25 kg. The exception is a blend-body shape glider, which has a payload of approximately 800 kg and an operational depth around about 300 m. However, the commercialization of these gliders has been limited with only three know examples that have been successfully commercialized.

  2. Underwater Object Segmentation Based on Optical Features

    Directory of Open Access Journals (Sweden)

    Zhe Chen

    2018-01-01

    Full Text Available Underwater optical environments are seriously affected by various optical inputs, such as artificial light, sky light, and ambient scattered light. The latter two can block underwater object segmentation tasks, since they inhibit the emergence of objects of interest and distort image information, while artificial light can contribute to segmentation. Artificial light often focuses on the object of interest, and, therefore, we can initially identify the region of target objects if the collimation of artificial light is recognized. Based on this concept, we propose an optical feature extraction, calculation, and decision method to identify the collimated region of artificial light as a candidate object region. Then, the second phase employs a level set method to segment the objects of interest within the candidate region. This two-phase structure largely removes background noise and highlights the outline of underwater objects. We test the performance of the method with diverse underwater datasets, demonstrating that it outperforms previous methods.

  3. Recycling of rubble from building demolition for low-shrinkage concretes.

    Science.gov (United States)

    Corinaldesi, Valeria; Moriconi, Giacomo

    2010-04-01

    In this project concrete mixtures were prepared that were characterized by low ductility due to desiccation by using debris from building demolition, which after a suitable treatment was used as aggregate for partial replacement of natural aggregates. The recycled aggregate used came from a recycling plant, in which rubble from building demolition was selected, crushed, cleaned, sieved, and graded. Such aggregates are known to be more porous as indicated by the Saturated Surface Dry (SSD) moisture content. The recycled concrete used as aggregates were added to the concrete mixture in order to study their influence on the fresh and hardened concrete properties. They were added either after water pre-soaking or in dry condition, in order to evaluate the influence of moisture in aggregates on the performance of concrete containing recycled aggregate. In particular, the effect of internal curing, due to the use of such aggregates, was studied. Concrete behavior due to desiccation under dehydration was studied by means of both drying shrinkage test and German angle test, through which shrinkage under the restrained condition of early age concrete can be evaluated. Copyright 2009 Elsevier Ltd. All rights reserved.

  4. An estimation framework for building information modeling (BIM)-based demolition waste by type.

    Science.gov (United States)

    Kim, Young-Chan; Hong, Won-Hwa; Park, Jae-Woo; Cha, Gi-Wook

    2017-12-01

    Most existing studies on demolition waste (DW) quantification do not have an official standard to estimate the amount and type of DW. Therefore, there are limitations in the existing literature for estimating DW with a consistent classification system. Building information modeling (BIM) is a technology that can generate and manage all the information required during the life cycle of a building, from design to demolition. Nevertheless, there has been a lack of research regarding its application to the demolition stage of a building. For an effective waste management plan, the estimation of the type and volume of DW should begin from the building design stage. However, the lack of tools hinders an early estimation. This study proposes a BIM-based framework that estimates DW in the early design stages, to achieve an effective and streamlined planning, processing, and management. Specifically, the input of construction materials in the Korean construction classification system and those in the BIM library were matched. Based on this matching integration, the estimates of DW by type were calculated by applying the weight/unit volume factors and the rates of DW volume change. To verify the framework, its operation was demonstrated by means of an actual BIM modeling and by comparing its results with those available in the literature. This study is expected to contribute not only to the estimation of DW at the building level, but also to the automated estimation of DW at the district level.

  5. Construction and demolition waste as a source of PVC for recycling.

    Science.gov (United States)

    Prestes, Sabrina Moretto Darbello; Mancini, Sandro Donnini; Rodolfo, Antonio; Keiroglo, Raquel Carramillo

    2012-02-01

    Construction and demolition waste can contain considerable amounts of polyvinyl chloride (PVC). This paper describes a study of the recycling of PVC pipes collected from such waste materials. In a sorting facility for the specific disposal of construction and demolition waste, PVC was found to represent one-third of the plastics separated by workers. Pipes were sorted carefully to preclude any possible contamination by poly(ethylene terephthalate) (PET) found in the waste. The material was ground into two distinct particle sizes (final mesh of 12.7 and 8 mm), washed, dried and recycled. The average formulation of the pipes was determined based on ash content tests and used in the fabrication of a similar compound made mainly of virgin PVC. Samples of recycled pipes and of compound based on virgin material were subjected to tensile and impact tests and provided very similar results. These results are a good indication of the application potential of the recycled material and of the fact that longer grinding to obtain finer particles is not necessarily beneficial.

  6. Hydrodynamic Coefficients Identification and Experimental Investigation for an Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Shaorong XIE

    2014-02-01

    Full Text Available Hydrodynamic coefficients are the foundation of unmanned underwater vehicles modeling and controller design. In order to reduce identification complexity and acquire necessary hydrodynamic coefficients for controllers design, the motion of the unmanned underwater vehicle was separated into vertical motion and horizontal motion models. Hydrodynamic coefficients were regarded as mapping parameters from input forces and moments to output velocities and acceleration of the unmanned underwater vehicle. The motion models of the unmanned underwater vehicle were nonlinear and Genetic Algorithm was adopted to identify those hydrodynamic coefficients. To verify the identification quality, velocities and acceleration of the unmanned underwater vehicle was measured using inertial sensor under the same conditions as Genetic Algorithm identification. Curves similarity between measured velocities and acceleration and those identified by Genetic Algorithm were used as optimizing standard. It is found that the curves similarity were high and identified hydrodynamic coefficients of the unmanned underwater vehicle satisfied the measured motion states well.

  7. 4th Pacific Rim Underwater Acoustics Conference

    CERN Document Server

    Xu, Wen; Cheng, Qianliu; Zhao, Hangfang

    2016-01-01

    These proceedings are a collection of 16 selected scientific papers and reviews by distinguished international experts that were presented at the 4th Pacific Rim Underwater Acoustics Conference (PRUAC), held in Hangzhou, China in October 2013. The topics discussed at the conference include internal wave observation and prediction; environmental uncertainty and coupling to sound propagation; environmental noise and ocean dynamics; dynamic modeling in acoustic fields; acoustic tomography and ocean parameter estimation; time reversal and matched field processing; underwater acoustic localization and communication as well as measurement instrumentations and platforms. These proceedings provide insights into the latest developments in underwater acoustics, promoting the exchange of ideas for the benefit of future research.

  8. The influence of underwater turbulence on optical phase measurements

    Science.gov (United States)

    Redding, Brandon; Davis, Allen; Kirkendall, Clay; Dandridge, Anthony

    2016-05-01

    Emerging underwater optical imaging and sensing applications rely on phase-sensitive detection to provide added functionality and improved sensitivity. However, underwater turbulence introduces spatio-temporal variations in the refractive index of water which can degrade the performance of these systems. Although the influence of turbulence on traditional, non-interferometric imaging has been investigated, its influence on the optical phase remains poorly understood. Nonetheless, a thorough understanding of the spatio-temporal dynamics of the optical phase of light passing through underwater turbulence are crucial to the design of phase-sensitive imaging and sensing systems. To address this concern, we combined underwater imaging with high speed holography to provide a calibrated characterization of the effects of turbulence on the optical phase. By measuring the modulation transfer function of an underwater imaging system, we were able to calibrate varying levels of optical turbulence intensity using the Simple Underwater Imaging Model (SUIM). We then used high speed holography to measure the temporal dynamics of the optical phase of light passing through varying levels of turbulence. Using this method, we measured the variance in the amplitude and phase of the beam, the temporal correlation of the optical phase, and recorded the turbulence induced phase noise as a function of frequency. By bench marking the effects of varying levels of turbulence on the optical phase, this work provides a basis to evaluate the real-world potential of emerging underwater interferometric sensing modalities.

  9. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.; Shihada, Basem; Jamshaid, K.

    2013-01-01

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance

  10. Silica dust control in small-scale building/structure demolition operations using good work practice guidance

    International Nuclear Information System (INIS)

    Muianga, C V; Rice, C H; Succop, P

    2009-01-01

    Work practices can influence exposure, especially in small-scale operations conducted by mobile work crews. This study evaluated the use of information on good work practice in control guidance sheets adapted from UK Silica Essentials guidance sheets by trained workers and supervisors employed in small-scale concrete and masonry demolition operations. A one-page employee silica task-based control guidance sheet for each of four demolition tasks and multiple-page silica control guidance for supervisors were developed. Interactive, hands-on worker training on these task-based good work practice controls was developed. Training was presented to 26 participants from two demolition crews. Feedback on the training and task-based good work practice control guidance sheets was elicited. Observations of work practices were made before and after training. Participants indicated gains in knowledge and checklists were used to document skill attainment. The quality of the training and usefulness of the material/skills was rated high by trainees. Increased use of water to suppress dust and wet cleaning methods on the job were documented following the training. Additional follow-up after training is required to determine long-term impact on sustained changes in work practices, and to evaluate the need for refresher training.

  11. Silica dust control in small-scale building/structure demolition operations using good work practice guidance

    Science.gov (United States)

    Muianga, C. V.; Rice, C. H.; Succop, P.

    2009-02-01

    Work practices can influence exposure, especially in small-scale operations conducted by mobile work crews. This study evaluated the use of information on good work practice in control guidance sheets adapted from UK Silica Essentials guidance sheets by trained workers and supervisors employed in small-scale concrete and masonry demolition operations. A one-page employee silica task-based control guidance sheet for each of four demolition tasks and multiple-page silica control guidance for supervisors were developed. Interactive, hands-on worker training on these task-based good work practice controls was developed. Training was presented to 26 participants from two demolition crews. Feedback on the training and task-based good work practice control guidance sheets was elicited. Observations of work practices were made before and after training. Participants indicated gains in knowledge and checklists were used to document skill attainment. The quality of the training and usefulness of the material/skills was rated high by trainees. Increased use of water to suppress dust and wet cleaning methods on the job were documented following the training. Additional follow-up after training is required to determine long-term impact on sustained changes in work practices, and to evaluate the need for refresher training.

  12. Operational experience in underwater photogrammetry

    Science.gov (United States)

    Leatherdale, John D.; John Turner, D.

    Underwater photogrammetry has become established as a cost-effective technique for inspection and maintenance of platforms and pipelines for the offshore oil industry. A commercial service based in Scotland operates in the North Sea, USA, Brazil, West Africa and Australia. 70 mm cameras and flash units are built for the purpose and analytical plotters and computer graphics systems are used for photogrammetric measurement and analysis of damage, corrosion, weld failures and redesign of underwater structures. Users are seeking simple, low-cost systems for photogrammetric analysis which their engineers can use themselves.

  13. Evaluating the SCC resistance of underwater welds in sodium tetrathionate

    International Nuclear Information System (INIS)

    White, R.A.; Angeliu, T.M.

    1997-01-01

    The susceptibility of welds to stress corrosion cracking (SCC) is enhanced by the surface residual tensile stresses generated by the typical welding process. However, underwater plasma transferred arc (PTA) welding has been shown to produce compressive surface residual stresses, an encouraging result if repairs of cracked boiling water reactor (BWR) components are to be made without further endangering them to SCC. This program was designed to verify that underwater PTA welds are resistant to SCC and to determine if underwater PTA welding could mitigate SCC in potentially susceptible welds. This was achieved by exposing various welds on solution annealed (SA) and SA + thermally sensitized 304 stainless steel at 25 C in a solution of 1.5 gm/liter of sodium sulfide added to 0.05M sodium tetrathionate, titrated to a pH of 1.25 with H 2 SO 4 . The autogeneous welds were produced using gas tungsten arc (GTA) and plasma transferred arc (PTA) welding under atmospheric conditions, and PTA welding underwater. After 1 hour of sodium tetrathionate exposure, GTA and air PTA welds exhibited SCC while the underwater PTA weld heat affected zones were more resistant. Underwater PTA welds bisecting a GTA weld eliminated the cracking in the GTA weld heat affected zone under certain conditions. The lack of IG cracking in the region influenced by the underwater PTA weld is consistent with the measurement of compressive surface residual stresses inherent to the underwater welding process

  14. Trade-off Analysis of Underwater Acoustic Sensor Networks

    Science.gov (United States)

    Tuna, G.; Das, R.

    2017-09-01

    In the last couple of decades, Underwater Acoustic Sensor Networks (UASNs) were started to be used for various commercial and non-commercial purposes. However, in underwater environments, there are some specific inherent constraints, such as high bit error rate, variable and large propagation delay, limited bandwidth capacity, and short-range communications, which severely degrade the performance of UASNs and limit the lifetime of underwater sensor nodes as well. Therefore, proving reliability of UASN applications poses a challenge. In this study, we try to balance energy consumption of underwater acoustic sensor networks and minimize end-to-end delay using an efficient node placement strategy. Our simulation results reveal that if the number of hops is reduced, energy consumption can be reduced. However, this increases end-to-end delay. Hence, application-specific requirements must be taken into consideration when determining a strategy for node deployment.

  15. Mixture optimization of cement treated demolition waste with recycled masonry and concrete

    NARCIS (Netherlands)

    Xuan, D.X.; Houben, L.J.M.; Molenaar, A.A.A.; Shui, Z.H,

    2011-01-01

    Due to environmental reasons and the shortage of natural resources, it is greatly valuable to recycle construction and demolition waste (CDW) as much as possible. One of effective ways to reuse more CDW is to produce a cemented road base material. The recycled CDW however is a mix of recycled

  16. 24 CFR 970.15 - Specific criteria for HUD approval of demolition requests.

    Science.gov (United States)

    2010-04-01

    ... modifications is cost-effective to return the public housing project or portion of the project to useful life... 24 Housing and Urban Development 4 2010-04-01 2010-04-01 false Specific criteria for HUD approval of demolition requests. 970.15 Section 970.15 Housing and Urban Development Regulations Relating to...

  17. Trends in demolition planning and in the cutting techniques employed; Trends bei der Rueckbauplanung und den verwendeten Schneidverfahren

    Energy Technology Data Exchange (ETDEWEB)

    Brueggemann, Pascal [NUKEM Technologies GmbH, Alzenau (Germany)

    2009-08-15

    The past couple of years have seen the continuous further development of cutting techniques employed in demolishing nuclear facilities. This trend is continuing. After mostly mechanical cutting techniques had been used initially, there has been a tendency in the past few years to make increasing use of thermal cutting. Reasons for this preference are the reduced space requirement and the advantages this technique offers in remote handling because of the low weight and the small dimensions of the cutting heads, and the high flexibility in materials to be cut. This results in greater planning reliability in calculating quotations and performing the demolition work. The emissions generated by these techniques are manageable reliably at low additional expense for the required extraction and filter systems. Thermal cutting is likely to achieve wide use in dismantling and demolition of nuclear plant components also in the future. Advanced developments in computer hardware and software allow more and more detailed planning of demolition work. While, in the past, CAD had been applied only to generate two-dimensional drawings, current 3D applications allow animated representations of entire demolition scenes with high accuracy in detail. In this way, potential problems associated with handling large components or using manipulators for cutting can be detected and solved much more easily in the preparatory phase. Although current CAD use can be no substitute for mockup tests, it does help to enhance clearly reliability in planning prior to running mockup tests. (orig.)

  18. Filming Underwater in 3d Respecting Stereographic Rules

    Science.gov (United States)

    Rinaldi, R.; Hordosch, H.

    2015-04-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie's box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  19. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    Directory of Open Access Journals (Sweden)

    R. Rinaldi

    2015-04-01

    Full Text Available After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity" and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Underwater filming in 3D was not that easy and effective as filming in 2D, since not long ago. After almost 3 years of research, a French, Austrian and Italian team realized a perfect tool to film underwater, in 3D, without any constrains. This allows filmmakers to bring the audience deep inside an environment where they most probably will never have the chance to be.

  20. Wireless Underwater Monitoring Systems Based on Energy Harvestings

    Directory of Open Access Journals (Sweden)

    Sea-Hee HWANGBO

    2013-01-01

    Full Text Available One of the important research fields for aquatic exploitation and conservation is underwater wireless sensor network. Since limited energy source for underwater nodes and devices is a main open problem, in this paper, we propose wireless underwater monitoring systems powered by energy harvester which resolves the energy constraint. The target system generates renewable energy from energy harvester and shares the energy with underwater sensor nodes. For the realization of the system, key components to be investigated are discriminated as follows: acoustic modem, actuator, smart battery charge controller, energy harvester and wireless power transfer module. By developing acoustic modem, actuator and smart battery charge controller and utilizing off-the-shelf energy harvester and wireless power transfer module, we design and implement a prototype of the system. Also, we verify the feasibility of concept of target system by conducting indoor and outdoor experiments.

  1. Low-contrast underwater living fish recognition using PCANet

    Science.gov (United States)

    Sun, Xin; Yang, Jianping; Wang, Changgang; Dong, Junyu; Wang, Xinhua

    2018-04-01

    Quantitative and statistical analysis of ocean creatures is critical to ecological and environmental studies. And living fish recognition is one of the most essential requirements for fishery industry. However, light attenuation and scattering phenomenon are present in the underwater environment, which makes underwater images low-contrast and blurry. This paper tries to design a robust framework for accurate fish recognition. The framework introduces a two stage PCA Network to extract abstract features from fish images. On a real-world fish recognition dataset, we use a linear SVM classifier and set penalty coefficients to conquer data unbalanced issue. Feature visualization results show that our method can avoid the feature distortion in boundary regions of underwater image. Experiments results show that the PCA Network can extract discriminate features and achieve promising recognition accuracy. The framework improves the recognition accuracy of underwater living fishes and can be easily applied to marine fishery industry.

  2. 29 CFR 1910.402 - Definitions.

    Science.gov (United States)

    2010-07-01

    ... performing any tasks usually associated with commercial diving such as: Placing or removing heavy objects underwater; inspection of pipelines and similar objects; construction; demolition; cutting or welding; or the... pressure vessel connected to the outlet of a compressor and used as an air reservoir. Working pressure: The...

  3. Automatic stabilization of underwater robots in the time manipulation operations

    International Nuclear Information System (INIS)

    Filaretov, V.F.; Koval, E.V.

    1994-01-01

    When carrying out underwater technical works by means of an underwater vehicles having a manipulator it is desirable to perform manipulation operations in the regime of the underwater vehicle hovering above the object without durable and complicated operations up its rigid fixation. Underwater vehicle stabilization is achieved by compensation all the effects on the vehicle caused by the operating manipulator in water medium. This automatic stabilization is formed due to input of the required control signals into corresponding vehicle propellers proportional to calculated components of the generalized forces and moments. The propellers should form stops reacting against effects

  4. WODA technical guidance on underwater sound from dredging

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C. de; Wit, P. de; Goethals, F.; Holtkamp, M.; Martin, E.S.; Spadaro, P.; Raalte, G. van; Victor, G.Y.V.; Jensen, A.

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic

  5. Underwater laser imaging system (UWLIS)

    Energy Technology Data Exchange (ETDEWEB)

    DeLong, M. [Lawrence Livermore National Lab., CA (United States)

    1994-11-15

    Practical limitations with underwater imaging systems area reached when the noise in the back scattered radiation generated in the water between the imaging system and the target obscures the spatial contrast and resolution necessary for target discovery and identification. The advent of high power lasers operating in the blue-green portion of the visible spectrum (oceanic transmission window) has led to improved experimental illumination systems for underwater imaging. Range-gated and synchronously scanned devices take advantage of the unique temporal and spatial coherence properties of laser radiation, respectively, to overcome the deleterious effects of common volume back scatter.

  6. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1996-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  7. Design and Evaluation Methods for Underwater Control Systems

    Energy Technology Data Exchange (ETDEWEB)

    Chi, Lin

    1997-12-31

    This thesis on underwater control systems is written with the designer in mind, assuming that the reader has some knowledge of control theory. It can be used as a text for undergraduate students and engineers. To help readers better understand the system they will be working with, the thesis is organised in a stepwise way. The reader will gain basic knowledge about underwater operations, equipment and control systems. Then the reader will be able to follow the steps to develop a required control system for an underwater equipment by first understanding the characteristics of the design problem, customer requirement, functional requirement, and possible solution, and then to present a mathematical model of the control problem. Having developed the concept, the thesis guides the reader to develop evaluation criteria and different ways to make the decision. The thesis gives an overview of how to achieve a successful design rather than giving the techniques for detailed control system design. Chapter 1 describes underwater operations and systems. Chapter 2 discusses issues of underwater control systems and control methods. Chapter 3 deals with design method and control systems theory, focusing on human-centered control. Chapter 4 discusses methods used to evaluate and rank products, and chapter 5 applies the methods to an example. 113 refs., 115 figs., 80 tabs.

  8. Construction Method of the Topographical Features Model for Underwater Terrain Navigation

    Directory of Open Access Journals (Sweden)

    Wang Lihui

    2015-09-01

    Full Text Available Terrain database is the reference basic for autonomous underwater vehicle (AUV to implement underwater terrain navigation (UTN functions, and is the important part of building topographical features model for UTN. To investigate the feasibility and correlation of a variety of terrain parameters as terrain navigation information metrics, this paper described and analyzed the underwater terrain features and topography parameters calculation method. Proposing a comprehensive evaluation method for terrain navigation information, and constructing an underwater navigation information analysis model, which is associated with topographic features. Simulation results show that the underwater terrain features, are associated with UTN information directly or indirectly, also affect the terrain matching capture probability and the positioning accuracy directly.

  9. Overview regarding construction and demolition waste in Spain.

    Science.gov (United States)

    Rodríguez-Robles, Desirée; García-González, Julia; Juan-Valdés, Andrés; Morán-Del Pozo, Julia M; Guerra-Romero, M Ignacio

    2015-01-01

    The construction sector comprises a number of activities that may result in environmental impacts of considerable magnitude, waste generation being one of the major negative effects of this industry due to the large streams generated. Proper knowledge of the environmental problem caused by the sector is of great importance in order to achieve an effective waste management. Thus, this paper analyse the Spanish situation regarding construction and demolition waste (CDW) compared with other European Union countries; which sets out the current figures of the CDW scenario (legislation, generation, composition, treatment and market) as well as the difficulties encountered when handling this residue.

  10. A PROPOSAL FOR A SUSTAINABLE MODEL BASED UPON UNDERWATER TOURISM RESEARCH IN AYVALIK

    Directory of Open Access Journals (Sweden)

    A. GÖKDENİZ

    2013-03-01

    Full Text Available Underwater sports are the activities being done with the aims of witnessing the beauties, hunting, taking photos, the ecology and the archaeology of underwater analysing or finding out the human being’s boundaries by improving the physical and psychological skills of men. The initial aim of this project is to increase the underwater flora and the fauna heritage of Ayvalık and to bring them in tourism. Ayvalık is on the west coast of Turkey. It is getting more and more famous with its underwater richness. Also, to form a new underwater sports centre in order to contribute to the improvement of the region. By providing visual attractiveness, the tourists related to underwater sports will pay attention to Ayvalık and underwater tourism will contribute much to the economy of the region. The aim of this project is to improve the underwater sports which is now a hobby than a sport. In Ayvalık Underwater World study, we dealt with 247 divers and 4 underwater sports club. In this study, we analysed the expectation, satisfaction, demographic and economic level of 247 divers about the services in the region. Interview technique has been used in the study on the 4 underwater sports clubs which are hosting divers. As a conclusion, a report has been prepared in which detailed information and proposals are presented by developing a sustainable marketing model concerned with the underwater sports for those who want to possess information, shareholders of the sector and make analyse about tourism.

  11. Blue-light digital communication in underwater environments utilizing orbital angular momentum

    Science.gov (United States)

    Baghdady, Joshua; Miller, Keith; Osler, Sean; Morgan, Kaitlyn; Li, Wenzhe; Johnson, Eric; Cochenour, Brandon

    2016-05-01

    Underwater optical communication has recently become the topic of much investigation as the demands for underwater data transmission have rapidly grown in recent years. The need for reliable, high-speed, secure underwater communication has turned increasingly to blue-light optical solutions. The blue-green visible wavelength window provides an attractive solution to the problem of underwater data transmission thanks to its low attenuation, where traditional RF solutions used in free-space communications collapse. Beginning with GaN laser diodes as the optical source, this work explores the encoding and transmission of digital data across underwater environments of varying turbidities. Given the challenges present in an underwater environment, such as the mechanical and optical turbulences that make proper alignment difficult to maintain, it is desirable to achieve extremely high data rates in order to allow the time window of alignment between the transmitter and receiver to be as small as possible. In this paper, work is done to increase underwater data rates through the use of orbital angular momentum. Results are shown for a range of data rates across a variety of channel types ranging in turbidity from that of a clear ocean to a dirty harbor.

  12. Underwater 3D Surface Measurement Using Fringe Projection Based Scanning Devices.

    Science.gov (United States)

    Bräuer-Burchardt, Christian; Heinze, Matthias; Schmidt, Ingo; Kühmstedt, Peter; Notni, Gunther

    2015-12-23

    In this work we show the principle of optical 3D surface measurements based on the fringe projection technique for underwater applications. The challenges of underwater use of this technique are shown and discussed in comparison with the classical application. We describe an extended camera model which takes refraction effects into account as well as a proposal of an effective, low-effort calibration procedure for underwater optical stereo scanners. This calibration technique combines a classical air calibration based on the pinhole model with ray-based modeling and requires only a few underwater recordings of an object of known length and a planar surface. We demonstrate a new underwater 3D scanning device based on the fringe projection technique. It has a weight of about 10 kg and the maximal water depth for application of the scanner is 40 m. It covers an underwater measurement volume of 250 mm × 200 mm × 120 mm. The surface of the measurement objects is captured with a lateral resolution of 150 μm in a third of a second. Calibration evaluation results are presented and examples of first underwater measurements are given.

  13. Single underwater image enhancement based on color cast removal and visibility restoration

    Science.gov (United States)

    Li, Chongyi; Guo, Jichang; Wang, Bo; Cong, Runmin; Zhang, Yan; Wang, Jian

    2016-05-01

    Images taken under underwater condition usually have color cast and serious loss of contrast and visibility. Degraded underwater images are inconvenient for observation and analysis. In order to address these problems, an underwater image-enhancement method is proposed. A simple yet effective underwater image color cast removal algorithm is first presented based on the optimization theory. Then, based on the minimum information loss principle and inherent relationship of medium transmission maps of three color channels in an underwater image, an effective visibility restoration algorithm is proposed to recover visibility, contrast, and natural appearance of degraded underwater images. To evaluate the performance of the proposed method, qualitative comparison, quantitative comparison, and color accuracy test are conducted. Experimental results demonstrate that the proposed method can effectively remove color cast, improve contrast and visibility, and recover natural appearance of degraded underwater images. Additionally, the proposed method is comparable to and even better than several state-of-the-art methods.

  14. Demolition of one of the old barracks

    CERN Multimedia

    2002-01-01

    Many people at CERN will no doubt remember having rented accommodation in the four barracks-type huts near Entrance A. The rates were certainly rock bottom but it was hardly the Ritz! Put up at the end of the 1950s, they were abandoned in favour of the Saint-Genis-Pouilly hostel and the Meyrin site hostels. As they no longer meet current safety standards, they will all ultimately have to be demolished. One of them, situated immediately below the HV power line, has just been demolished at the request of the Swiss electricity company Energie Ouest Suisse. With its demolition, a little piece of CERN's social history has gone for ever.

  15. Study of archaeological underwater finds: deterioration and conservation

    Science.gov (United States)

    Crisci, G. M.; La Russa, M. F.; Macchione, M.; Malagodi, M.; Palermo, A. M.; Ruffolo, S. A.

    2010-09-01

    This study is aimed at an assessment of the methodologies, instruments and new applications for underwater archaeology. Research focused on study of the various kinds of degradation affecting underwater finds and stone materials aged in underwater environment, efficiency evaluation of various surface cleaning methods and study and mixing of protective products with consolidating resins and antimicrobial biocides to be applied to restored underwater finds. Transmitted light optical microscopy and scanning electron microscopy (SEM) were used to study surface biofilms and the interactions with samples of different stone materials such as brick, marble and granite immersed in the submarine archaeological area of Crotone (South of Italy). Surface cleaning tests were performed with application of ion exchange resins, EDTA, hydrogen peroxide and ultrasound techniques. Capillary water absorption, simulated solar ageing and colourimetric measurements were carried out to evaluate hydrophobic and consolidant properties; to assess biocidal efficacy, heterotrophic micro-organisms ( Aspergillus niger) were inoculated on agar plates and growth inhibition was measured.

  16. Chemical sulphate removal for treatment of construction and demolition debris leachate.

    Science.gov (United States)

    Kijjanapanich, Pimluck; Annachhatre, Ajit P; Esposito, Giovanni; Lens, Piet N L

    2014-08-01

    Construction and demolition debris (CDD) is a product of construction, renovation or demolition activities. It has a high gypsum content (52.4% of total gypsum), concentrated in the CDD sand (CDDS) fraction. To comply with the posed limit of the maximum amount of sulphate present in building sand, excess sulphate needs to be removed. In order to enable reuse of CDDS, a novel treatment process is developed based on washing of the CDDS to remove most of the gypsum, and subsequent sulphate removal from the sulphate-rich CDDS leachate. This study aims to assess chemical techniques, i.e. precipitation and adsorption, for sulphate removal from the CDDS leachate. Good sulphate removal efficiencies (up to 99.9%) from the CDDS leachate can be achieved by precipitation with barium chloride (BaCl2) and lead(II) nitrate (Pb(NO3)2). Precipitation with calcium chloride (CaCl2), calcium carbonate (CaCO3) and calcium oxide (CaO) gave less efficient sulphate removal. Adsorption of sulphate to aluminium oxide (Al2O3) yielded a 50% sulphate removal efficiency, whereas iron oxide-coated sand as adsorbent gave only poor (10%) sulphate removal efficiencies.

  17. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.; Zedini, Emna; Elafandy, Rami T.; Kammoun, Abla; Ng, Tien Khee; Alouini, Mohamed-Slim; Ooi, Boon S.

    2017-01-01

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels

  18. Underwater laser cutting of metallic structures

    International Nuclear Information System (INIS)

    Alfille, J.P.; Schildknecht, J.; Ramaswami, V.S.

    1993-01-01

    In the frame of an european contract, the feasibility of the underwater cutting with a CO 2 laser power is studied. The aim of this work is the dismantling metallic structures of reactors pools. The paper analyzes the general concept of the experimental device, the underwater cutting head, the experimenting vessel, examples of cuttings in dismantling situation with a 500 W CO 2 laser, and examples of cuttings with a 5 kW CO 2 laser. (author). 2 refs., 9 figs., 2 tabs

  19. Digital sonar design in underwater acoustics principles and applications

    CERN Document Server

    Li, Qihu

    2012-01-01

    "Digital Sonar Design in Underwater Acoustics Principles and Applications" provides comprehensive and up-to-date coverage of research on sonar design, including the basic theory and techniques of digital signal processing, basic concept of information theory, ocean acoustics, underwater acoustic signal propagation theory, and underwater signal processing theory. This book discusses the general design procedure and approaches to implementation, the design method, system simulation theory and techniques, sonar tests in the laboratory, lake and sea, and practical validation criteria and methods for digital sonar design. It is intended for researchers in the fields of underwater signal processing and sonar design, and also for navy officers and ocean explorers. Qihu Li is a professor at the Institute of Acoustics, Chinese Academy of Sciences, and an academician of the Chinese Academy of Sciences.

  20. Underwater wireless optical communications: From system-level demonstrations to channel modelling

    KAUST Repository

    Oubei, Hassan M.

    2018-01-09

    In this paper, we discuss about recent experimental advances in underwater wireless optical communications (UWOC) over various underwater channel water types using different modulation schemes as well as modelling and describing the statistical properties of turbulence-induced fading in underwater wireless optical channels using laser beam intensity fluctuations measurements.

  1. WODA Technical Guidance on Underwater Sound from Dredging.

    Science.gov (United States)

    Thomsen, Frank; Borsani, Fabrizio; Clarke, Douglas; de Jong, Christ; de Wit, Pim; Goethals, Fredrik; Holtkamp, Martine; Martin, Elena San; Spadaro, Philip; van Raalte, Gerard; Victor, George Yesu Vedha; Jensen, Anders

    2016-01-01

    The World Organization of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) prepared a guidance paper in 2013 on dredging sound, including a summary of potential impacts on aquatic biota and advice on underwater sound monitoring procedures. The paper follows a risk-based approach and provides guidance for standardization of acoustic terminology and methods for data collection and analysis. Furthermore, the literature on dredging-related sounds and the effects of dredging sounds on marine life is surveyed and guidance on the management of dredging-related sound risks is provided.

  2. Communication and cooperation in underwater acoustic networks

    Science.gov (United States)

    Yerramalli, Srinivas

    In this thesis, we present a study of several problems related to underwater point to point communications and network formation. We explore techniques to improve the achievable data rate on a point to point link using better physical layer techniques and then study sensor cooperation which improves the throughput and reliability in an underwater network. Robust point-to-point communications in underwater networks has become increasingly critical in several military and civilian applications related to underwater communications. We present several physical layer signaling and detection techniques tailored to the underwater channel model to improve the reliability of data detection. First, a simplified underwater channel model in which the time scale distortion on each path is assumed to be the same (single scale channel model in contrast to a more general multi scale model). A novel technique, which exploits the nature of OFDM signaling and the time scale distortion, called Partial FFT Demodulation is derived. It is observed that this new technique has some unique interference suppression properties and performs better than traditional equalizers in several scenarios of interest. Next, we consider the multi scale model for the underwater channel and assume that single scale processing is performed at the receiver. We then derive optimized front end pre-processing techniques to reduce the interference caused during single scale processing of signals transmitted on a multi-scale channel. We then propose an improvised channel estimation technique using dictionary optimization methods for compressive sensing and show that significant performance gains can be obtained using this technique. In the next part of this thesis, we consider the problem of sensor node cooperation among rational nodes whose objective is to improve their individual data rates. We first consider the problem of transmitter cooperation in a multiple access channel and investigate the stability of

  3. Decontamination and demolition of concrete and metal structures during the decommissioning of nuclear facilities

    International Nuclear Information System (INIS)

    1988-01-01

    The objective of this report is to give a concise technical description of the techniques and equipment being used or developed for the decontamination and demolition of nuclear facilities in sufficient detail to assist Member States to plan decommissioning operations and make preliminary evaluations of techniques and equipment. This report also reviews new and/or different aspects which have not been well covered previously in readily available review documents or IAEA publications. This report is an up to date review of techniques and equipment being used or developed for decontamination or dismantling work during the decommissioning of all types of nuclear facility except mining and milling sites. Although the information presented is aimed at countries initiating decommissioning programmes, it should also be useful to others who are responsible for or interested in the planning and implementation of decommissioning tasks. This report describes the relevant techniques and equipment, their areas of application and degree of development and the conditions in which they are used, when these details are known. However, this publication should be used in conjunction with other published technical information on these topics, experience gained as a result of previous decommissioning operations and the assistance of experts in the appropriate areas are required. 64 refs, 33 figs, 5 tabs

  4. High Flux Isotopes Reactor (HFIR) Cooling Towers Demolition Waste Management

    Energy Technology Data Exchange (ETDEWEB)

    Pudelek, R. E.; Gilbert, W. C.

    2002-02-26

    This paper describes the results of a joint initiative between Oak Ridge National Laboratory, operated by UT-Battelle, and Bechtel Jacobs Company, LLC (BJC) to characterize, package, transport, treat, and dispose of demolition waste from the High Flux Isotope Reactor (HFIR), Cooling Tower. The demolition and removal of waste from the site was the first critical step in the planned HFIR beryllium reflector replacement outage scheduled. The outage was scheduled to last a maximum of six months. Demolition and removal of the waste was critical because a new tower was to be constructed over the old concrete water basin. A detailed sampling and analysis plan was developed to characterize the hazardous and radiological constituents of the components of the Cooling Tower. Analyses were performed for Resource Conservation and Recovery Act (RCRA) heavy metals and semi-volatile constituents as defined by 40 CFR 261 and radiological parameters including gross alpha, gross beta, gross gamma, alpha-emitting isotopes and beta-emitting isotopes. Analysis of metals and semi-volatile constituents indicated no exceedances of regulatory limits. Analysis of radionuclides identified uranium and thorium and associated daughters. In addition 60Co, 99Tc, 226Rm, and 228Rm were identified. Most of the tower materials were determined to be low level radioactive waste. A small quantity was determined not to be radioactive, or could be decontaminated. The tower was dismantled October 2000 to January 2001 using a detailed step-by-step process to aid waste segregation and container loading. The volume of waste as packaged for treatment was approximately 1982 cubic meters (70,000 cubic feet). This volume was comprised of plastic ({approx}47%), wood ({approx}38%) and asbestos transite ({approx}14%). The remaining {approx}1% consisted of the fire protection piping (contaminated with lead-based paint) and incidental metal from conduit, nails and braces/supports, and sludge from the basin. The waste

  5. Survivability design for a hybrid underwater vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong [State Key Lab of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-03-10

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system.

  6. Survivability design for a hybrid underwater vehicle

    International Nuclear Information System (INIS)

    Wang, Biao; Wu, Chao; Li, Xiang; Zhao, Qingkai; Ge, Tong

    2015-01-01

    A novel hybrid underwater robotic vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes: operate as an untethered autonomous vehicle in autonomous underwater vehicle (AUV) mode and operate under remote control connected to the surface vessel by a lightweight, fiber optic tether in remotely operated vehicle (ROV) mode. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes, survivability has been placed on an equal level with the other design attributes of the HROV since the beginning of the project. This paper reports the survivability design elements for the HROV including basic vehicle design of integrated navigation and integrated communication, emergency recovery strategy, distributed architecture, redundant bus, dual battery package, emergency jettison system and self-repairing control system

  7. Flow around an autonomous underwater vehicle with bio-inspired coating

    Science.gov (United States)

    Watkins, Scott; Montoya-Segnini, Jose; Bocanegra Evans, Humberto; Curet, Oscar; Gorumlu, Serdar; Aksak, Burak; Kazemi, Amirkhosro; Chamorro, Leonardo; Castillo, Luciano

    2017-11-01

    Flow separation plays a major factor in the form drag of a moving object. In particular, suppressing or reducing flow separation is critical in the energy expenditure of autonomous underwater vehicles. Previous research suggests that bio-inspired micro-fibrillar structures are capable of reducing the boundary layer separation in a turbulent flow. Here, we present laboratory measurements using PIV near the wall and in the wake of two submersible vessel models; one had a coating composed of ordered fibers, and the other had smooth walls. Flow characterization with planar PIV included the presence or absence of a tail fin at multiple angles of attack of the vessels. Preliminary results reveal changes of the flow in the wake of the vessel with coating resulting in lower or similar velocity deficit in the wake compared to the smooth vessel.

  8. Feasibility of in situ beta ray measurements in underwater environment.

    Science.gov (United States)

    Park, Hye Min; Park, Ki Hyun; Kang, Sung Won; Joo, Koan Sik

    2017-09-01

    We describe an attempt at the development of an in situ detector for beta ray measurements in underwater environment. The prototype of the in situ detector is based on a CaF2: Eu scintillator using crystal light guide and Si photomultiplier. Tests were conducted using various reference sources for evaluating the linearity and stability of the detector in underwater environment. The system is simple and stable for long-term monitoring, and consumes low power. We show here an effective detection distance of 7 mm and a 2.273 MeV end-point energy spectrum of 90 Sr/ 90 Y when using the system underwater. The results demonstrate the feasibility of in situ beta ray measurements in underwater environment and can be applied for designing an in situ detector for radioactivity measurement in underwater environment. The in situ detector can also have other applications such as installation on the marine monitoring platform and quantitative analysis of radionuclides. Copyright © 2017 Elsevier Ltd. All rights reserved.

  9. Optimization of an Intelligent Controller for an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    M. Fauzi Nor Shah

    2011-08-01

    Full Text Available Underwater environment poses a difficult challenge for autonomous underwater navigation. A standard problem of underwater vehicles is to maintain it position at a certain depth in order to perform desired operations. An effective controller is required for this purpose and hence the design of a depth controller for an unmanned underwater vehicle is described in this paper. The control algorithm is simulated by using the marine guidance navigation and control simulator. The project shows a radial basis function metamodel can be used to tune the scaling factors of a fuzzy logic controller. By using offline optimization approach, a comparison between genetic algorithm and metamodeling has been done to minimize the integral square error between the set point and the measured depth of the underwater vehicle. The results showed that it is possible to obtain a reasonably good error using metamodeling approach in much a shorter time compared to the genetic algorithm approach.

  10. Quantum non-demolition phonon counter with a hybrid optomechnical system

    Science.gov (United States)

    Song, Qiao; Zhang, KeYe; Dong, Ying; Zhang, WeiPing

    2018-05-01

    A phonon counting scheme based on the control of polaritons in an optomechanical system is proposed. This approach permits us to measure the number of phonons in a quantum non-demolition (QND) manner for arbitrary modes not limited by the frequency matching condition as in usual photon-phonon scattering detections. The performance on phonon number transfer and quantum state transfer of the counter are analyzed and simulated numerically by taking into account all relevant sources of noise.

  11. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  12. Underwater Shock Wave Research Applied to Therapeutic Device Developments

    Science.gov (United States)

    Takayama, K.; Yamamoto, H.; Shimokawa, H.

    2013-07-01

    The chronological development of underwater shock wave research performed at the Shock Wave Research Center of the Institute of Fluid Science at the Tohoku University is presented. Firstly, the generation of planar underwater shock waves in shock tubes and their visualization by using the conventional shadowgraph and schlieren methods are described. Secondly, the generation of spherical underwater shock waves by exploding lead azide pellets weighing from several tens of micrograms to 100 mg, that were ignited by irradiating with a Q-switched laser beam, and their visualization by using double exposure holographic interferometry are presented. The initiation, propagation, reflection, focusing of underwater shock waves, and their interaction with various interfaces, in particular, with air bubbles, are visualized quantitatively. Based on such a fundamental underwater shock wave research, collaboration with the School of Medicine at the Tohoku University was started for developing a shock wave assisted therapeutic device, which was named an extracorporeal shock wave lithotripter (ESWL). Miniature shock waves created by irradiation with Q-switched HO:YAG laser beams are studied, as applied to damaged dysfunctional nerve cells in the myocardium in a precisely controlled manner, and are effectively used to design a catheter for treating arrhythmia.

  13. UTOFIA: an underwater time-of-flight image acquisition system

    Science.gov (United States)

    Driewer, Adrian; Abrosimov, Igor; Alexander, Jonathan; Benger, Marc; O'Farrell, Marion; Haugholt, Karl Henrik; Softley, Chris; Thielemann, Jens T.; Thorstensen, Jostein; Yates, Chris

    2017-10-01

    In this article the development of a newly designed Time-of-Flight (ToF) image sensor for underwater applications is described. The sensor is developed as part of the project UTOFIA (underwater time-of-flight image acquisition) funded by the EU within the Horizon 2020 framework. This project aims to develop a camera based on range gating that extends the visible range compared to conventional cameras by a factor of 2 to 3 and delivers real-time range information by means of a 3D video stream. The principle of underwater range gating as well as the concept of the image sensor are presented. Based on measurements on a test image sensor a pixel structure that suits best to the requirements has been selected. Within an extensive characterization underwater the capability of distance measurements in turbid environments is demonstrated.

  14. Underwater photogrammetry successful in Spain and France

    International Nuclear Information System (INIS)

    Anon.

    1988-01-01

    Underwater photogrammetry has been used to measure distortions in fuel assembly alignment pins in the upper internals of the Almarez and Dampierre PWRs. Photogrammetry is a three-dimensional precision measurement method using photographic techniques for the on-site measurement phase. On the strength of the operations at the two PWRs, underwater photogrammetry is now considered as a practical and effective technique for dimensional inspection at nuclear plants. (U.K.)

  15. OPTICAL correlation identification technology applied in underwater laser imaging target identification

    Science.gov (United States)

    Yao, Guang-tao; Zhang, Xiao-hui; Ge, Wei-long

    2012-01-01

    The underwater laser imaging detection is an effective method of detecting short distance target underwater as an important complement of sonar detection. With the development of underwater laser imaging technology and underwater vehicle technology, the underwater automatic target identification has gotten more and more attention, and is a research difficulty in the area of underwater optical imaging information processing. Today, underwater automatic target identification based on optical imaging is usually realized with the method of digital circuit software programming. The algorithm realization and control of this method is very flexible. However, the optical imaging information is 2D image even 3D image, the amount of imaging processing information is abundant, so the electronic hardware with pure digital algorithm will need long identification time and is hard to meet the demands of real-time identification. If adopt computer parallel processing, the identification speed can be improved, but it will increase complexity, size and power consumption. This paper attempts to apply optical correlation identification technology to realize underwater automatic target identification. The optics correlation identification technology utilizes the Fourier transform characteristic of Fourier lens which can accomplish Fourier transform of image information in the level of nanosecond, and optical space interconnection calculation has the features of parallel, high speed, large capacity and high resolution, combines the flexibility of calculation and control of digital circuit method to realize optoelectronic hybrid identification mode. We reduce theoretical formulation of correlation identification and analyze the principle of optical correlation identification, and write MATLAB simulation program. We adopt single frame image obtained in underwater range gating laser imaging to identify, and through identifying and locating the different positions of target, we can improve

  16. Deep Learning Methods for Underwater Target Feature Extraction and Recognition

    Directory of Open Access Journals (Sweden)

    Gang Hu

    2018-01-01

    Full Text Available The classification and recognition technology of underwater acoustic signal were always an important research content in the field of underwater acoustic signal processing. Currently, wavelet transform, Hilbert-Huang transform, and Mel frequency cepstral coefficients are used as a method of underwater acoustic signal feature extraction. In this paper, a method for feature extraction and identification of underwater noise data based on CNN and ELM is proposed. An automatic feature extraction method of underwater acoustic signals is proposed using depth convolution network. An underwater target recognition classifier is based on extreme learning machine. Although convolution neural networks can execute both feature extraction and classification, their function mainly relies on a full connection layer, which is trained by gradient descent-based; the generalization ability is limited and suboptimal, so an extreme learning machine (ELM was used in classification stage. Firstly, CNN learns deep and robust features, followed by the removing of the fully connected layers. Then ELM fed with the CNN features is used as the classifier to conduct an excellent classification. Experiments on the actual data set of civil ships obtained 93.04% recognition rate; compared to the traditional Mel frequency cepstral coefficients and Hilbert-Huang feature, recognition rate greatly improved.

  17. Underwater video enhancement using multi-camera super-resolution

    Science.gov (United States)

    Quevedo, E.; Delory, E.; Callicó, G. M.; Tobajas, F.; Sarmiento, R.

    2017-12-01

    Image spatial resolution is critical in several fields such as medicine, communications or satellite, and underwater applications. While a large variety of techniques for image restoration and enhancement has been proposed in the literature, this paper focuses on a novel Super-Resolution fusion algorithm based on a Multi-Camera environment that permits to enhance the quality of underwater video sequences without significantly increasing computation. In order to compare the quality enhancement, two objective quality metrics have been used: PSNR (Peak Signal-to-Noise Ratio) and the SSIM (Structural SIMilarity) index. Results have shown that the proposed method enhances the objective quality of several underwater sequences, avoiding the appearance of undesirable artifacts, with respect to basic fusion Super-Resolution algorithms.

  18. Restoration and Enhancement of Underwater Images Based on Bright Channel Prior

    Directory of Open Access Journals (Sweden)

    Yakun Gao

    2016-01-01

    Full Text Available This paper proposed a new method of underwater images restoration and enhancement which was inspired by the dark channel prior in image dehazing field. Firstly, we proposed the bright channel prior of underwater environment. By estimating and rectifying the bright channel image, estimating the atmospheric light, and estimating and refining the transmittance image, eventually underwater images were restored. Secondly, in order to rectify the color distortion, the restoration images were equalized by using the deduced histogram equalization. The experiment results showed that the proposed method could enhance the quality of underwater images effectively.

  19. Underwater inverse LIBS (iLIBS) for marine archaeology

    Science.gov (United States)

    Asmus, J.; Magde, M.; Elford, J.; Magde, D.; Parfenov, V.

    2013-05-01

    In recent years there have been enormous advances in nautical archaeology through developments in SONAR technologies as well as in manned and robotic submersible vehicles. The number of sunken vessel discoveries has escalated in many of the seas of the world in response to the widespread application of these and other new tools. Customarily, surviving artifacts within the debris field of a wreck are collected and then moved to laboratories, centers, or institutions for analyses and possible conservation. Frequently, the conservation phase involves chemical treatments to stabilize an artefact to standard temperature, pressure, and humidity instead of an undersea environment. Many of the artefacts encountered at an underwater site are now characterized and restored in-situ in accordance with modern trends in art conservation. Two examples of this trend are exemplified by the resting place of the wreck of the Titanic in the Atlantic and the Cancun Underwater Park in the Caribbean Sea. These two debris fields have been turned into museums for diving visitors. Several research groups have investigated the possibility of adapting the well-established analytical tool Laser Induced Breakdown Spectroscopy (LIBS) to in-situ elemental analyses of underwater cultural, historic, and archaeological artefacts where discovered, rather than as a phase of a salvage operation. As the underwater laser ablation associated with LIBS generates a "snowplough" shockwave within the aqueous matrix, the atomic emission spectrum is usually severely attenuated in escaping from the target. Consequently, probative experiments to date generally invoke a submerged air chamber or air jet to isolate water from the interaction zone as well as employ more complex double-pulse lasers. These measures impose severe logistical constraints on the examination of widely dispersed underwater artefacts. In order to overcome this constraint we report on water-immersion LIBS experiments performed with oblique

  20. Brownfields Recover Your Resources - Reduce, Reuse, and Recycle Construction and Demolition Materials at Land Revitalization Projects

    Science.gov (United States)

    This document provides background information on how the sustainable reuse of brownfield properties includes efforts to reduce the environmental impact by reusing and recycling materials generated during building construction, demolition, or renovation.

  1. Remarks on the observability of single beacon underwater navigation

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Ross, Andrew

    This paper contributes a simple and intuitive result in the analysis of underwater navigation using a single ranging beacon. This analysis should help with the design of small and lightweight underwater vehicles by reducing the amount of instrumentation required for accurate navigation. The concept...

  2. Efficient Weibull channel model for salinity induced turbulent underwater wireless optical communications

    KAUST Repository

    Oubei, Hassan M.

    2017-12-13

    Recent advances in underwater wireless optical communications necessitate a better understanding of the underwater channel. We propose the Weibull model to characterize the fading of salinity induced turbulent underwater wireless optical channels. The model shows an excellent agreement with the measured data under all channel conditions.

  3. A Secure Communication Suite for Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Angelica Lo Duca

    2012-11-01

    Full Text Available In this paper we describe a security suite for Underwater Acoustic Sensor Networks comprising both fixed and mobile nodes. The security suite is composed of a secure routing protocol and a set of cryptographic primitives aimed at protecting the confidentiality and the integrity of underwater communication while taking into account the unique characteristics and constraints of the acoustic channel. By means of experiments and simulations based on real data, we show that the suite is suitable for an underwater networking environment as it introduces limited, and sometimes negligible, communication and power consumption overhead.

  4. Underwater Acoustic Target Tracking: A Review

    Science.gov (United States)

    Han, Ying; Fan, Liying

    2018-01-01

    Advances in acoustic technology and instrumentation now make it possible to explore marine resources. As a significant component of ocean exploration, underwater acoustic target tracking has aroused wide attention both in military and civil fields. Due to the complexity of the marine environment, numerous techniques have been proposed to obtain better tracking performance. In this paper, we survey over 100 papers ranging from innovative papers to the state-of-the-art in this field to present underwater tracking technologies. Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed. In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods. These algorithms are compared and analyzed in the aspect of dimensions, numbers, and maneuvering of the tracking target, which is different from other survey papers. Meanwhile, challenges, countermeasures, and lessons learned are illustrated in this paper. PMID:29301318

  5. Afocal viewport optics for underwater imaging

    Science.gov (United States)

    Slater, Dan

    2014-09-01

    A conventional camera can be adapted for underwater use by enclosing it in a sealed waterproof pressure housing with a viewport. The viewport, as an optical interface between water and air needs to consider both the camera and water optical characteristics while also providing a high pressure water seal. Limited hydrospace visibility drives a need for wide angle viewports. Practical optical interfaces between seawater and air vary from simple flat plate windows to complex water contact lenses. This paper first provides a brief overview of the physical and optical properties of the ocean environment along with suitable optical materials. This is followed by a discussion of the characteristics of various afocal underwater viewport types including flat windows, domes and the Ivanoff corrector lens, a derivative of a Galilean wide angle camera adapter. Several new and interesting optical designs derived from the Ivanoff corrector lens are presented including a pair of very compact afocal viewport lenses that are compatible with both in water and in air environments and an afocal underwater hyper-hemispherical fisheye lens.

  6. Underwater running device

    International Nuclear Information System (INIS)

    Kogure, Sumio; Matsuo, Takashiro; Yoshida, Yoji

    1996-01-01

    An underwater running device for an underwater inspection device for detecting inner surfaces of a reactor or a water vessel has an outer frame and an inner frame, and both of them are connected slidably by an air cylinder and connected rotatably by a shaft. The outer frame has four outer frame legs, and each of the outer frame legs is equipped with a sucker at the top end. The inner frame has four inner frame legs each equipped with a sucker at the top end. The outer frame legs and the inner frame legs are each connected with the outer frame and the inner frame by the air cylinder. The outer and the inner frame legs can be elevated or lowered (or extended or contracted) by the air cylinder. The sucker is connected with a jet pump-type negative pressure generator. The device can run and move by repeating attraction and releasing of the outer frame legs and the inner frame legs alternately while maintaining the posture of the inspection device stably. (I.N.)

  7. HEAVY METALS IN RECOVERED FINES FOR CONSTRUCTION AND DEMOLITION DEBRIS RECYCLING FACILITIES IN FLORIDA

    Science.gov (United States)

    A major product recovered from the processing and recycling of construction and demolition (C&D) debris is screened soil, also referred to as fines. A proposed reuse option for C&D debris fines is fill material, typically in construction projects as a substitute for natural soil....

  8. 78 FR 40705 - Takes of Marine Mammals Incidental to Specified Activities; Demolition and Construction...

    Science.gov (United States)

    2013-07-08

    ... (Zalophus californianus), and northern elephant seals (Mirounga angustirostris) incidental to demolition and... activities by the general public. Over the last three years (2010 through 2012), an average of 1,556,184..., but because of basic year-round working condition needs for the lifeguards and the demand for...

  9. Smelling and Tasting Underwater.

    Science.gov (United States)

    Atema, Jelle

    1980-01-01

    Discusses differences between smell and taste, comparing these senses in organisms in aquatic and terrestrial environments. Describes the chemical environment underwater and in air, differences in chemoreceptors to receive stimuli, and the organs, brain, and behavior involved in chemoreception. (CS)

  10. Polarization Calculation and Underwater Target Detection Inspired by Biological Visual Imaging

    Directory of Open Access Journals (Sweden)

    Jie Shen

    2014-04-01

    Full Text Available In challenging underwater environments, the polarization parameter maps calculated by the Stokes model are characterized by the high noise and error, harassing the underwater target detection tasks. In order to solve this problem, this paper proposes a novel bionic polarization calculation and underwater target detection method by modeling the visual system of mantis shrimps. This system includes many operators including a polarization-opposition calculation, a factor optimization and a visual neural network model. A calibration learning method is proposed to search the optimal value of the factors in the linear subtraction model. Finally, a six-channel visual neural network model is proposed to detect the underwater targets. Experimental results proved that the maps produced by the polarization-opposition parameter is more accurate and have lower noise than that produced by the Stokes parameter, achieving better performance in underwater target detection tasks.

  11. Underwater Coatings for Contamination Control

    International Nuclear Information System (INIS)

    Julia L. Tripp; Kip Archibald; Ann-Marie Phillips; Joseph Campbell

    2004-01-01

    The Idaho National Engineering and Environmental Laboratory (INEEL) is deactivating several fuel storage basins. Airborne contamination is a concern when the sides of the basins are exposed and allowed to dry during water removal. One way of controlling this airborne contamination is to fix the contamination in place while the pool walls are still submerged. There are many underwater coatings available on the market that are used in marine, naval and other applications. A series of tests were run to determine whether the candidate underwater fixatives are easily applied and adhere well to the substrates (pool wall materials) found in INEEL fuel pools. The four pools considered included (1) Test Area North (TAN-607) with epoxy painted concrete walls; (2) Idaho Nuclear Technology and Engineering Center (INTEC) (CPP-603) with bare concrete walls; (3) Materials Test Reactor (MTR) Canal with stainless steel lined concrete walls; and (4) Power Burst Facility (PBF-620) with stainless steel lined concrete walls on the bottom and epoxy painted carbon steel lined walls on the upper portions. Therefore, the four materials chosen for testing included bare concrete, epoxy painted concrete, epoxy painted carbon steel, and stainless steel. The typical water temperature of the pools varies from 55 F to 80 F dependent on the pool and the season. These tests were done at room temperature. The following criteria were used during this evaluation. The underwater coating must: (1) Be easy to apply; (2) Adhere well to the four surfaces of interest; (3) Not change or have a negative impact on water chemistry or clarity; (4) Not be hazardous in final applied form; and (5) Be proven in other underwater applications. In addition, it is desirable for the coating to have a high pigment or high cross-link density to prevent radiation from penetrating. This paper will detail the testing completed and the test results. A proprietary two-part, underwater epoxy owned by S. G. Pinney and Associates

  12. Assessment of different construction and demolition waste management approaches

    Directory of Open Access Journals (Sweden)

    Manal S. Abdelhamid

    2014-12-01

    Full Text Available The waste generated from construction and demolition sites is considered one of the most irritating problems in Egypt. In the last 10 years some effort has been made toward solving this problem, the most outstanding is the newly issued Egyptian rating system “Green Pyramids Rating System”. It emphasizes on waste management and particularly “site provision and environment” which contributes to 75% of the management category score. However the traditional practice which is limited to dumping all the generated waste is still dominating. The absence of sustainable practices in construction sector in Egypt led to the lack in financial and environmental data. From strategic perspective, the research aims at developing a detailed procedure to evaluate two construction and demolition waste management approaches by means of Decision Matrix technique. A detailed study is introduced for the two approaches; for each approach a flow chart is developed to demonstrate its lifecycle, as well as the cost break down structure and the different stakeholders’ roles. A penetration discussion of the pros and cons for each approach was developed accordingly and came out with sixteen influencing attributes for both approaches. The previous steps paved the ground to construct a Decision Matrix to decide on one of the approaches from a strategic environmentally oriented perspective. The study relied on the detailed and deep demonstration of the two approaches to justify the assigned weight for attributes and scores for corresponding approach. From a strategic perspective, the decision came out in favor of the more environmentally friendly approach.

  13. Application of underwater radon measurements in geology

    Energy Technology Data Exchange (ETDEWEB)

    Varhegyi, A.; Baranyi, I.; Gerzson, I. (Mecsek Ore Mining Enterprise, Pecs (Hungary)); Somogyi, G.; Hakl, J.; Hunyadi, I. (Magyar Tudomanyos Akademia, Debrecen (Hungary). Atommag Kutato Intezete)

    1988-01-01

    Based on the observed phenomenon of geogas migration in microbubble form from deeper regions, the authors have developed a new model for the vertical transport of radon released from deeper sources. The physical properties of the rock relating to the upflow of microbubbles below the groundwater level are considered and the radon transport parameter of rocks is introduced. The vertical distribution of radon concentration in the case of a multi-layered geological model is given and the penetration depth of underwater radon measurements is examined. Aspects of underwater radon detection by the nuclear track detector technique are analyzed. The radon transport model gives a new theoretical basis for several applications of radon measurements in geology. The advantages of underwater radon detection have already been proved in uranium exploration. Further geological applications are proposed in earthquake prediction, in volcanology, in the survey of active faults and thermal waters. (author).

  14. Object detection from images obtained through underwater turbulence medium

    Science.gov (United States)

    Furhad, Md. Hasan; Tahtali, Murat; Lambert, Andrew

    2017-09-01

    Imaging through underwater experiences severe distortions due to random fluctuations of temperature and salinity in water, which produces underwater turbulence through diffraction limited blur. Lights reflecting from objects perturb and attenuate contrast, making the recognition of objects of interest difficult. Thus, the information available for detecting underwater objects of interest becomes a challenging task as they have inherent confusion among the background, foreground and other image properties. In this paper, a saliency-based approach is proposed to detect the objects acquired through an underwater turbulent medium. This approach has drawn attention among a wide range of computer vision applications, such as image retrieval, artificial intelligence, neuro-imaging and object detection. The image is first processed through a deblurring filter. Next, a saliency technique is used on the image for object detection. In this step, a saliency map that highlights the target regions is generated and then a graph-based model is proposed to extract these target regions for object detection.

  15. Development of a compact underwater laser-induced breakdown spectroscopy (LIBS) system and preliminary results in sea trials.

    Science.gov (United States)

    Guo, Jinjia; Lu, Yuan; Cheng, Kai; Song, Jiaojian; Ye, Wangquan; Li, Nan; Zheng, Ronger

    2017-10-10

    The exploitation and research of deep-sea hydrothermal vent has been an issue of great interest in ocean research in recent years. Laser-induced breakdown spectroscopy (LIBS) has great potential for ocean application due to the capabilities of stand-off, multiphase, and multielement analysis. In this work, a newly developed compact 4000 m rated LIBS system (LIBSea) is introduced with preliminary results of sea trials. The underwater system consists of an Nd:YAG single-pulsed laser operating at 1064 nm, an optical fiber spectrometer, an optics module, and an electronic controller module. The whole system is housed in an L800  mm×ϕ258  mm pressure housing with an optical window on the end cap. It was deployed on the remote operated vehicle Faxian on the research vessel Kexue, and in June 2015 was successfully applied for hydrothermal field measurements at the Manus area. The obtained results are shown that the LIBS system is capable of detecting elements Li, Na, K, Ca, and Mg in the hydrothermal area. Profiles of LIBS signals of elements K and Ca have also been obtained during the sea trial. The results show that the K emission line is gradually broadened with depth from sea surface to sea floor (1800 m or so); the K intensity shows a hump shape with maximum value at about 1050 m. The Ca emission line is rapidly broadened below 400 m and slowly narrowed to the sea floor; the Ca intensity shows no obvious change below 400 m and increases continuously to sea floor. A very interesting finding is that the small fluctuations of intensity profile curve of Ca show a degree of correlation with seawater temperature change. The sea trial results prove the performance of LIBSea. After further optimization, it is hoped to apply the LIBS system to the in situ mineral deposits and hydrothermal vent fluid detection in deep sea.

  16. Remote Underwater Characterization System - Innovative Technology Summary Report

    International Nuclear Information System (INIS)

    Willis, W.D.

    1999-01-01

    Characterization and inspection of water-cooled and moderated nuclear reactors and fuel storage pools requires equipment capable of operating underwater. Similarly, the deactivation and decommissioning of older nuclear facilities often requires the facility owner to accurately characterize underwater structures and equipment which may have been sitting idle for years. The Remote Underwater Characterization System (RUCS) is a small, remotely operated submersible vehicle intended to serve multiple purposes in underwater nuclear operations. It is based on the commercially-available Scallop vehicle 1 , but has been modified by the Department of Energys Robotics Technology Development Program to add auto-depth control, and vehicle orientation and depth monitoring at the operator control panel. The RUCS is designed to provide visual and gamma radiation characterization, even in confined or limited access areas. It was demonstrated in August 1998 at the Idaho National Engineering and Environmental Laboratory (INEEL) as part of the INEEL Large Scale Demonstration and Deployment Project. During the demonstration it was compared in a ''head-to-head fashion with the baseline characterization technology. This paper summarizes the results of the demonstration and lessons learned; comparing and contrasting both technologies in the areas of cost, visual characterization, radiological characterization, and overall operations

  17. 77 FR 70684 - Safety Zone; Bridge Demolition Project; Indiana Harbor Canal, East Chicago, IN

    Science.gov (United States)

    2012-11-27

    ... environmental risk to health or risk to safety that may disproportionately affect children. 10. Indian Tribal... the Cline Avenue bridge in East Chicago, IN. The Captain of the Port, Sector Lake Michigan, has determined that this demolition project will pose a significant risk to public safety and property. Such...

  18. DE-Sync: A Doppler-Enhanced Time Synchronization for Mobile Underwater Sensor Networks.

    Science.gov (United States)

    Zhou, Feng; Wang, Qi; Nie, DongHu; Qiao, Gang

    2018-05-25

    Time synchronization is the foundation of cooperative work among nodes of underwater sensor networks; it takes a critical role in the research and application of underwater sensor networks. Although numerous time synchronization protocols have been proposed for terrestrial wireless sensor networks, they cannot be directly applied to underwater sensor networks. This is because most of them typically assume that the propagation delay among sensor nodes is negligible, which is not the case in underwater sensor networks. Time synchronization is mainly affected by a long propagation delay among sensor nodes due to the low propagation speed of acoustic signals. Furthermore, sensor nodes in underwater tend to experience some degree of mobility due to wind or ocean current, or some other nodes are on self-propelled vehicles, such as autonomous underwater vehicles (AUVs). In this paper, we propose a Doppler-enhanced time synchronization scheme for mobile underwater sensor networks, called DE-Sync. Our new scheme considers the effect of the clock skew during the process of estimating the Doppler scale factor and directly substitutes the Doppler scale factor into linear regression to achieve the estimation of the clock skew and offset. Simulation results show that DE-Sync outperforms existing time synchronization protocols in both accuracy and energy efficiency.

  19. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    OpenAIRE

    Kia, Chua; Arshad, Mohd Rizal

    2006-01-01

    This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs) operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system ...

  20. A review of underwater bio-mimetic propulsion: cruise and fast-start

    Science.gov (United States)

    Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang

    2017-08-01

    This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion.

  1. A review of underwater bio-mimetic propulsion: cruise and fast-start

    Energy Technology Data Exchange (ETDEWEB)

    Chao, Li-Ming; Cao, Yong-Hui; Pan, Guang, E-mail: PanGuang_010@163.com [School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072 (China)

    2017-08-15

    This paper reviews recent developments in the understanding of underwater bio-mimetic propulsion. Two impressive models of underwater propulsion are considered: cruise and fast-start. First, we introduce the progression of bio-mimetic propulsion, especially underwater propulsion, where some primary conceptions are touched upon. Second, the understanding of flapping foils, considered as one of the most efficient cruise styles of aquatic animals, is introduced, where the effect of kinematics and the shape and flexibility of foils on generating thrust are elucidated respectively. Fast-start propulsion is always exhibited when predator behaviour occurs, and we provide an explicit introduction of corresponding zoological experiments and numerical simulations. We also provide some predictions about underwater bio-mimetic propulsion. (review)

  2. Cardiovascular response during submaximal underwater treadmill exercise in stroke patients.

    Science.gov (United States)

    Yoo, Jeehyun; Lim, Kil-Byung; Lee, Hong-Jae; Kwon, Yong-Geol

    2014-10-01

    To evaluate the cardiovascular response during head-out water immersion, underwater treadmill gait, and land treadmill gait in stroke patients. Ten stroke patients were recruited for underwater and land treadmill gait sessions. Each session was 40 minutes long; 5 minutes for standing rest on land, 5 minutes for standing rest in water or on treadmill, 20 minutes for treadmill walking in water or on land, 5 minutes for standing rest in water or on treadmill, and 5 minutes for standing rest on land. Blood pressure (BP) and heart rate (HR) were measured during each session. In order to estimate the cardiovascular workload and myocardial oxygen demand, the rate pressure product (RPP) value was calculated by multiplying systolic BP (SBP) by HR. SBP, DBP, mean BP (mBP), and RPP decreased significantly after water immersion, but HR was unchanged. During underwater and land treadmill gait, SBP, mBP, DBP, RPP, and HR increased. However, the mean maximum increases in BP, HR and RPP of underwater treadmill walking were significantly lower than that of land treadmill walking. Stroke patients showed different cardiovascular responses during water immersion and underwater gait as opposed to standing and treadmill-walking on land. Water immersion and aquatic treadmill gait may reduce the workload of the cardiovascular system. This study suggested that underwater treadmill may be a safe and useful option for cardiovascular fitness and early ambulation in stroke rehabilitation.

  3. Gentrification in black and white: the racial impact of public housing demolition in American cities.

    Science.gov (United States)

    Goetz, Edward

    2011-01-01

    The gentrification that has transformed high-poverty neighbourhoods in US cities since the mid 1990s has been characterised by high levels of state reinvestment. Prominent among public-sector interventions has been the demolition of public housing and in some cases multimillion dollar redevelopment efforts. In this paper, the racial dimension of state-supported gentrification in large US cities is examined by looking at the direct and indirect displacement induced by public housing transformation. The data show a clear tendency towards the demolition of public housing projects with disproportionately high African American occupancy. The pattern of indirect displacement is more varied; public housing transformation has produced a number of paths of neighbourhood change. The most common, however, involve significant reductions in poverty, sometimes associated with Black to White racial turnover and sometimes not. The findings underscore the central importance of race in understanding the dynamics of gentrification in US cities.

  4. Total and respirable dust exposures among carpenters and demolition workers during indoor work in Denmark

    DEFF Research Database (Denmark)

    Kirkeskov, Lilli; Hanskov, Dorte Jessing Agerby; Brauer, Charlotte

    2016-01-01

    BACKGROUND: Within the construction industry the risk of lung disorders depends on the specific professions probably due to variations in the levels of dust exposure, and with dust levels depending on the work task and job function. We do not know the extent of exposure in the different professions...... was 3.90 (95 % confidence interval 1.13-13.5) mg/m(3). Dust exposure varied depending on work task for both professions. The dustiest work occurred during demolition, especially when it was done manually. Only few workers used personal respiratory protection and only while performing the dustiest work...... or the variation between the different work tasks. The purpose of this study was therefore to assess if there were differences in dust exposure between carpenters and demolition workers who were expected to have low and high dust exposure, respectively. METHODS: Through interviews of key persons...

  5. Channel coding for underwater acoustic single-carrier CDMA communication system

    Science.gov (United States)

    Liu, Lanjun; Zhang, Yonglei; Zhang, Pengcheng; Zhou, Lin; Niu, Jiong

    2017-01-01

    CDMA is an effective multiple access protocol for underwater acoustic networks, and channel coding can effectively reduce the bit error rate (BER) of the underwater acoustic communication system. For the requirements of underwater acoustic mobile networks based on CDMA, an underwater acoustic single-carrier CDMA communication system (UWA/SCCDMA) based on the direct-sequence spread spectrum is proposed, and its channel coding scheme is studied based on convolution, RA, Turbo and LDPC coding respectively. The implementation steps of the Viterbi algorithm of convolutional coding, BP and minimum sum algorithms of RA coding, Log-MAP and SOVA algorithms of Turbo coding, and sum-product algorithm of LDPC coding are given. An UWA/SCCDMA simulation system based on Matlab is designed. Simulation results show that the UWA/SCCDMA based on RA, Turbo and LDPC coding have good performance such that the communication BER is all less than 10-6 in the underwater acoustic channel with low signal to noise ratio (SNR) from -12 dB to -10dB, which is about 2 orders of magnitude lower than that of the convolutional coding. The system based on Turbo coding with Log-MAP algorithm has the best performance.

  6. A Review of the Emerging Field of Underwater Mass Spectrometry

    Directory of Open Access Journals (Sweden)

    Emily Chua

    2016-11-01

    Full Text Available Mass spectrometers are versatile sensor systems, owing to their high sensitivity and ability to simultaneously measure multiple chemical species. Over the last two decades, traditional laboratory-based membrane inlet mass spectrometers have been adapted for underwater use. Underwater mass spectrometry has drastically improved our capability to monitor a broad suite of gaseous compounds (e.g., dissolved atmospheric gases, light hydrocarbons, and volatile organic compounds in the aquatic environment. Here we provide an overview of the progress made in the field of underwater mass spectrometry since its inception in the 1990s to the present. In particular, we discuss the approaches undertaken by various research groups in developing in situ mass spectrometers. We also provide examples to illustrate how underwater mass spectrometers have been used in the field. Finally, we present future trends in the field of in situ mass spectrometry. Most of these efforts are aimed at improving the quality and spatial and temporal scales of chemical measurements in the ocean. By providing up-to-date information on underwater mass spectrometry, this review offers guidance for researchers interested in adapting this technology as well as goals for future progress in the field.

  7. Euclidean reconstruction of natural underwater scenes using optic imagery sequence

    Science.gov (United States)

    Hu, Han

    The development of maritime applications require monitoring, studying and preserving of detailed and close observation on the underwater seafloor and objects. Stereo vision offers advanced technologies to build 3D models from 2D still overlapping optic images in a relatively inexpensive way. However, while image stereo matching is a necessary step in 3D reconstruction procedure, even the most robust dense matching techniques are not guaranteed to work for underwater images due to the challenging aquatic environment. In this thesis, in addition to a detailed introduction and research on the key components of building 3D models from optic images, a robust modified quasi-dense matching algorithm based on correspondence propagation and adaptive least square matching for underwater images is proposed and applied to some typical underwater image datasets. The experiments demonstrate the robustness and good performance of the proposed matching approach.

  8. Quality and quantity of construction and demolition waste in Tehran.

    Science.gov (United States)

    Asgari, Alireza; Ghorbanian, Tahereh; Yousefi, Nader; Dadashzadeh, Dariush; Khalili, Fatemeh; Bagheri, Amin; Raei, Mehdi; Mahvi, Amir Hossein

    2017-01-01

    In recent years the generation rate of construction and demolition waste (C&D) has significantly augmented. The aim of this study was to assessed the quality and quantity of construction and demolition waste in Tehran (capital of Iran). Questionnaire methods were used for estimating the amount of generated C&D wastes national statistical data and typical waste generation data. In order to defining the composition of C&D waste, trucks were randomly selected and their wastes were separated and weighted. According to obtained results, about 82,646,051 m 3 of C&D waste (average 16,529,210 m 3 per year) were generated during 2011 to 2016 which only about 26% of them has been recycled. Mixing sand and cement, concrete, broken bricks and soil have the highest amount of the composition of C&D waste in Tehran that was 30, 19, 18 and 11%, respectively. Based on the results, about 2,784,158 t of the waste will generate in 2025 and this is approximately 122% higher than wastes generate in 2016. Based on MAPSA's data, 360 teams of personnel cruise and control the illegal disposals, but due to the expansion of Tehran this number of teams is inadequate and can't be effective in controlling the situation. In general, the overall condition of C&D waste management in Tehran seems undesirable and needs to be updated based on the experience of successful countries in this field.

  9. State-of-the-Art System Solutions for Unmanned Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    A. E. Yilmaz

    2009-12-01

    Full Text Available Unmanned Underwater Vehicles (UUVs have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in navigation, control and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this paper, we first revisit the existing technology and methodology for the solution of aforementioned problems, then we try to come up with a system solution of a generic unmanned underwater vehicles.

  10. 77 FR 63732 - Safety Zone; Bridge Demolition Project; Indiana Harbor Canal, East Chicago, IN

    Science.gov (United States)

    2012-10-17

    ..., Protection of Children from Environmental Health Risks and Safety Risks. This rule is not an economically significant rule and does not create an environmental risk to health or risk to safety that may.... The Captain of the Port, Sector Lake Michigan, has determined that this demolition project will pose a...

  11. Cultural Resource Assessment of the Test Area North Demolition Landfill at the Idaho National Engineering and Environmental Laboratory

    Energy Technology Data Exchange (ETDEWEB)

    Brenda R. Pace

    2003-07-01

    The proposed new demolition landfill at Test Area North on the Idaho National Engineering and Environmental Laboratory (INEEL) will support ongoing demolition and decontamination within the facilities on the north end of the INEEL. In June of 2003, the INEEL Cultural Resource Management Office conducted archival searches, field surveys, and coordination with the Shoshone-Bannock Tribes to identify all cultural resources that might be adversely affected by the project and to provide recommendations to protect those listed or eligible for listing on the National Register of Historic Places. These investigations showed that landfill construction and operation would affect two significant cultural resources. This report outlines protective measures to ensure that these effects are not adverse.

  12. Cultural Resource Assessment of the Test Area North Demolition Landfill at the Idaho National Engineering and Environmental Laboratory

    International Nuclear Information System (INIS)

    Brenda R. Pace

    2003-01-01

    The proposed new demolition landfill at Test Area North on the Idaho National Engineering and Environmental Laboratory (INEEL) will support ongoing demolition and decontamination within the facilities on the north end of the INEEL. In June of 2003, the INEEL Cultural Resource Management Office conducted archival searches, field surveys, and coordination with the Shoshone-Bannock Tribes to identify all cultural resources that might be adversely affected by the project and to provide recommendations to protect those listed or eligible for listing on the National Register of Historic Places. These investigations showed that landfill construction and operation would affect two significant cultural resources. This report outlines protective measures to ensure that these effects are not adverse

  13. The Dangers of an Over-Reliance on Technology

    Science.gov (United States)

    2011-06-14

    Komarow explains that the Army “Has developed a taste for technology, as seen in the systems that support Force XXI and Army XXI concepts,” in an effort...School and went on to Basic Underwater Demolition Unit Training/SEAL ( BUD /S) and graduated with Class 210 in the spring of 1997. His first assignment

  14. The aquatic tympanic ear: convergent adaptations for underwater hearing in three tetrapods

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, Jakob; Wahlberg, Magnus; Larsen, Ole Næsbye

    pressure, low particle motion medium, and the consequence is that an efficient underwater ear is sensitive to sound pressure. It is often stated that underwater hearing can work efficiently without a middle ear apparatus by bone conduction, since sound is transmitted from water to inner ear tissue...... is modified (cartilaginous or partly cartilaginous). In all three species, the lowest threshold to underwater sound is at this peak frequency and is around 80 dB re 1 µPa. The sensitivity to sound pressure is slightly lower in water than in air, making underwater hearing much more efficient in terms of sound...

  15. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  16. Underwater Sensor Networks: A New Energy Efficient and Robust Architecture

    NARCIS (Netherlands)

    Climent, Salvador; Capella, Juan Vincente; Meratnia, Nirvana; Serrano, Juan José

    2012-01-01

    The specific characteristics of underwater environments introduce new challenges for networking protocols. In this paper, a specialized architecture for underwater sensor networks (UWSNs) is proposed and evaluated. Experiments are conducted in order to analyze the suitability of this protocol for

  17. Underwater methods for study of salmonids in the Intermountain West

    Science.gov (United States)

    Russell F. Thurow

    1994-01-01

    This guide describes underwater methods using snorkeling gear to study fish populations in flowing waters of the Intermountain West. It outlines procedures for estimating salmonid abundance and habitat use and provides criteria for identifying and estimating the size of fish underwater.

  18. Underwater detection by using ultrasonic sensor

    Science.gov (United States)

    Bakar, S. A. A.; Ong, N. R.; Aziz, M. H. A.; Alcain, J. B.; Haimi, W. M. W. N.; Sauli, Z.

    2017-09-01

    This paper described the low cost implementation of hardware and software in developing the system of ultrasonic which can visualize the feedback of sound in the form of measured distance through mobile phone and monitoring the frequency of detection by using real time graph of Java application. A single waterproof transducer of JSN-SR04T had been used to determine the distance of an object based on operation of the classic pulse echo detection method underwater. In this experiment, the system was tested by placing the housing which consisted of Arduino UNO, Bluetooth module of HC-06, ultrasonic sensor and LEDs at the top of the box and the transducer was immersed in the water. The system which had been tested for detection in vertical form was found to be capable of reporting through the use of colored LEDs as indicator to the relative proximity of object distance underwater form the sensor. As a conclusion, the system can detect the presence of an object underwater within the range of ultrasonic sensor and display the measured distance onto the mobile phone and the real time graph had been successfully generated.

  19. Properties of Concrete Paving Blocks and Hollow Tiles with Recycled Aggregate from Construction and Demolition Wastes.

    Science.gov (United States)

    Rodríguez, Carlos; Miñano, Isabel; Aguilar, Miguel Ángel; Ortega, José Marcos; Parra, Carlos; Sánchez, Isidro

    2017-11-30

    In recent years there has been an increasing tendency to recycle the wastes generated by building companies in the construction industry, demolition wastes being the most important in terms of volume. The aim of this work is to study the possibility of using recycled aggregates from construction and demolition wastes in the preparation of precast non-structural concretes. To that purpose, two different percentages (15% and 30%) of natural aggregates were substituted by recycled aggregates in the manufacture of paving blocks and hollow tiles. Dosages used by the company have not been changed by the introduction of recycled aggregate. Precast elements have been tested by means of compressive and flexural strength, water absorption, density, abrasion, and slipping resistance. The results obtained show the possibility of using these wastes at an industrial scale, satisfying the requirements of the Spanish standards for these elements.

  20. Geopolymerisation of silt generated from construction and demolition waste washing plants.

    Science.gov (United States)

    Lampris, C; Lupo, R; Cheeseman, C R

    2009-01-01

    Recycling plants that size, sort and wash construction and demolition waste can produce high quality aggregate. However, they also produce up to 80ton per hour of filter cake waste containing fine (waste and normally landfilled. This research investigated the potential to form geopolymers containing silt, which would allow this problematic waste to be beneficially reused as aggregate. This would significantly improve the economic viability of recycling plants that wash wastes. Silt filter cakes have been collected from a number of aggregate washing plants operating in the UK. These were found to contain similar aluminosilicate crystalline phases. Geopolymer samples were produced using silt and silt mixed with either metakaolin or pulverised fuel ash (PFA). Silt geopolymers cured at room temperature had average 7-day compressive strengths of 18.7MPa, while partial substitution of silt by metakaolin or PFA increased average compressive strengths to 30.5 and 21.9MPa, respectively. Curing specimens for 24h at 105 degrees C resulted in a compressive strength of 39.7MPa and microstructural analysis confirmed the formation of dense materials. These strengths are in excess of those required for materials to be used as aggregate, particularly in unbound applications. The implications of this research for the management of waste silt at construction and demolition waste washing plants are discussed.

  1. Recycled construction and demolition concrete waste as aggregate for structural concrete

    Directory of Open Access Journals (Sweden)

    Ashraf M. Wagih

    2013-12-01

    Full Text Available In major Egyptian cities there is a surge in construction and demolition waste (CDW quantities causing an adverse effect on the environment. The use of such waste as recycled aggregate in concrete can be useful for both environmental and economical aspects in the construction industry. This study discusses the possibility to replace natural coarse aggregate (NA with recycled concrete aggregate (RCA in structural concrete. An investigation into the properties of RCA is made using crushing and grading of concrete rubble collected from different demolition sites and landfill locations around Cairo. Aggregates used in the study were: natural sand, dolomite and crushed concretes obtained from different sources. A total of 50 concrete mixes forming eight groups were cast. Groups were designed to study the effect of recycled coarse aggregates quality/content, cement dosage, use of superplasticizer and silica fume. Tests were carried out for: compressive strength, splitting strength and elastic modulus. The results showed that the concrete rubble could be transformed into useful recycled aggregate and used in concrete production with properties suitable for most structural concrete applications in Egypt. A significant reduction in the properties of recycled aggregate concrete (RAC made of 100% RCA was seen when compared to natural aggregate concrete (NAC, while the properties of RAC made of a blend of 75% NA and 25% RCA showed no significant change in concrete properties.

  2. Task Allocation and Path Planning for Collaborative Autonomous Underwater Vehicles Operating through an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Yueyue Deng

    2013-01-01

    Full Text Available Dynamic and unstructured multiple cooperative autonomous underwater vehicle (AUV missions are highly complex operations, and task allocation and path planning are made significantly more challenging under realistic underwater acoustic communication constraints. This paper presents a solution for the task allocation and path planning for multiple AUVs under marginal acoustic communication conditions: a location-aided task allocation framework (LAAF algorithm for multitarget task assignment and the grid-based multiobjective optimal programming (GMOOP mathematical model for finding an optimal vehicle command decision given a set of objectives and constraints. Both the LAAF and GMOOP algorithms are well suited in poor acoustic network condition and dynamic environment. Our research is based on an existing mobile ad hoc network underwater acoustic simulator and blind flooding routing protocol. Simulation results demonstrate that the location-aided auction strategy performs significantly better than the well-accepted auction algorithm developed by Bertsekas in terms of task-allocation time and network bandwidth consumption. We also demonstrate that the GMOOP path-planning technique provides an efficient method for executing multiobjective tasks by cooperative agents with limited communication capabilities. This is in contrast to existing multiobjective action selection methods that are limited to networks where constant, reliable communication is assumed to be available.

  3. Cooperative OFDM underwater acoustic communications

    CERN Document Server

    Cheng, Xilin; Cheng, Xiang

    2016-01-01

    Following underwater acoustic channel modeling, this book investigates the relationship between coherence time and transmission distances. It considers the power allocation issues of two typical transmission scenarios, namely short-range transmission and medium-long range transmission. For the former scenario, an adaptive system is developed based on instantaneous channel state information. The primary focus is on cooperative dual-hop orthogonal frequency division multiplexing (OFDM). This book includes the decomposed fountain codes designed to enable reliable communications with higher energy efficiency. It covers the Doppler Effect, which improves packet transmission reliability for effective low-complexity mirror-mapping-based intercarrier interference cancellation schemes capable of suppressing the intercarrier interference power level. Designed for professionals and researchers in the field of underwater acoustic communications, this book is also suitable for advanced-level students in electrical enginee...

  4. ULTRA: Underwater Localization for Transit and Reconnaissance Autonomy

    Science.gov (United States)

    Huntsberger, Terrance L.

    2013-01-01

    This software addresses the issue of underwater localization of unmanned vehicles and the inherent drift in their onboard sensors. The software gives a 2 to 3 factor of improvement over the state-of-the-art underwater localization algorithms. The software determines the localization (position, heading) of an AUV (autonomous underwater vehicle) in environments where there is no GPS signal. It accomplishes this using only the commanded position, onboard gyros/accelerometers, and the bathymetry of the bottom provided by an onboard sonar system. The software does not rely on an onboard bathymetry dataset, but instead incrementally determines the position of the AUV while mapping the bottom. In order to enable long-distance underwater navigation by AUVs, a localization method called ULTRA uses registration of the bathymetry data products produced by the onboard forward-looking sonar system for hazard avoidance during a transit to derive the motion and pose of the AUV in order to correct the DR (dead reckoning) estimates. The registration algorithm uses iterative point matching (IPM) combined with surface interpolation of the Iterative Closest Point (ICP) algorithm. This method was used previously at JPL for onboard unmanned ground vehicle localization, and has been optimized for efficient computational and memory use.

  5. Underwater laser cladding and seal welding for INCONEL 52

    International Nuclear Information System (INIS)

    Tamura, Masataka; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Yoda, Masaki

    2007-01-01

    Recently, stress corrosion cracking (SCC) has been observed at aged components of nuclear power plants under water environment and high exposure of radiation. Toshiba has been developing both an underwater laser welding directly onto surface of the aged components as maintenance and repair techniques. This paper reports underwater laser cladding and seal welding for INCONEL 52. (author)

  6. Acoustic and vibrational tests of effects induced on building by the demolition of the 'Ponte del Barco' Firenze - Toscana

    International Nuclear Information System (INIS)

    Stragapede, Francesco; Biannucci, Roberto; Pascini, Lando Umberto; Leonasi, Giovanni

    2016-01-01

    For demolition of Ponte del Barco, the Torrente Mugnone overpass at the Parco delle Cascine of Firenze, were checked up entities in the field of energy and vibrational noise produced during activities on sensitive lens, considering the building located near the structure being demolished. The vibrations to the building have been checked with reference to noise thresholds of disturbance to the person (UNI 9614) and resentment/damage to the building (UNI 9 9 16). Evaluation of transient vibration actions on the building were examined during the demolition of the structure, carried out using excavator CAT 320 D LN equipped with concrete crusher, and handling stages of demolition material using excavator ZAX 2 40 Hitachi equipped with a shovel. The tests were conducted with Symphonie type level meter (class 1 REF. EN60651/94 and EN60804/9 4) and oriented velocimeters n. 4 recording stations using GEOBOX of Sara Electr. Instr. The noise level was compared with the acoustic limits of the area and the intensity of vibration induced on sensitive building was related to thresholds of disturbance to the person and damage to structures, ensuring that in the course of the demolition operations were the conditions of security of operators in the area and the absence of damage to the buildings. Based on the findings from the analysis, the acoustic activity of demolition of the Bridge in Florence took place within the acoustic limits of exemption of localization activities (class IV – area of intense human activity). The exceeded the thresholds of vibrational disturbance to the person was checked, in reference UNI 9614; the exceeded the thresholds for structural damage was not checked, in reference to UNI 9916. The attendance of the necessary staff for testing acoustic and vibrational did not affect any sensitive subject even in the presence of the excess of noise and vibration thresholds of disturbance to the person.

  7. Recycling of construction and demolition waste in Kuwait

    International Nuclear Information System (INIS)

    Kartam, N.; Al-Mutairi, N.; Al-Ghusain, I.; Al-Humoud, J.

    2002-01-01

    'Full text:' There is an increasing pressure on the construction industry to reduce costs and improve our environment. The fact is that both of these goals can be achieved at the same time. Although construction and demolition (C and D) constitutes a major type of waste in terms of volume and weight, its management and recycling efforts have not seen the light in Kuwait. The goal of this research project is to study methods leading to the minimization of the total C and D waste that is landfilled in Kuwait. This can be achieved by applying the waste management hierarchy in order of importance: 1) reduce, 2) re-use, 3) recycle, 4) incineration (energy recovery), and 5) safe disposal. This paper presents the current C and D waste disposal system in Kuwait and identifies potential problems to the environment, people and economy. Then, it investigates the recycling option to manage and control this major type of waste in an economically efficient and environmentally safe manner. There are significant volumes of potentially valuable and recoverable resources being wasted in the construction industry, and these figures are continuously growing as we are starting the new millennium. C and D waste constitutes 15%-30% of all solid waste entering landfills in various countries [Bossink 1995]; and thus it is a major type of waste. An estimated 2-3 million ton of construction and demolition waste are being only disposed of in Kuwait's landfill sites each year despite the limited available land (Industrial Investment Company, 1990). C and D waste is a target because it is both heavy and bulky, and therefore undesirable for disposal in engineered, lined landfills because of the space it consumes. On the other hand, many C and D materials have high potential for recovery and use. Recovering C and D waste can help communities reach their recycling goals, preserve valuable space in their local landfills, and create better opportunities for handling other kind of waste. Therefore

  8. 78 FR 29648 - Regulated Navigation Area; Waldo-Hancock Bridge Demolition, Penobscot River, Between Prospect and...

    Science.gov (United States)

    2013-05-21

    ... 1625-AA11 Regulated Navigation Area; Waldo-Hancock Bridge Demolition, Penobscot River, Between Prospect... River between Prospect and Verona, ME, under and surrounding the Waldo- Hancock Bridge in order to... Prospect and Verona, ME. (a) Location. The following area is a Regulated Navigation Area (RNA): All...

  9. Safety aspects for underwater vehicles

    Digital Repository Service at National Institute of Oceanography (India)

    Madhan, R.; Navelkar, G.S.; Desa, E.S.; Afzulpurkar, S.; Prabhudesai, S.P.; Dabholkar, N.; Mascarenhas, A.A.M.Q.; Maurya, P.

    instrumentation is intelligent small Autonomous Underwater Vehicles (AUV’s), autonomous profilers, gliders [1], etc. The ultimate aim in all autonomous platforms research and development is to reach the stage of unescorted missions with minimum failures...

  10. The WODA guidance paper on underwater sound from dredging (abstract)

    NARCIS (Netherlands)

    Thomsen, F.; Borsani, F.; Clarke, D.; Jong, C.A.F. de; Witt, P. de; Holtkamp, M.; Goethals, F.; San Martin, E.; Spadaro, P.; Raalte, G. van; Jensen, A.

    2013-01-01

    The World Organisation of Dredging Associations (WODA) has identified underwater sound as an environmental issue that needs further consideration. A WODA Expert Group on Underwater Sound (WEGUS) was established to provide a guidance paper on dredging sound, impact on aquatic biota and advice on

  11. Defect detectability of eddy current testing for underwater laser beam welding

    International Nuclear Information System (INIS)

    Ueno, Souichi; Kobayashi, Noriyasu; Ochiai, Makoto; Kasuya, Takashi; Yuguchi, Yasuhiro

    2011-01-01

    We clarified defect detectability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding works of dissimilar metal welding (DMW) of reactor vessel nozzle. The underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in the grooves and welded surface grinding as a post treatment. Therefore groove and welded surface inspections are required in the underwater condition. The ECT is a major candidate as this inspection technique because a penetrant testing is difficult to perform in the underwater condition. Several kinds of experiments were curried out using a cross coil an ECT probe and ECT data acquisition system in order to demonstrate the ECT defect detectability. We used specimens, simulating groove and DMW materials at an RV nozzle, with electro-discharge machining (EDM) slits over it. Additionally, we performed a detection test for artificial stress corrosion cracking (SCC) defects. From these experimental results, we confirmed that an ECT was possible to detect EDM slits 0.3 mm or more in depth and artificial SCC defects 0.02 mm to 0.48 mm in depth on machined surface. Furthermore, the underwater ECT defect detectability is equivalent to that in air. We clarified an ECT is sufficiently usable as a surface inspection technique for underwater laser beam welding works. (author)

  12. Experimental Study on the Measurement of Water Bottom Vibration Induced by Underwater Drilling Blasting

    OpenAIRE

    Wenbin, Gu; Jianghai, Chen; Zhenxiong, Wang; Zhihua, Wang; Jianqing, Liu; Ming, Lu

    2015-01-01

    Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater ...

  13. Decommissioning and demolition of the Greifswald nuclear power station

    International Nuclear Information System (INIS)

    Sterner, H.; Leushacke, D.; Rittscher, D.

    1995-01-01

    The unexpected decision to decommission the plants in Greifswald makes the management and disposal of fuels and plant waste a major issue to be solved as a precondition for decommissioning and dismantling. The decisive point in waste management is the existence of an interim store or repository of sufficient capacity to accept both the nuclear fuel and the plant waste and the considerable volumes of radioactive residues arising in dismantling. Current major activities include planning for decommissioning and demolition, and drafting of the licensing documents; removal of the fuel elements from the reactor units; construction of the northern interim store for fuel elements and residues. (orig./HP)

  14. Estimating construction and demolition debris generation using a materials flow analysis approach.

    Science.gov (United States)

    Cochran, K M; Townsend, T G

    2010-11-01

    The magnitude and composition of a region's construction and demolition (C&D) debris should be understood when developing rules, policies and strategies for managing this segment of the solid waste stream. In the US, several national estimates have been conducted using a weight-per-construction-area approximation; national estimates using alternative procedures such as those used for other segments of the solid waste stream have not been reported for C&D debris. This paper presents an evaluation of a materials flow analysis (MFA) approach for estimating C&D debris generation and composition for a large region (the US). The consumption of construction materials in the US and typical waste factors used for construction materials purchasing were used to estimate the mass of solid waste generated as a result of construction activities. Debris from demolition activities was predicted from various historical construction materials consumption data and estimates of average service lives of the materials. The MFA approach estimated that approximately 610-78 × 10(6)Mg of C&D debris was generated in 2002. This predicted mass exceeds previous estimates using other C&D debris predictive methodologies and reflects the large waste stream that exists. Copyright © 2010 Elsevier Ltd. All rights reserved.

  15. Demolition to Green-Field conditions of the FRJ-1 (MERLIN) research reactor. Successes and hurdles in the demolition of a research reactor of the megawatt class; Der Rueckbau des Forschungsreaktors FRJ-1 (MERLIN) bis zur 'Gruenen Wiese'. Erfolge und Huerden beim Rueckbau eines Forschungsreaktors der Megawatt-Klasse

    Energy Technology Data Exchange (ETDEWEB)

    Stahn, Burkhard; Printz, Rudolf; Matela, Karel; Zehbe, Carsten; Stauch, Bernhard; Zander, Iven [Forschungszentrum Juelich GmbH, Juelich (Germany)

    2010-02-15

    The Juelich-1 Research Reactor (FRJ-1), also referred to as MERLIN (Medium Energy Research Light Water Moderated Industrial Nuclear Reactor), was a light-water moderated and cooled swimming pool reactor of British design. The cornerstone in the erection of the reactor building was laid on June 11, 1958. Reactor operation was started on February 23, 1962. The plant was last run at a thermal power of 10 MW and shut down for good in 1985 after 23 years of operation. After the fuel elements had been removed and most of the experimental installations dismantled, some first steps towards demolition were taken in 1995. Demolition on a large scale began in 1996. September 8, 2008 was a special day: On the area of the former reactor hall, an oak tree was planted as a symbol of the 'green field' and of the original oak wood which had to make way for the construction of reactors in Juelich. An oak tree now stands in the place of the reactor unit. Was that all? It was not, for there were ancillary systems, operations, utility and hygiene buildings which had to be pulled down. Decontamination and clearance measurements were completed. The application for clearance was prepared and completed. Conventional demolition was started in 2009. After completion of that step, the last chapter about demolition of the FRJ-1 research reactor has been written, and the book can be closed. (orig.)

  16. Mineralization of 2,4,6-Trinitrotoleune (TNT) in Coastal Waters and Sediments

    Science.gov (United States)

    2006-08-21

    Tandros et al. 2000) though many of these effects can be reversed if the algae are maintained in flow through systems (Pavlostathis and Jackson 2002...21 Effect of Underwater Demolition Detonation...catalysts, such as TiO2 (Schmelling et al. 1996, Son et al. 2004), or with additions of peroxide and ozone (Rodgers and Bunce 2001), borohydride (Larson et

  17. Immobilization of calcium sulfate contained in demolition waste

    International Nuclear Information System (INIS)

    Ambroise, J.; Pera, J.

    2008-01-01

    This paper presents the results of a laboratory study undertaken to examine the treatment of demolition waste containing calcium sulfate by means of calcium sulfoaluminate clinker (CSA). The quantity of CSA necessary to entirely consume calcium sulfate was determined. Using infrared spectrometry analysis and X-ray diffraction, it was shown that calcium sulfate was entirely consumed when the ratio between CSA and calcium sulfate was 4. Standard sand was polluted by 4% calcium sulfate. Two solutions were investigated: ·either global treatment of sand by CSA, ·or immobilization of calcium sulfate by CSA, followed by the introduction of this milled mixture in standard sand. Regardless of the type of treatment, swelling was almost stabilized after 28 days of immersion in water

  18. Applicability evaluation of eddy current testing for underwater laser beam welding

    International Nuclear Information System (INIS)

    Kobayashi, Noriyasu; Kasuya, Takashi; Ueno, Souichi; Ochiai, Makoto; Yuguchi, Yasuhiro

    2010-01-01

    We clarified a defect detecting capability of eddy current testing (ECT) as a surface inspection technique for underwater laser beam welding. An underwater laser beam welding procedure includes groove caving as a preparation, laser beam welding in groove and welding surface grinding as a post treatment. Therefore groove and grinded welding surface inspections are required underwater. We curried out defect detection tests using three kinds of specimens simulated a groove, reactor vessel nozzle dissimilar metal welding materials and a laser beam welding material with a cross coil ECT probe. From experimental results, we confirmed that it is possible to detect 0.3 mm or more depth electro-discharge machining slits on machining surfaces in all specimens and an ECT has possibility as a surface inspection technique for underwater laser beam welding. (author)

  19. Thermal resistance and conductivity of recycled construction and demolition waste (RCDW concrete blocks

    Directory of Open Access Journals (Sweden)

    Ivan Julio Apolonio Callejas

    Full Text Available Abstract In Brazil, studies to reuse construction and demolition waste are a special issue because a large amount of this material has been delivered to the public landfills and in illegal places. Some researchers have suggested reusing this material in building elements, such as bricks or blocks. It is possible to find a lot of researches in physical/mechanical characterization, while little effort has been made to characterize recycled construction and demolition waste blocks (RCDW for their thermal properties. The aim of this work was to characterize the RCDW thermal resistance and conductivity in order to provide subsidies for a building's thermal performance analysis. The hot-box method was adapted, together with measuring techniques with a heat-flow meter to determine the RCDW thermal properties. The results indicated that the RCDW block overall thermal resistance and thermal conductivity in the solid region was within the intervals of 0.33≤RT≤0.41m2KW-1 and 0.60≤l≤0.78Wm-1K-1, respectively. The lower resistance and conductivity values are justified by the presence of aggregate with a lower density and lower thermal conductivity than the natural aggregate.

  20. Preliminary study on enhancing waste management best practice model in Malaysia construction industry

    Science.gov (United States)

    Jamaludin, Amril Hadri; Karim, Nurulzatushima Abdul; Noor, Raja Nor Husna Raja Mohd; Othman, Nurulhidayah; Malik, Sulaiman Abdul

    2017-08-01

    Construction waste management (CWM) is the practice of minimizing and diverting construction waste, demolition debris, and land-clearing debris from disposal and redirecting recyclable resources back into the construction process. Best practice model means best choice from the collection of other practices that was built for purpose of construction waste management. The practice model can help the contractors in minimizing waste before the construction activities will be started. The importance of minimizing wastage will have direct impact on time, cost and quality of a construction project. This paper is focusing on the preliminary study to determine the factors of waste generation in the construction sites and identify the effectiveness of existing construction waste management practice conducted in Malaysia. The paper will also include the preliminary works of planned research location, data collection method, and analysis to be done by using the Analytical Hierarchy Process (AHP) to help in developing suitable waste management best practice model that can be used in the country.

  1. A Survey of Routing Issues and Associated Protocols in Underwater Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Muhammad Khalid

    2017-01-01

    Full Text Available Underwater wireless sensor networks are a newly emerging wireless technology in which small size sensors with limited energy and limited memory and bandwidth are deployed in deep sea water and various monitoring operations like tactical surveillance, environmental monitoring, and data collection are performed through these tiny sensors. Underwater wireless sensor networks are used for the exploration of underwater resources, oceanographic data collection, flood or disaster prevention, tactical surveillance systems, and unmanned underwater vehicles. Sensor nodes consist of a small memory, a central processing unit, and an antenna. Underwater networks are much different from terrestrial sensor networks as radio waves cannot be used in underwater wireless sensor networks. Acoustic channels are used for communication in deep sea water. Acoustic signals have many limitations, such as limited bandwidth, higher end-to-end delay, network path loss, higher propagation delay, and dynamic topology. Usually, these limitations result in higher energy consumption with a smaller number of packets delivered. The main aim nowadays is to operate sensor nodes having a smaller battery for a longer time in the network. This survey has discussed the state-of-the-art localization based and localization-free routing protocols. Routing associated issues in the area of underwater wireless sensor networks have also been discussed.

  2. Evaluation of Underwater Image Enhancement Algorithms under Different Environmental Conditions

    Directory of Open Access Journals (Sweden)

    Marino Mangeruga

    2018-01-01

    Full Text Available Underwater images usually suffer from poor visibility, lack of contrast and colour casting, mainly due to light absorption and scattering. In literature, there are many algorithms aimed to enhance the quality of underwater images through different approaches. Our purpose was to identify an algorithm that performs well in different environmental conditions. We have selected some algorithms from the state of the art and we have employed them to enhance a dataset of images produced in various underwater sites, representing different environmental and illumination conditions. These enhanced images have been evaluated through some quantitative metrics. By analysing the results of these metrics, we tried to understand which of the selected algorithms performed better than the others. Another purpose of our research was to establish if a quantitative metric was enough to judge the behaviour of an underwater image enhancement algorithm. We aim to demonstrate that, even if the metrics can provide an indicative estimation of image quality, they could lead to inconsistent or erroneous evaluations.

  3. A scaled underwater launch system accomplished by stress wave propagation technique

    International Nuclear Information System (INIS)

    Wei Yanpeng; Wang Yiwei; Huang Chenguang; Fang Xin; Duan Zhuping

    2011-01-01

    A scaled underwater launch system based on the stress wave theory and the slip Hopkinson pressure bar (SHPB) technique is developed to study the phenomenon of cavitations and other hydrodynamic features of high-speed submerged bodies. The present system can achieve a transient acceleration in the water instead of long-time acceleration outside the water. The projectile can obtain a maximum speed of 30 m/s in about 200 μs by the SHPB launcher. The cavitation characteristics in the stage of acceleration and deceleration are captured by the high-speed camera. The processes of cavitation inception, development and collapse are also simulated with the business software FLUENT, and the results are in good agreement with experiment. There is about 20-30% energy loss during the launching processes, the mechanism of energy loss is also preliminary investigated by measuring the energy of the incident bar and the projectile. (authors)

  4. Study on underwater plasma arc cutting technology

    International Nuclear Information System (INIS)

    Yada, Toshio; Nakamura, Uhachiro; Tomidokoro, Sakae; Fukuzawa, Mitsuo

    1980-01-01

    The zirconium alloy tube of the impile creep test facility had been subjected to inner pressure in the Japan Material Testing Reactor (JMTR) environment. In the near future, it will be necessary to dismantle the facility and to take out the tube for such examinations as irradiation effects on material properties. In order to establish the dismantling technology for the radioactive facility, a study on underwater plasma arc cutting has been carried out since 1977. Primarily, optimum underwater cutting sequence and conditions were studied in details for developing the remote control handling and the cutting system. Further, the amounts of particles suspended in water as well as those contained in bubbled gas were quantitatively analyzed for developing a safe removal system for contaminants which were produced by cutting the radioactive material. As a result of this study, it has been concluded that the underwater plasma arc cutting method is generally suitable and effective for dismantling such radioactive material as the impile creep test facility of the JMTR. (author)

  5. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  6. Applicability of LCA tool for building materials produced from construction and demolition waste : case of Tanzania

    NARCIS (Netherlands)

    Sabai, M.M.; Egmond - de Wilde De Ligny, van E.L.C.; Cox, M.G.D.M.; Mato, R.R.A.M.; Lichtenberg, J.J.N.

    2009-01-01

    It is estimated that about 10 million tonnes of construction and demolition (C&D) waste is generated annually in Tanzania. This waste is expected to increase even more because of population increases, urbanization, industrialization and commercialization which results in more utilization of natural

  7. Hydrodynamic design of an underwater hull cleaning robot and its evaluation

    Directory of Open Access Journals (Sweden)

    Man Hyung Lee

    2012-12-01

    Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

  8. Monterey Bay ambient noise profiles using underwater gliders

    OpenAIRE

    Chandrayadula, Tarun K.; Miller, Chris W.; Joseph, John

    2013-01-01

    The article of record as published may be found at http://dx.doi.org/10.1121/1.4799131 In 2012, during two separate week-long deployments, underwater gliders outfitted with external hydrophones profiled the upper 100-200 m of the Monterey Bay. The environment contained various noises made by marine mammals, ships, winds, and earthquakes. Unlike hydrophone receivers moored to a fixed location, moving gliders measure noise variability across a wide terrain. However, underwater mobile s...

  9. The FRJ-1 (MERLIN) research reactor: its main activity inventory has been removed by successful demolition of the reactor block; Forschungsreaktor FRJ-1 (MERLIN) - Das Hauptaktivitaetsinventar ist durch erfolgreichen Rueckbau des Reaktorblocks entfernt

    Energy Technology Data Exchange (ETDEWEB)

    Stahn, B.; Printz, R.; Matela, K.; Zehbe, C. [Forschungszentrum Juelich GmbH, Juelich (Germany); Poeppinghaus, J. [Gesellschaft fuer Nuklear-Service mbH, Essen (Germany); Cremer, J. [Siempelkamp Nukleartechnik GmbH, Heidelberg (Germany)

    2004-02-01

    The FRJ-1 (MERLIN) research reactor was decommissioned in 1985 after twenty-three years of operation. Demolition of the plant was begun in 1996. The article contains a survey of the demolition steps carried out so far within the framework of three partial permits. The main activity is the demolition of the reactor core structures as a precondition for subsequent measures to ensure clearance measurements of the building. The core structures are demolished which were exposed to high neutron fluxes during reactor operation and now show the highest activity and dose rate levels, except for the core internals. For demolition and disassembly of the metal structures in this part of the plant, the tools specially designed and made include a remotely operated sawing system and a pipe cutting system for internal segmentation of the beam lines. The universal demolition tool for use also above and beyond the concrete structures has been found to be a remotely controlled electrohydraulic demolition shovel. Spreading contamination in the course of the demolition work was avoided. One major reason for this success was the fact that no major airborne contamination existed at any time as a consequence of the quality of the material demolished and also of the consistent use of technical tools. While the reactor block was being demolished, an application for clearance measurement of the reactor hall and subsequent release from the scope of the Atomic Energy Act was filed as early as in mid-2003. The fourth partial permit covering these activities is expected to be issued in the spring of 2004. (orig.)

  10. Properties of Concrete Paving Blocks and Hollow Tiles with Recycled Aggregate from Construction and Demolition Wastes

    Directory of Open Access Journals (Sweden)

    Carlos Rodríguez

    2017-11-01

    Full Text Available In recent years there has been an increasing tendency to recycle the wastes generated by building companies in the construction industry, demolition wastes being the most important in terms of volume. The aim of this work is to study the possibility of using recycled aggregates from construction and demolition wastes in the preparation of precast non-structural concretes. To that purpose, two different percentages (15% and 30% of natural aggregates were substituted by recycled aggregates in the manufacture of paving blocks and hollow tiles. Dosages used by the company have not been changed by the introduction of recycled aggregate. Precast elements have been tested by means of compressive and flexural strength, water absorption, density, abrasion, and slipping resistance. The results obtained show the possibility of using these wastes at an industrial scale, satisfying the requirements of the Spanish standards for these elements.

  11. Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

    Directory of Open Access Journals (Sweden)

    Nasir Saeed

    2017-12-01

    Full Text Available Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB is derived for localization accuracy of the proposed technique.

  12. Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization.

    Science.gov (United States)

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y; Alouini, Mohamed-Slim

    2017-12-26

    Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

  13. Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

    KAUST Repository

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2017-01-01

    Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

  14. Energy Harvesting Hybrid Acoustic-Optical Underwater Wireless Sensor Networks Localization

    KAUST Repository

    Saeed, Nasir

    2017-12-26

    Underwater wireless technologies demand to transmit at higher data rate for ocean exploration. Currently, large coverage is achieved by acoustic sensor networks with low data rate, high cost, high latency, high power consumption, and negative impact on marine mammals. Meanwhile, optical communication for underwater networks has the advantage of the higher data rate albeit for limited communication distances. Moreover, energy consumption is another major problem for underwater sensor networks, due to limited battery power and difficulty in replacing or recharging the battery of a sensor node. The ultimate solution to this problem is to add energy harvesting capability to the acoustic-optical sensor nodes. Localization of underwater sensor networks is of utmost importance because the data collected from underwater sensor nodes is useful only if the location of the nodes is known. Therefore, a novel localization technique for energy harvesting hybrid acoustic-optical underwater wireless sensor networks (AO-UWSNs) is proposed. AO-UWSN employs optical communication for higher data rate at a short transmission distance and employs acoustic communication for low data rate and long transmission distance. A hybrid received signal strength (RSS) based localization technique is proposed to localize the nodes in AO-UWSNs. The proposed technique combines the noisy RSS based measurements from acoustic communication and optical communication and estimates the final locations of acoustic-optical sensor nodes. A weighted multiple observations paradigm is proposed for hybrid estimated distances to suppress the noisy observations and give more importance to the accurate observations. Furthermore, the closed form solution for Cramer-Rao lower bound (CRLB) is derived for localization accuracy of the proposed technique.

  15. Cutting method and device underwater

    International Nuclear Information System (INIS)

    Takano, Genta; Kamei, Hiromasa; Beppu, Seiji

    1998-01-01

    A place of material to be cut is surrounded by an openable/closable box. The material to be cut is cut underwater, and materials generated in this case are removed from the cut portion by a pressurized water jet. The removed materials are sucked and recovered together with water in the box. Among the materials caused by the cutting underwater, solid materials not floating on water are caused to stay in the midway of a sucking and recovering channel. A large sucking force might be required for the entire region of the sucking and recovering channel when sucking and recovering large sized solid materials not floating on water, but even large sized materials can be recovered easily according to the present invention since they are recovered after being sucked and stayed in the midway of the sucking and recovering channel. (N.H.)

  16. Underwater Optical Wireless Communications, Networking, and Localization: A Survey

    KAUST Repository

    Saeed, Nasir; Celik, Abdulkadir; Al-Naffouri, Tareq Y.; Alouini, Mohamed-Slim

    2018-01-01

    Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

  17. Underwater Optical Wireless Communications, Networking, and Localization: A Survey

    KAUST Repository

    Saeed, Nasir

    2018-02-28

    Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves. Compared to its bandwidth limited acoustic and RF counterparts, underwater optical wireless communications (UOWCs) can support higher data rates at low latency levels. However, severe aquatic channel conditions (e.g., absorption, scattering, turbulence, etc.) pose great challenges for UOWCs and significantly reduce the attainable communication ranges, which necessitates efficient networking and localization solutions. Therefore, we provide a comprehensive survey on the challenges, advances, and prospects of underwater optical wireless networks (UOWNs) from a layer by layer perspective which includes: 1) Potential network architectures; 2) Physical layer issues including propagation characteristics, channel modeling, and modulation techniques 3) Data link layer problems covering link configurations, link budgets, performance metrics, and multiple access schemes; 4) Network layer topics containing relaying techniques and potential routing algorithms; 5) Transport layer subjects such as connectivity, reliability, flow and congestion control; 6) Application layer goals and state-of-the-art UOWN applications, and 7) Localization and its impacts on UOWN layers. Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.

  18. A thermal engine for underwater glider driven by ocean thermal energy

    International Nuclear Information System (INIS)

    Yang, Yanan; Wang, Yanhui; Ma, Zhesong; Wang, Shuxin

    2016-01-01

    Highlights: • Thermal engine with a double-tube structure is developed for underwater glider. • Isostatic pressing technology is effective to increase volumetric change rate. • Actual volumetric change rate reaches 89.2% of the theoretical value. • Long term sailing of 677 km and 27 days is achieved by thermal underwater glider. - Graphical Abstract: - Abstract: Underwater glider is one of the most popular platforms for long term ocean observation. Underwater glider driven by ocean thermal energy extends the duration and range of underwater glider powered by battery. Thermal engine is the core device of underwater glider to harvest ocean thermal energy. In this paper, (1) model of thermal engine was raised by thermodynamics method and the performance of thermal engine was investigated, (2) thermal engine with a double-tube structure was developed and isostatic pressing technology was applied to improve the performance for buoyancy driven, referencing powder pressing theory, (3) wall thickness of thermal engine was optimized to reduce the overall weight of thermal engine, (4) material selection and dimension determination were discussed for a faster heat transfer design, by thermal resistance analysis, (5) laboratory test and long term sea trail were carried out to test the performance of thermal engine. The study shows that volumetric change rate is the most important indicator to evaluating buoyancy-driven performance of a thermal engine, isostatic pressing technology is effective to improve volumetric change rate, actual volumetric change rate can reach 89.2% of the theoretical value and the average power is about 124 W in a typical diving profile. Thermal engine developed by Tianjin University is a superior thermal energy conversion device for underwater glider. Additionally, application of thermal engine provides a new solution for miniaturization of ocean thermal energy conversion.

  19. Summary of the guideline on underwater laser beam repair welding

    International Nuclear Information System (INIS)

    Ichikawa, Hiroya; Yoda, Masaki; Motora, Yuichi

    2013-01-01

    It is known that stress corrosion cracking (SCC) might occur at the weld of a reactor pressure vessel or core internals. Underwater laser beam clad welding for mitigation of SCC has been already established and the guideline 'Underwater laser beam clad welding' was published. Moreover, the guideline 'Seal welding' was also published as a repair method for SCC. In addition to these guidelines, the guideline 'Underwater laser beam repair welding' was newly published in November, 2012 for the repair welding after completely removing a SCC crack occurred in weld or base metal. This paper introduces the summary of this guideline. (author)

  20. ROV-based Underwater Vision System for Intelligent Fish Ethology Research

    Directory of Open Access Journals (Sweden)

    Rui Nian

    2013-09-01

    Full Text Available Fish ethology is a prospective discipline for ocean surveys. In this paper, one ROV-based system is established to perform underwater visual tasks with customized optical sensors installed. One image quality enhancement method is first presented in the context of creating underwater imaging models combined with homomorphic filtering and wavelet decomposition. The underwater vision system can further detect and track swimming fish from the resulting images with the strategies developed using curve evolution and particular filtering, in order to obtain a deeper understanding of fish behaviours. The simulation results have shown the excellent performance of the developed scheme, in regard to both robustness and effectiveness.

  1. Application of YAG laser processing in underwater welding and cutting

    Energy Technology Data Exchange (ETDEWEB)

    Ohwaki, Katsura; Morita, Ichiro; Kojima, Toshio; Sato, Shuichi [Ishikawajima-Harima Heavy Industries Co. Ltd., Tokyo (Japan)

    2002-09-01

    The high-power YAG laser is a new fabrication tool. The laser torch is easy to combine with complex with complex mechanics because of beam delivery through optical fiber. A direct underwater laser welding technology has been developed and applied to the preservation, maintenance and removal of nuclear power plants. For subdividing or removing operations for retirement of plants, the laser cutting properties were confirmed to allow a maximum cutting thickness of 80 mm. For repairing inner surface of stainless steel tanks, an underwater laser welding system using a remote-controlled robot was developed and the high quality of underwater laser welding was confirmed. (author)

  2. Investigation of combined effect of mixture variables on mechanical properties of cement treated demolition waste

    NARCIS (Netherlands)

    Xuan, D.; Houben, L.J.M.; Molenaar, A.A.A.; Shui, Z.

    2012-01-01

    One of high efficient ways to reuse the recycled construction and demolition waste (CDW) is to consider it as a road base material. The recycled CDW however is mainly a mix of recycled masonry and concrete with a wide variation in composition. This results that the mechanical properties of cement

  3. Optimum LED wavelength for underwater optical wireless communication at turbid water

    Science.gov (United States)

    Rosenkrantz, Etai; Arnon, Shlomi

    2014-10-01

    Underwater optical wireless communication is an emerging technology, which can provide high data rate. High data rate communication is required for applications such as underwater imaging, networks of sensors and swarms of underwater vehicles. These applications pursue an affordable light source, which can be obtained by light emitting diodes (LED). LEDs offer solutions characterized by low cost, high efficiency, reliability and compactness based on off-the-shelf components such as blue and green light emitting diodes. In this paper we present our recent theoretical and experimental results in this field.

  4. Sampling and Analysis Instruction for the Demolition of the Masonry Block for the 108-F Biological Laboratory

    International Nuclear Information System (INIS)

    Byrnes, M. E.

    1999-01-01

    This sampling and analysis instruction (SAI) has been prepared to clearly define the sampling and analysis activities to be performed in support of the demolition and disposition (or disposal) of the 108-F Biological Laboratory masonry block walls

  5. Underwater videography and photography in Gulf of Kachchh. Sponsored by Gujarat Ecological Society, Vadodara, Gujarat

    Digital Repository Service at National Institute of Oceanography (India)

    Marine Archaeology Centre (MAC) has been carrying out underwater explorations and excavations of ancient ports and sunken shipwrecks to preserve underwater cultural heritage. MAC has the infrastructure facility to carry out underwater investigations...

  6. Underwater nuclear power plant structure

    International Nuclear Information System (INIS)

    Severs, S.; Toll, H.V.

    1982-01-01

    A structure for an underwater nuclear power generating plant comprising a triangular platform formed of tubular leg and truss members upon which are attached one or more large spherical pressure vessels and one or more small cylindrical auxiliary pressure vessels. (author)

  7. Analysing deterioration of marble stones exposed to underwater conditions

    Science.gov (United States)

    Cámara, Beatriz; Álvarez de Buergo, Mónica; Bethencourt, Manuel; Freire-Lista, David; Fort, Rafael

    2016-04-01

    The peculiar conditions of the marine environment make the conservation of underwater archaeological sites an extremely complex procedure. This is due to the fact that the prevailing conditions in this environment promote the development of deterioration phenomena in submerged artefacts through the synergistic action of physical, chemical and biological factors. The objective of the present investigation was to determine how petrophysical properties of cultural heritage materials can be affected by being exposed to the specific underwater conditions of the sea bottom, and so, to evaluate how this can affect, in a long term, in their durability and evolution when they part of an archaeological site. For this purpose, two types of marble (the Italian Carrara and the Spanish Macael) were subjected to an experiment consisting of exposing stone materials for one and a half year to underwater conditions. The experimental test was located in an archaeological site in the Bay of Cadiz (southern Spain), Bajo del Chapitel (recognized as Cultural Interest), which includes remains of shipwrecks from different periods. In this site, samples were submerged to 12 m depth and placed in the sea bottom simulating the different positions in which underwater archaeological objects can be found (fully exposed, half buried and covered). Petrophysical characterisation involved determination of the apparent and bulk densities, water saturation (maximum water content a material may contain), open porosity (porosity accessible to water), chromatic parameters and ultrasonic velocity. Before measuring, samples were subjected to mechanical cleaning (in those samples with biological colonization) and to removal of salt deposits. Results showed significant differences in these petrophysical properties after underwater submersion, which were directly related to the type of underwater exposure condition. Comparative analysis of petrophysical properties, like the one conducted in this study

  8. Preliminary plan for decommissioning - repository for spent nuclear fuel; Preliminaer plan foer avveckling - slutfoervar foer anvaent kaernbraensle

    Energy Technology Data Exchange (ETDEWEB)

    Hallberg, Bengt; Tiberg, Liselotte (Studsvik Nuclear AB, Nykoeping (Sweden))

    2010-06-15

    The final disposal facility for spent nuclear fuel is part of the KBS-3 system, which also consists of a central facility for interim storage and encapsulation of the spent nuclear fuel and a transport system. The nuclear fuel repository will be a nuclear facility. Regulation SSMFS 2008:1 (Swedish Radiation Safety Authority's regulations on safety of nuclear facilities) requires that the licensee must have a current decommissioning plan throughout the facility lifecycle. Before the facility is constructed, a preliminary decommissioning plan should be reported to the Swedish Radiation Safety Authority. This document is a preliminary decommissioning plan, and submitted as an attachment to SKB's application for a license under the Nuclear Activities Act to construct, own and operate the facility. The final disposal facility for spent nuclear fuel consists of an above ground part and a below ground part and will be built near Forsmark and the final repository for radioactive operational waste, SFR. The parts above and below ground are connected by a ramp and several shafts, e.g. for ventilation. The below ground part consists of a central area, and several landfill sites. The latter form the repository area. The sealed below ground part constitutes the final repository. The decommissioning is taking place after the main operation has ended, that is, when all spent nuclear fuel has been deposited and the deposition tunnels have been backfilled and plugged. The decommissioning involves sealing of the remaining parts of the below ground part and demolition of above ground part. When decommissioning begins, there will be no contamination in the facility. The demolition is therefore performed as for a conventional plant. Demolition waste is sorted and recycled whenever possible or placed in landfill. Hazardous waste is managed in accordance with current regulations. A ground investigation is performed and is the basis for after-treatment of the site. The timetable

  9. FILMING UNDERWATER IN 3D RESPECTING STEREOGRAPHIC RULES

    OpenAIRE

    R. Rinaldi; H. Hordosch

    2015-01-01

    After an experimental phase of many years, 3D filming is now effective and successful. Improvements are still possible, but the film industry achieved memorable success on 3D movie’s box offices due to the overall quality of its products. Special environments such as space ("Gravity") and the underwater realm look perfect to be reproduced in 3D. "Filming in space" was possible in "Gravity" using special effects and computer graphic. The underwater realm is still difficult to be handled. Under...

  10. Development of underwater and hyperbaric medicine in Malaysia.

    Science.gov (United States)

    Rozali, A; Rampal, K G; Zin, B Mohd; Sherina, M S; Khairuddin, H; Abd Halim, M; Sulaiman, A

    2006-12-01

    Underwater and Hyperbaric Medicine is a treatment modality gaining recognition in Malaysia. It uses the hyperbaric oxygen therapy (HBOT) approach where patients are placed in recompression chambers and subjected to oxygen therapy under pressure. In Malaysia it was introduced as early as the 1960's by the Royal Malaysian Navy to treat their divers for decompression illness (DCI), arterial gas embolism (AGE) and barotraumas. Other sectors in the armed forces, universities and private health centres began developing this approach too in the late 1990's, for similar purposes. In 1996, Underwater and Hyperbaric Medicine began gaining its popularity when the Institute of Underwater and Hyperbaric Medicine at the Armed Forces Hospital in Lumut started treating specific clinical diseases such as diabetic foot ulcers, osteomyelitis, and carbon monoxide poisoning and other diseases using HBOT. This paper discusses the development of this interesting treatment modality, giving a brief historical overview to its current development, as well as provides some thought for its future development in Malaysia.

  11. Optimal Node Placement in Underwater Wireless Sensor Networks

    KAUST Repository

    Felamban, M.

    2013-03-25

    Wireless Sensor Networks (WSN) are expected to play a vital role in the exploration and monitoring of underwater areas which are not easily reachable by humans. However, underwater communication via acoustic waves is subject to several performance limitations that are very different from those used for terresstrial networks. In this paper, we investigate node placement for building an initial underwater WSN infrastructure. We formulate this problem as a nonlinear mathematical program with the objective of minimizing the total transmission loss under a given number of sensor nodes and targeted coverage volume. The obtained solution is the location of each node represented via a truncated octahedron to fill out the 3D space. Experiments are conducted to verify the proposed formulation, which is solved using Matlab optimization tool. Simulation is also conducted using an ns-3 simulator, and the simulation results are consistent with the obtained results from mathematical model with less than 10% error.

  12. Actuated Recoil Absorbing Mounting System for use with an Underwater Gun

    Science.gov (United States)

    1998-03-31

    fire supercavitating bullets, requires that 20 the new projectile launchers be tested. The firing of projectile 21 launchers involving a high...of projectile launcher 12 includes an underwater gun 15 that fires supercavitating bullets underwater and has a high 16 discharge energy. However

  13. Strong underwater adhesives made by self-assembling multi-protein nanofibres.

    Science.gov (United States)

    Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M; Lu, Timothy K

    2014-10-01

    Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly and structure-function relationships of these natural amyloid fibres remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibres. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibres have an underwater adhesion energy approaching 20.9 mJ m(-2), which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibres taken on their own and exhibit better tolerance to auto-oxidation than Mfps at pH ≥ 7.0.

  14. Construction and demolition waste: Comparison of standard up-flow column and down-flow lysimeter leaching tests

    DEFF Research Database (Denmark)

    Butera, Stefania; Hyks, Jiri; Christensen, Thomas Højlund

    2015-01-01

    Five samples of construction and demolition waste (C&DW) were investigated in order to quantify leaching of inorganic elements under percolation conditions according to two different experimental setups: standardised up-flow saturated columns (-1TS) for Al, As, Ba, Cd, Cu, DOC, Mg, Mn, Ni, P, Pb...

  15. On the Performance of the Underwater Acoustic Sensor Networks

    Science.gov (United States)

    2015-05-01

    performance of UWSN. 5.1 Hardware and Software Details 5.1.1 Equipment Our experimental model consisted of an indoor swimming pool , two pairs...UWSN has many constraints mainly due to limited capacity, propagation loss, as well as power limitation since in underwater environment solar energy ...since in underwater environment solar energy cannot be used to recharge batteries. In our approach, we estimate the number of operating receivers

  16. International Conference on Underwater Environment

    CERN Document Server

    Jaulin, Luc; Creuze, Vincent; Debese, Nathalie; Quidu, Isabelle; Clement, Benoît; Billon-Coat, Annick

    2016-01-01

    This volume constitutes the results of the International Conference on Underwater Environment, MOQESM’14, held at “Le Quartz” Conference Center in Brest, France, on October 14-15, 2014, within the framework of the 9th Sea Tech Week, International Marine Science and Technology Event. The objective of MOQESM'14 was to bring together researchers from both academia and industry, interested in marine robotics and hydrography with application to the coastal environment mapping and underwater infrastructures surveys. The common thread of the conference is the combination of technical control, perception, and localization, typically used in robotics, with the methods of mapping and bathymetry. The papers presented in this book focus on two main topics. Firstly, coastal and infrastructure mapping is addressed, focusing not only on hydrographic systems, but also on positioning systems, bathymetry, and remote sensing. The proposed methods rely on acoustic sensors such as side scan sonars, multibeam echo sounders, ...

  17. A novel underwater dam crack detection and classification approach based on sonar images.

    Science.gov (United States)

    Shi, Pengfei; Fan, Xinnan; Ni, Jianjun; Khan, Zubair; Li, Min

    2017-01-01

    Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

  18. A novel underwater dam crack detection and classification approach based on sonar images.

    Directory of Open Access Journals (Sweden)

    Pengfei Shi

    Full Text Available Underwater dam crack detection and classification based on sonar images is a challenging task because underwater environments are complex and because cracks are quite random and diverse in nature. Furthermore, obtainable sonar images are of low resolution. To address these problems, a novel underwater dam crack detection and classification approach based on sonar imagery is proposed. First, the sonar images are divided into image blocks. Second, a clustering analysis of a 3-D feature space is used to obtain the crack fragments. Third, the crack fragments are connected using an improved tensor voting method. Fourth, a minimum spanning tree is used to obtain the crack curve. Finally, an improved evidence theory combined with fuzzy rule reasoning is proposed to classify the cracks. Experimental results show that the proposed approach is able to detect underwater dam cracks and classify them accurately and effectively under complex underwater environments.

  19. Underwater electric field detection system based on weakly electric fish

    Science.gov (United States)

    Xue, Wei; Wang, Tianyu; Wang, Qi

    2018-04-01

    Weakly electric fish sense their surroundings in complete darkness by their active electric field detection system. However, due to the insufficient detection capacity of the electric field, the detection distance is not enough, and the detection accuracy is not high. In this paper, a method of underwater detection based on rotating current field theory is proposed to improve the performance of underwater electric field detection system. First of all, we built underwater detection system based on the theory of the spin current field mathematical model with the help of the results of previous researchers. Then we completed the principle prototype and finished the metal objects in the water environment detection experiments, laid the foundation for the further experiments.

  20. An Estimation of Construction and Demolition Debris in Seoul, Korea: Waste Amount, Type, and Estimating Model.

    Science.gov (United States)

    Seo, Seongwon; Hwang, Yongwoo

    1999-08-01

    Construction and demolition (C&D) debris is generated at the site of various construction activities. However, the amount of the debris is usually so large that it is necessary to estimate the amount of C&D debris as accurately as possible for effective waste management and control in urban areas. In this paper, an effective estimation method using a statistical model was proposed. The estimation process was composed of five steps: estimation of the life span of buildings; estimation of the floor area of buildings to be constructed and demolished; calculation of individual intensity units of C&D debris; and estimation of the future C&D debris production. This method was also applied in the city of Seoul as an actual case, and the estimated amount of C&D debris in Seoul in 2021 was approximately 24 million tons. Of this total amount, 98% was generated by demolition, and the main components of debris were concrete and brick.

  1. Airborne lidar detection of an underwater thermal vent

    Science.gov (United States)

    Roddewig, Michael R.; Churnside, James H.; Shaw, Joseph A.

    2017-07-01

    We report the lidar detection of an underwater feature that appears to be a thermal vent in Yellowstone Lake, Yellowstone National Park, USA, with the Montana State University Fish Lidar. The location of the detected vent was 30 m from the closest vent identified in a United States Geological Survey of Yellowstone Lake in 2008. A second possible vent is also presented, and the appearance of both vents in the lidar data is compared to descriptions of underwater thermal vents in Yellowstone Lake from the geological literature.

  2. Underwater Shock Response Analysis of a Floating Vessel

    Directory of Open Access Journals (Sweden)

    J.E. van Aanhold

    1998-01-01

    Full Text Available The response of a surface vessel to underwater shock has been calculated using an explicit finite element analysis. The analysis model is two-dimensional and contains the floating steel structure, a large surrounding water volume and the free surface. The underwater shock is applied in the form of a plane shock wave and cavitation is considered in the analysis. Advanced computer graphics, in particular video animations, provide a powerful and indispensable means for the presentation and evaluation of the analysis results.

  3. Reconstruction Accuracy Assessment of Surface and Underwater 3D Motion Analysis: A New Approach

    Directory of Open Access Journals (Sweden)

    Kelly de Jesus

    2015-01-01

    Full Text Available This study assessed accuracy of surface and underwater 3D reconstruction of a calibration volume with and without homography. A calibration volume (6000 × 2000 × 2500 mm with 236 markers (64 above and 88 underwater control points—with 8 common points at water surface—and 92 validation points was positioned on a 25 m swimming pool and recorded with two surface and four underwater cameras. Planar homography estimation for each calibration plane was computed to perform image rectification. Direct linear transformation algorithm for 3D reconstruction was applied, using 1600000 different combinations of 32 and 44 points out of the 64 and 88 control points for surface and underwater markers (resp.. Root Mean Square (RMS error with homography of control and validations points was lower than without it for surface and underwater cameras (P≤0.03. With homography, RMS errors of control and validation points were similar between surface and underwater cameras (P≥0.47. Without homography, RMS error of control points was greater for underwater than surface cameras (P≤0.04 and the opposite was observed for validation points (P≤0.04. It is recommended that future studies using 3D reconstruction should include homography to improve swimming movement analysis accuracy.

  4. An energy-harvesting power supply for underwater bridge scour monitoring sensors

    Science.gov (United States)

    Wang, Yuli; Li, Yingjie; He, Longzhuang; Shamsi, Pourya; Zheng, Yahong R.

    2018-03-01

    The natural force of scouring has become one of the most critical risk endangering the endurance of bridges, thus leading to the necessity of deploying underwater monitoring sensors to actively detect potential scour holes under bridges. Due to the difficulty in re-charging batteries for underwater sensors, super capacitors with energy harvesting (EH) means are exploited to prolong the sustainability of underwater sensors. In this paper, an energy harvesting power supply based on a helical turbine is proposed to power underwater monitoring sensors. A small helical turbine is designed to convert water flow energy to electrical energy with favorable environmental robustness. A 3-inch diameter, 2.5-inch length and 3-bladed helical turbine was designed with two types of waterproof coupling with the sensor housing. Both designs were prototyped and tested under different flow conditions and we get valid voltage around 0.91 V which is enough to power monitoring sensor. The alternating current (AC) electrical energy generated by the helical turbine is then rectified and boosted to drive a DC charger for efficiently charging one super capacitor. The charging circuit was designed, prototyped and tested thoroughly with the helical turbine harvester. The results were promising, that the overall power supply can power an underwater sensor node with wireless transceivers for long-term operations

  5. The Basic Research for Pulverization of Rice Using Underwater Shock Wave by Electric Discharge

    Directory of Open Access Journals (Sweden)

    M Ide

    2016-09-01

    Full Text Available In recent years, the food self-support rate of Japan is 40%, and this value is the lowest level in major developed countries. This reason includes decreasing of diverting rice consumption in Japan and increasing abandonment of cultivation. Therefore, these problems are solved by using rice powder instead of expensive flour, and we manage to increase the food selfsupport rate. Previously, the rice powder is manufactured by two methods. One is dry type, and the other is wet type. The former is the method getting rice powder by running dried rice to rotating metal, and has a problem which that starch is damaged by heat when processing was performed. The latter is performed same method against wet rice, and has a problem which a large quantity of water is used. As a method to solve these problems, an underwater shock wave is used. Shock wave is the pressure wave which is over speed of sound by discharging high energy in short time. Propagating shock wave in water is underwater shock wave. The characters of underwater shock wave are long duration of shock wave because water density is uniform, water is low price and easy to get and not heat processing. Thinking of industrialization, the electric discharge is used as the generating source of underwater shock wave in the experiment. As the results, the efficiency of obtaining enough grain size, 100ìm, of rice powder was too bad only using the simple processing using underwater shock wave. Therefore, in Okinawa National College of Technology collaborating with us, obtaining rice powder with higher efficiency by using converged underwater shock wave is the goal of this research. In this research, the underwater shock wave with equal energy of the experimental device of underwater shock wave is measured by the optical observation. In addition, the appearance converging underwater shock wave is simulated by numerical analysis, and the pressure appreciation rate between the first wave and converged

  6. Study on the blasting demolition of steel construction. Part 2. Demolition work of steel tower; Tekkotsu kozobutsu no bakuha kaitai ni kansuru kenkyu. 2. Koro yagura happa kaitai koji

    Energy Technology Data Exchange (ETDEWEB)

    Ogata, Y.; Wada, Y.; Katsuyama, K. [National Institute for Resources and Environment, Tsukuba (Japan); Nishida, T.; Hoshino, M.; Nagano, M. [Kacoh Co. Ltd., Tokyo (Japan)

    1997-06-30

    This paper describes the blasting demolition of steel tower of iron works. The steel tower had four columns, and its dimension was 17 mtimes17 m in cross section and 77.6 m height. The total weight was about 1,724 t. The 18.4 kg V-type linear shaped charge was fixed around columns with box weld structures, and initiated using 16 seismograph electric detonators. Vibration and noise were measured during blasting and collapse of the tower. In the both case, the vibration levels were between 67 and 71 dB, which were low and under 75 dB, the standard level during specific construction works of the regulation act of vibration. The noise level was 120 dB(A) at the point 200 m away from the blasting source, which was over 85 dB(A), the standard level. The collapse process of steel tower was simulated using discontinuous deformation analysis. The results agreed well with those from the actual collapse. The steel tower landed about 6 seconds after the initiation, and it took about 15 seconds to complete the collapse. Before the demolition, the 6 t parts of forefeet of two columns in the collapse direction were cut and removed by blasting. Thus, the collapse was controlled in the given direction. 5 refs., 13 figs., 2 tabs.

  7. Composition and leaching of construction and demolition waste: inorganic elements and organic compounds.

    Science.gov (United States)

    Butera, Stefania; Christensen, Thomas H; Astrup, Thomas F

    2014-07-15

    Thirty-three samples of construction and demolition waste collected at 11 recycling facilities in Denmark were characterised in terms of total content and leaching of inorganic elements and presence of the persistent organic pollutants PCBs and PAHs. Samples included (i) "clean" (i.e. unmixed) concrete waste, (ii) mixed masonry and concrete, (iii) asphalt and (iv) freshly cast concrete cores; both old and newly generated construction and demolition waste was included. PCBs and PAHs were detected in all samples, generally in non-critical concentrations. Overall, PAHs were comparable to background levels in urban environments. "Old" and "new" concrete samples indicated different PCB congener profiles and the presence of PCB even in new concrete suggested that background levels in raw materials may be an issue. Significant variability in total content of trace elements, even more pronounced for leaching, was observed indicating that the number of analysed samples may be critical in relation to decisions regarding management and utilisation of the materials. Higher leaching of chromium, sulphate and chloride were observed for masonry-containing and partly carbonated samples, indicating that source segregation and management practices may be important. Generally, leaching was in compliance with available leaching limits, except for selenium, and in some cases chromium, sulphate and antimony. Copyright © 2014 Elsevier B.V. All rights reserved.

  8. DEMOLISHING A COLD-WAR-ERA FULE-STORAGE BASIN SUPERSTRUCTURE LADEN WITH ASBESTOS

    International Nuclear Information System (INIS)

    LLOYD, E.R.; STEVENS, J.M.; DAGAN, E.B.; ORGILL, T.K.; GREEN, M.A.; LARSON, C.H.; ZINSLI, L.C.

    2009-01-01

    The K East (KE) Basin facilities are located near the north end of the Hanford Site's 100 K area. The facilities were built in 1950 as part of the KE Reactor complex and constructed within 400 meters of the Columbia River, which is the largest river in the Pacific Northwest and by volume the fourth largest river in the United States. The basin, located adjacent to the reactor, was used for the underwater storage of irradiated nuclear fuel discharged from the reactor. The basin was covered by a superstructure comprising steel columns and beams, concrete, and cement asbestos board (CAB) siding. The project's mission was to complete demolition of the structure over the KE Basin within six months of turnover from facility deactivation activities. The demolition project team applied open-air demolition techniques to bring the facility to slab-on-grade. Several innovative techniques were used to control contamination and maintain contamination control within the confines of the demolition exclusion zone. The techniques, which focused on a defense-in-depth approach, included spraying fixatives on interior and exterior surfaces before demolition began; applying fixatives during the demolition; misting using a fine spray of water during demolition; and demolishing the facility systematically. Another innovative approach that made demolition easier was to demolish the building with the non-friable CAB remaining in place. The CAB siding covered the exterior of the building and portions of the interior walls, and was an integral part of the multiple-layered roof. The project evaluated the risks involved in removing the CAB material in a radiologically contaminated environment and determined that radiological dose rates and exposure to radiological contamination and industrial hazards would be significantly reduced by using heavy equipment to remove the CAB during demolition. The ability to perform this demolition safely and without spreading contamination (radiological or

  9. A Quantum Non-Demolition Parity measurement in a mixed-species trapped-ion quantum processor

    Science.gov (United States)

    Marinelli, Matteo; Negnevitsky, Vlad; Lo, Hsiang-Yu; Flühmann, Christa; Mehta, Karan; Home, Jonathan

    2017-04-01

    Quantum non-demolition measurements of multi-qubit systems are an important tool in quantum information processing, in particular for syndrome extraction in quantum error correction. We have recently demonstrated a protocol for quantum non-demolition measurement of the parity of two beryllium ions by detection of a co-trapped calcium ion. The measurement requires a sequence of quantum gates between the three ions, using mixed-species gates between beryllium hyperfine qubits and a calcium optical qubit. Our work takes place in a multi-zone segmented trap setup in which we have demonstrated high fidelity control of both species and multi-well ion shuttling. The advantage of using two species of ion is that we can individually manipulate and read out the state of each ion species without disturbing the internal state of the other. The methods demonstrated here can be used for quantum error correcting codes as well as quantum metrology and are key ingredients for realizing a hybrid universal quantum computer based on trapped ions. Mixed-species control may also enable the investigation of new avenues in quantum simulation and quantum state control. left the group and working in a company now.

  10. The Theseus Autonomous Underwater Vehicle: A Canadian Success Story

    Science.gov (United States)

    1997-04-01

    P502414.PDF [Page: 1 of 9] P502414.PDF [Page: 2 of 9] P502414.PDF [Page: 3 of 9] The Theseus Autonomous Underwater Vehicle A Canadian Success Story...autonomous underwater vehicle, named Theseus , for laying optical fiber cables in ice- covered waters. In trials and missions conducted in 1996, this...stations. An acoustic telemetry system enables communication with Theseus from surface stations, and an optical telemetry system is used for system

  11. Coordinated Formation Control of Multiple Autonomous Underwater Vehicles for Pipeline Inspection

    Directory of Open Access Journals (Sweden)

    Xianbo Xiang

    2010-02-01

    Full Text Available This paper addresses the control problem of inspecting underwater pipeline on the seabed, with coordinated multiple autonomous underwater vehicles in a formation. Based on the leader-follower strategy, the dedicated nonlinear path following controller is rigorously built on Lyapunov-based design, driving a fleet of vehicles onto assigned parallel paths elevated and offset from the underwater pipeline, while keeping a triangle formation to capture complete 3D images for inspection. Due to the spatial-temporal decoupling characteristics of individual path following controller, the velocities of the followers can be adapted in the coordinated control level, only relying on the information of generalized along-path length from the leader, in order to build the desired formation. Thus, the communication variable broadcast from the leader is kept to a minimum, which is feasible under the severely constraints of acoustic communication bandwidth. Simulation results illustrate the efficiency of coordinated formation controller proposed for underwater pipeline inspection.

  12. Underwater Welding Techniques

    OpenAIRE

    Esam F. Alajmi; Ahmad A. Alqenaei

    2017-01-01

    Welding demand in offshore and marine applications is increased with the increasing in oil and gas activities as well as increasing in the marine transportation and industrial applications. Applications of underwater welding well be increased in Kuwait in the coming years due to the strategic directive of the country toward starting the offshore oil and gas exploration and production, and the increase in marine transportation projects. Therefore, there is a need to understand the concept of u...

  13. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  14. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-01-01

    design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current

  15. The key kinematic determinants of undulatory underwater swimming at maximal velocity.

    Science.gov (United States)

    Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

    2016-01-01

    The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

  16. Experimental Measurements of Temporal Dispersion for Underwater Laser Communications and Imaging

    Science.gov (United States)

    Cochenour, Brandon Michael

    The challenge in implementing optical sensors underwater lies in the high variability of the ocean environment where propagation of light in the ocean is complicated by absorption and scattering. Most underwater optical sensors operate in the blue/green portion of the electromagnetic spectrum where seawater exhibits an absorption minimum. Mitigating scattering however is a greater challenge. In particular, scattering causes both spatial distortion (beam spreading) and temporal dispersion (pulse spreading or distortion). Each of type of dispersion decreases sensor performance (operating range, image resolution, data bandwidth, etc.). While spatial dispersion has received a great deal of attention in previous decades, technological limitations of sensor hardware have made experimental measurements of temporal dispersion underwater difficult until now. The main contribution of this thesis are experimental measurements of temporal dispersion of optical beams in turbid water, made with a high sensitivity/high dynamic range experimental technique. Measurements are performed as a function of water clarity (0-20 attenuation lengths), transmitter/receiver alignment (0-30 degrees, half angle), receiver field of view (1-7 degrees, full angle), and transmitter beam divergence (collimated and diffuse). Special attention is paid to the interdependency between spatial and temporal dispersion. This work provides severable notable contributions: 1. While experimental characterization of spatial dispersion has received significant attention underwater, there has been a lack of measurements characterizing temporal dispersion underwater. This work provides the most comprehensive set of experimental measurements to date regarding the temporal dispersion of optical beams underwater. 2. An experimental analysis of the influence of scattering phase function on temporal dispersion. Coarse estimates of the scattering phase function are used to determine the ranges (or attenuation lengths

  17. Typical Underwater Tunnels in the Mainland of China and Related Tunneling Technologies

    Directory of Open Access Journals (Sweden)

    Kairong Hong

    2017-12-01

    Full Text Available In the past decades, many underwater tunnels have been constructed in the mainland of China, and great progress has been made in related tunneling technologies. This paper presents the history and state of the art of underwater tunnels in the mainland of China in terms of shield-bored tunnels, drill-and-blast tunnels, and immersed tunnels. Typical underwater tunnels of these types in the mainland of China are described, along with innovative technologies regarding comprehensive geological prediction, grouting-based consolidation, the design and construction of large cross-sectional tunnels with shallow cover in weak strata, cutting tool replacement under limited drainage and reduced pressure conditions, the detection and treatment of boulders, the construction of underwater tunnels in areas with high seismic intensity, and the treatment of serious sedimentation in a foundation channel of immersed tunnels. Some suggestions are made regarding the three potential great strait-crossing tunnels—the Qiongzhou Strait-Crossing Tunnel, Bohai Strait-Crossing Tunnel, and Taiwan Strait-Crossing Tunnel—and issues related to these great strait-crossing tunnels that need further study are proposed. Keywords: Underwater tunnel, Strait-crossing tunnel, Shield-bored tunnel, Immersed tunnel, Drill and blast

  18. Technology Assessment of Dust Suppression Techniques Applied During Structural Demolition. Topical Report August1, 1995 - October 30, 1996

    International Nuclear Information System (INIS)

    Boudreaux, J.F.; Ebadian, M.A.; Williams, P.T.; Dua, S.K.

    1998-01-01

    Hanford, Fernald, Savannah River, and other sites are currently reviewing technologies that can be implemented to demolish buildings in a cost-effective manner. In order to demolish a structure properly and, at the same time, minimize the amount of dust generated from a given technology, an evaluation must be conducted to choose the most appropriate dust suppression technology given site-specific conditions. Thus, the purpose of this research, which was carried out at the Hemispheric Center for Environmental Technology (HCET) at Florida International University, was to conduct an experimental study of dust aerosol abatement (dust suppression) methods as applied to nuclear D and D. This experimental study targeted the problem of dust suppression during the demolition of nuclear facilities. The resulting data were employed to assist in the development of mathematical correlations that can be applied to predict dust generation during structural demolition

  19. Emerging from Water: Underwater Image Color Correction Based on Weakly Supervised Color Transfer

    OpenAIRE

    Li, Chongyi; Guo, Jichang; Guo, Chunle

    2017-01-01

    Underwater vision suffers from severe effects due to selective attenuation and scattering when light propagates through water. Such degradation not only affects the quality of underwater images but limits the ability of vision tasks. Different from existing methods which either ignore the wavelength dependency of the attenuation or assume a specific spectral profile, we tackle color distortion problem of underwater image from a new view. In this letter, we propose a weakly supervised color tr...

  20. Geometric and Optic Characterization of a Hemispherical Dome Port for Underwater Photogrammetry

    Directory of Open Access Journals (Sweden)

    Fabio Menna

    2016-01-01

    Full Text Available The popularity of automatic photogrammetric techniques has promoted many experiments in underwater scenarios leading to quite impressive visual results, even by non-experts. Despite these achievements, a deep understanding of camera and lens behaviors as well as optical phenomena involved in underwater operations is fundamental to better plan field campaigns and anticipate the achievable results. The paper presents a geometric investigation of a consumer grade underwater camera housing, manufactured by NiMAR and equipped with a 7′′ dome port. After a review of flat and dome ports, the work analyzes, using simulations and real experiments, the main optical phenomena involved when operating a camera underwater. Specific aspects which deal with photogrammetric acquisitions are considered with some tests in laboratory and in a swimming pool. Results and considerations are shown and commented.

  1. A flexible liquid crystal polymer MEMS pressure sensor array for fish-like underwater sensing

    International Nuclear Information System (INIS)

    Kottapalli, A G P; Asadnia, M; Miao, J M; Barbastathis, G; Triantafyllou, M S

    2012-01-01

    In order to perform underwater surveillance, autonomous underwater vehicles (AUVs) require flexible, light-weight, reliable and robust sensing systems that are capable of flow sensing and detecting underwater objects. Underwater animals like fish perform a similar task using an efficient and ubiquitous sensory system called a lateral-line constituting of an array of pressure-gradient sensors. We demonstrate here the development of arrays of polymer microelectromechanical systems (MEMS) pressure sensors which are flexible and can be readily mounted on curved surfaces of AUV bodies. An array of ten sensors with a footprint of 60 (L) mm × 25 (W) mm × 0.4 (H) mm is fabricated using liquid crystal polymer (LCP) as the sensing membrane material. The flow sensing and object detection capabilities of the array are illustrated with proof-of-concept experiments conducted in a water tunnel. The sensors demonstrate a pressure sensitivity of 14.3 μV Pa −1 . A high resolution of 25 mm s −1 is achieved in water flow sensing. The sensors can passively sense underwater objects by transducing the pressure variations generated underwater by the movement of objects. The experimental results demonstrate the array’s ability to detect the velocity of underwater objects towed past by with high accuracy, and an average error of only 2.5%. (paper)

  2. Multi-layer protective armour for underwater shock wave mitigation

    OpenAIRE

    Ahmed Hawass; Hosam Mostafa; Ahmed Elbeih

    2015-01-01

    The effect of underwater shock wave on different target plates has been studied. An underwater shock wave generator (shock tube) was used to study the interactions between water and different constructed targets which act as shock wave mitigation. Target plates, composed of sandwich of two aluminum sheets with rubber and foam in between, were prepared and studied. For comparison, the target plates composed of triple aluminum sheets were tested. The study includes the testing of the selected p...

  3. Underwater noise due to precipitation

    DEFF Research Database (Denmark)

    Crum, Lawrence A.; Pumphrey, Hugh C.; Prosperetti, Andrea

    1989-01-01

    In 1959, G. Franz published a thorough investigation of the underwater sound produced by liquid drop impacts [G. Franz, J. Acoust. Soc. Am. 31, 1080 (1959)]. He discovered that, under certain conditions, a gas bubble was entrained by the impacting droplet, and the subsequent oscillation of this b...

  4. Autonomous docking control of visual-servo type underwater vehicle system aiming at underwater automatic charging

    International Nuclear Information System (INIS)

    Yanou, Akira; Ohnishi, Shota; Ishiyama, Shintaro; Minami, Mamoru

    2015-01-01

    A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative position and posture through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing. (2) The proposed system can track time-variant desired target position in x-axis (front-back direction of the robot). (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target position and orientation to the controller as a desired pose. (author)

  5. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    Directory of Open Access Journals (Sweden)

    Chua Kia

    2005-09-01

    Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

  6. Robotics Vision-based Heuristic Reasoning for Underwater Target Tracking and Navigation

    Directory of Open Access Journals (Sweden)

    Chua Kia

    2008-11-01

    Full Text Available This paper presents a robotics vision-based heuristic reasoning system for underwater target tracking and navigation. This system is introduced to improve the level of automation of underwater Remote Operated Vehicles (ROVs operations. A prototype which combines computer vision with an underwater robotics system is successfully designed and developed to perform target tracking and intelligent navigation. This study focuses on developing image processing algorithms and fuzzy inference system for the analysis of the terrain. The vision system developed is capable of interpreting underwater scene by extracting subjective uncertainties of the object of interest. Subjective uncertainties are further processed as multiple inputs of a fuzzy inference system that is capable of making crisp decisions concerning where to navigate. The important part of the image analysis is morphological filtering. The applications focus on binary images with the extension of gray-level concepts. An open-loop fuzzy control system is developed for classifying the traverse of terrain. The great achievement is the system's capability to recognize and perform target tracking of the object of interest (pipeline in perspective view based on perceived condition. The effectiveness of this approach is demonstrated by computer and prototype simulations. This work is originated from the desire to develop robotics vision system with the ability to mimic the human expert's judgement and reasoning when maneuvering ROV in the traverse of the underwater terrain.

  7. A Survey on Underwater Wireless Sensor Networks: Progresses, Applications, and Challenges

    Directory of Open Access Journals (Sweden)

    Premalatha J.

    2016-01-01

    Full Text Available The endangered underwater species always drew the attention of the scientific society since their disappearance would cause irreplaceable loss. Asia is home to some of the most diverse habitats in the earth, but it is estimated that more than one in four species are endangered. In Underwater, a lot of factors are putting marine life under immense pressure. Extreme population pressure is leading to pollution, over-fishing and the devastation of crucial habitats. Consequently, the numbers of almost all fish are declining and many are already endangered. To help these species to survive, their habitat should be strictly protected. This can be achieved by strictly monitoring them. During this course, several parameters, constraints about the species and its environments are focused. Now, advances in sensor technology facilitate the monitoring of species and their habitat with less expenditure. Indeed, the increasing sophistication of underwater wireless sensors offers chances that enable new challenges in a lot of areas, like surveillance one. This paper endorses the use of sensors for monitoring underwater species endangered in their habitat. This paper further examines the key approaches and challenges in the design and implementation of underwater wireless sensor networks. We summarize major applications and the main phenomena related to acoustic propagation, and discuss how they affect the design and operation of communication systems and networking protocols at various layers.

  8. Strong tracking adaptive Kalman filters for underwater vehicle dead reckoning

    Institute of Scientific and Technical Information of China (English)

    XIAO Kun; FANG Shao-ji; PANG Yong-jie

    2007-01-01

    To improve underwater vehicle dead reckoning, a developed strong tracking adaptive kalman filter is proposed. The filter is improved with an additional adaptive factor and an estimator of measurement noise covariance. Since the magnitude of fading factor is changed adaptively, the tracking ability of the filter is still enhanced in low velocity condition of underwater vehicles. The results of simulation tests prove the presented filter effective.

  9. Microcontroller-based underwater acoustic ECG telemetry system.

    Science.gov (United States)

    Istepanian, R S; Woodward, B

    1997-06-01

    This paper presents a microcontroller-based underwater acoustic telemetry system for digital transmission of the electrocardiogram (ECG). The system is designed for the real time, through-water transmission of data representing any parameter, and it was used initially for transmitting in multiplexed format the heart rate, breathing rate and depth of a diver using self-contained underwater breathing apparatus (SCUBA). Here, it is used to monitor cardiovascular reflexes during diving and swimming. The programmable capability of the system provides an effective solution to the problem of transmitting data in the presence of multipath interference. An important feature of the paper is a comparative performance analysis of two encoding methods, Pulse Code Modulation (PCM) and Pulse Position Modulation (PPM).

  10. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  11. Experimental Study on the Measurement of Water Bottom Vibration Induced by Underwater Drilling Blasting

    Directory of Open Access Journals (Sweden)

    Gu Wenbin

    2015-01-01

    Full Text Available Due to the lack of proper instrumentations and the difficulties in underwater measurements, the studies about water bottom vibration induced by underwater drilling blasting are seldom reported. In order to investigate the propagation and attenuation laws of blasting induced water bottom vibration, a water bottom vibration monitor was developed with consideration of the difficulties in underwater measurements. By means of this equipment, the actual water bottom vibration induced by underwater drilling blasting was measured in a field experiment. It shows that the water bottom vibration monitor could collect vibration signals quite effectively in underwater environments. The followed signal analysis shows that the characteristics of water bottom vibration and land ground vibration induced by the same underwater drilling blasting are quite different due to the different geological environments. The amplitude and frequency band of water bottom vibration both exceed those of land ground vibration. Water bottom vibration is mainly in low-frequency band that induced by blasting impact directly acts on rock. Besides the low-frequency component, land vibration contains another higher frequency band component that induced by followed water hammer wave acts on bank slope.

  12. Methodology to Estimate the Quantity, Composition, and Management of Construction and Demolition Debris in the United States

    Science.gov (United States)

    This report, Methodology to Estimate the Quantity, Composition and Management of Construction and Demolition Debris in the US, was developed to expand access to data on CDD in the US and to support research on CDD and sustainable materials management. Since past US EPA CDD estima...

  13. Short-Range Sensor for Underwater Robot Navigation using Line-lasers and Vision

    DEFF Research Database (Denmark)

    Hansen, Peter Nicholas; Nielsen, Mikkel Cornelius; Christensen, David Johan

    2015-01-01

    This paper investigates a minimalistic laser-based range sensor, used for underwater inspection by Autonomous Underwater Vehicles (AUV). This range detection system system comprise two lasers projecting vertical lines, parallel to a camera’s viewing axis, into the environment. Using both lasers...

  14. Ocean Research Enabled by Underwater Gliders.

    Science.gov (United States)

    Rudnick, Daniel L

    2016-01-01

    Underwater gliders are autonomous underwater vehicles that profile vertically by changing their buoyancy and use wings to move horizontally. Gliders are useful for sustained observation at relatively fine horizontal scales, especially to connect the coastal and open ocean. In this review, research topics are grouped by time and length scales. Large-scale topics addressed include the eastern and western boundary currents and the regional effects of climate variability. The accessibility of horizontal length scales of order 1 km allows investigation of mesoscale and submesoscale features such as fronts and eddies. Because the submesoscales dominate vertical fluxes in the ocean, gliders have found application in studies of biogeochemical processes. At the finest scales, gliders have been used to measure internal waves and turbulent dissipation. The review summarizes gliders' achievements to date and assesses their future in ocean observation.

  15. Natural and bio-inspired underwater adhesives: Current progress and new perspectives

    Science.gov (United States)

    Cui, Mengkui; Ren, Susu; Wei, Shicao; Sun, Chengjun; Zhong, Chao

    2017-11-01

    Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

  16. Natural and bio-inspired underwater adhesives: Current progress and new perspectives

    Directory of Open Access Journals (Sweden)

    Mengkui Cui

    2017-11-01

    Full Text Available Many marine organisms harness diverse protein molecules as underwater adhesives to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Natural underwater adhesion phenomena thus provide inspiration for engineering adhesive materials that can perform in water or high-moisture settings for biomedical and industrial applications. Here we review examples of biological adhesives to show the molecular features of natural adhesives and discuss how such knowledge serves as a heuristic guideline for the rational design of biologically inspired underwater adhesives. In view of future bio-inspired research, we propose several potential opportunities, either in improving upon current L-3, 4-dihydroxyphenylalanine-based and coacervates-enabled adhesives with new features or engineering conceptually new types of adhesives that recapitulate important characteristics of biological adhesives. We underline the importance of viewing natural adhesives as dynamic materials, which owe their outstanding performance to the cellular coordination of protein expression, delivery, deposition, assembly, and curing of corresponding components with spatiotemporal control. We envision that the emerging synthetic biology techniques will provide great opportunities for advancing both fundamental and application aspects of underwater adhesives.

  17. Cluster protocols in Underwater Sensor Networks: a Research Review

    Directory of Open Access Journals (Sweden)

    K. Ovaliadis

    2014-07-01

    Full Text Available Underwater Wireless Sensor Networks (UWSN have different characteristics in relation to terrestrial wireless sensor networks; such as limited bandwidth capacity, high propagation delays and limited battery power. Although there has been much work completed in developing protocols and models for terrestrial networks, these are rarely applicable for underwater sensor networks. Up to today major efforts have been made for designing efficient protocols while considering the underwater communication characteristics. An important issue on this research area is the construction of an efficient clustering algorithm. Clustering in the context of UWSN is important as it contributes a great deal towards the efficient use of energy resources. This paper reviews the most significant cluster based protocols proposed for UWSN. Major performance issues of these protocols with respect to the network conditions such as packet delivery ratio, average packet delay, node mobility effect and energy consumption are examined. The advantages and disadvantages of each protocol are also pointed out.

  18. Automated gravity gradient tensor inversion for underwater object detection

    International Nuclear Information System (INIS)

    Wu, Lin; Tian, Jinwen

    2010-01-01

    Underwater abnormal object detection is a current need for the navigation security of autonomous underwater vehicles (AUVs). In this paper, an automated gravity gradient tensor inversion algorithm is proposed for the purpose of passive underwater object detection. Full-tensor gravity gradient anomalies induced by an object in the partial area can be measured with the technique of gravity gradiometry on an AUV. Then the automated algorithm utilizes the anomalies, using the inverse method to estimate the mass and barycentre location of the arbitrary-shaped object. A few tests on simple synthetic models will be illustrated, in order to evaluate the feasibility and accuracy of the new algorithm. Moreover, the method is applied to a complicated model of an abnormal object with gradiometer and AUV noise, and interference from a neighbouring illusive smaller object. In all cases tested, the estimated mass and barycentre location parameters are found to be in good agreement with the actual values

  19. Underwater Robots Surface in Utah

    Science.gov (United States)

    Hurd, Randy C.; Hacking, Kip S.; Damarjian, Jennifer L.; Wright, Geoffrey A.; Truscott, Tadd

    2015-01-01

    Underwater robots (or ROVs: Remotely Operated Vehicles as they are typically called in industry) have recently become a very popular instructional STEM activity. Nationally, ROVs have been used in science and technology classrooms for several years in cities such as Seattle, San Diego, Virginia Beach, and other coastal areas. In the past two…

  20. A Game-theoretical Approach for Distributed Cooperative Control of Autonomous Underwater Vehicles

    KAUST Repository

    Lu, Yimeng

    2018-05-01

    This thesis explores a game-theoretical approach for underwater environmental monitoring applications. We first apply game-theoretical algorithm to multi-agent resource coverage problem in drifting environments. Furthermore, existing utility design and learning process of the algorithm are modified to fit specific constraints of underwater exploration/monitoring tasks. The revised approach can take the real scenario of underwater monitoring applications such as the effect of sea current, previous knowledge of the resource and occasional communications between agents into account, and adapt to them to reach better performance. As the motivation of this thesis is from real applications, in this work we emphasize highly on implementation phase. A ROS-Gazebo simulation environment was created for preparation of actual tests. The algorithms are implemented in simulating both the dynamics of vehicles and the environment. After that, a multi-agent underwater autonomous robotic system was developed for hardware test in real settings with local controllers to make their own decisions. These systems are used for testing above mentioned algorithms and future development of other underwater projects. After that, other works related to robotics during this thesis will be briefly mentioned, including contributions in MBZIRC robotics competition and distributed control of UAVs in an adversarial environment.

  1. Nonuniform Illumination Correction Algorithm for Underwater Images Using Maximum Likelihood Estimation Method

    Directory of Open Access Journals (Sweden)

    Sonali Sachin Sankpal

    2016-01-01

    Full Text Available Scattering and absorption of light is main reason for limited visibility in water. The suspended particles and dissolved chemical compounds in water are also responsible for scattering and absorption of light in water. The limited visibility in water results in degradation of underwater images. The visibility can be increased by using artificial light source in underwater imaging system. But the artificial light illuminates the scene in a nonuniform fashion. It produces bright spot at the center with the dark region at surroundings. In some cases imaging system itself creates dark region in the image by producing shadow on the objects. The problem of nonuniform illumination is neglected by the researchers in most of the image enhancement techniques of underwater images. Also very few methods are discussed showing the results on color images. This paper suggests a method for nonuniform illumination correction for underwater images. The method assumes that natural underwater images are Rayleigh distributed. This paper used maximum likelihood estimation of scale parameter to map distribution of image to Rayleigh distribution. The method is compared with traditional methods for nonuniform illumination correction using no-reference image quality metrics like average luminance, average information entropy, normalized neighborhood function, average contrast, and comprehensive assessment function.

  2. Self-Assembling Multi-Component Nanofibers for Strong Bioinspired Underwater Adhesives

    Science.gov (United States)

    Zhong, Chao; Gurry, Thomas; Cheng, Allen A; Downey, Jordan; Deng, Zhengtao; Stultz, Collin M.; Lu, Timothy K

    2014-01-01

    Many natural underwater adhesives harness hierarchically assembled amyloid nanostructures to achieve strong and robust interfacial adhesion under dynamic and turbulent environments. Despite recent advances, our understanding of the molecular design, self-assembly, and structure-function relationship of those natural amyloid fibers remains limited. Thus, designing biomimetic amyloid-based adhesives remains challenging. Here, we report strong and multi-functional underwater adhesives obtained from fusing mussel foot proteins (Mfps) of Mytilus galloprovincialis with CsgA proteins, the major subunit of Escherichia coli amyloid curli fibers. These hybrid molecular materials hierarchically self-assemble into higher-order structures, in which, according to molecular dynamics simulations, disordered adhesive Mfp domains are exposed on the exterior of amyloid cores formed by CsgA. Our fibers have an underwater adhesion energy approaching 20.9 mJ/m2, which is 1.5 times greater than the maximum of bio-inspired and bio-derived protein-based underwater adhesives reported thus far. Moreover, they outperform Mfps or curli fibers taken on their own at all pHs and exhibit better tolerance to auto-oxidation than Mfps at pH ≥7.0. This work establishes a platform for engineering multi-component self-assembling materials inspired by nature. PMID:25240674

  3. Synthesis and Development of Gold Polypyrrole Actuator for Underwater Application

    Science.gov (United States)

    Panda, S. K.; Bandopadhya, D.

    2018-02-01

    Electro-active polymer (EAP) such as Polypyrrole has gained much attention in the category of functional materials for fabrication of both active actuator and sensor. Particularly, PPy actuator has shown potential in fluid medium application because of high strain, large bending displacement and work density. This paper focuses on developing a low cost active actuator promising in delivering high performance in underwater environment. The proposed Au-pyrrole actuator is synthesized by adopting the layer-by-layer electrochemical polymerization technique and is fabricated as strip actuator from aqueous solution of Pyrrole and NaDBS in room temperature. In the follow-up, topographical analysis has been carried out using SEM and FESEM instruments showing surface morphology and surface integrity of chemical components of the structure. Several experiments have been conducted under DC input voltage evaluating performance effectiveness such as underwater bending displacement and tip force etc. This is observed that the actuator exhibits quite similar stress profile as of natural muscle, endowed with high modulus makes them effective in working nearly 10,000 cycles underwater environment. In addition, the bending displacement up to 5.4 mm with a low input voltage 1.3 V makes the actuator suitable for underwater micro-robotics applications.

  4. Experimental study on underwater electrical explosion of a copper wire

    International Nuclear Information System (INIS)

    Zhou Qing; Zhang Jun; Tan Xiangyu; Ren Baozhong; Zhang Qiaogen

    2010-01-01

    Through analyzing the physical process of underwater electrical wire explosion, electrical wire explosions with copper wires were investigated underwater using pulsed voltage in the time scale of a few microseconds. A self-integrating Rogowsky coil and a voltage divider were used for current and voltage at the wire load, respectively. The shock wave pressure is measured with a piezoelectric pressure probe at the same distance. The current rise rate was adjusted by changing the applied voltage, circuit inductance, length and diameter of copper wire. The change of the current rise rate had a great effect on the process of underwater electrical wire explosion with copper wires. At last, the effect of discharge voltage, circuit inductance, length and diameter of copper wire were obtained on the explosion voltage and current as well as shock wave pressure. (authors)

  5. Underwater Time Service and Synchronization Based on Time Reversal Technique

    Science.gov (United States)

    Lu, Hao; Wang, Hai-bin; Aissa-El-Bey, Abdeldjalil; Pyndiah, Ramesh

    2010-09-01

    Real time service and synchronization are very important to many underwater systems. But the time service and synchronization in existence cannot work well due to the multi-path propagation and random phase fluctuation of signals in the ocean channel. The time reversal mirror technique can realize energy concentration through self-matching of the ocean channel and has very good spatial and temporal focusing properties. Based on the TRM technique, we present the Time Reversal Mirror Real Time service and synchronization (TRMRT) method which can bypass the processing of multi-path on the server side and reduce multi-path contamination on the client side. So TRMRT can improve the accuracy of time service. Furthermore, as an efficient and precise method of time service, TRMRT could be widely used in underwater exploration activities and underwater navigation and positioning systems.

  6. Solar One demolition and remediation

    International Nuclear Information System (INIS)

    Wallace, G.L.

    1995-01-01

    Solar One was designed to demonstrate the feasibility of generating electrical energy from solar power using a central receiver concept. An array of heliostats focused sunlight onto a central receiver, which superheated water to produce steam. Although Solar One was successful, the oil-based Thermal Storage System (TSS), used to store heat energy for power generation at night, was not efficient. When the TSS was demolished for the installation of a more efficient molten salt system, a major effort was made to salvage or recycle all of its equipment and materials. During TSS demolition, approximately 7 tons of aluminum shielding and 205 tons of steel were salvaged as scrap metal; 200 tons of concrete was used for erosion protection along the Mohave River banks; 150,000 gallons of oil was recycled and 100 tons of equipment was salvaged for use at other facilities. During remediation, approximately 9,000 tons of oil contaminated sand, gravel and soil was recycled into approximately 10,000 tons of asphalt concrete and used to pave a nearby 5-acre parking lot at Barstow College. This not only reduced project remediation costs, but also met environmental requirements and provided a much needed community service. Of the estimated 11,864 tons of equipment and material from the TSS, less than 1% was disposed of at a landfill

  7. Life cycle assessment of construction and demolition waste management

    DEFF Research Database (Denmark)

    Butera, Stefania; Christensen, Thomas Højlund; Astrup, Thomas Fruergaard

    2015-01-01

    Life cycle assessment (LCA) modelling of construction and demolition waste (C&DW) management was carried out. The functional unit was management of 1 Mg mineral, source separated C&DW, which is either utilised in road construction as a substitute for natural aggregates, or landfilled. The assessed...... of the use of C&DW. Typical uncertainties related to contaminant leaching were addressed. For most impact categories, utilisation of C&DW in road construction was preferable to landfilling; however, for most categories, utilisation resulted in net environmental burdens. Transportation represented the most...... of the impact assessment was critical for modelling the leaching impacts. Compared with the overall life cycle of building and construction materials, leaching emissions were shown to be potentially significant for toxicity impacts, compared with contributions from production of the same materials, showing...

  8. Streamlining of the Decontamination and Demolition Document Preparation Process

    International Nuclear Information System (INIS)

    Durand, Nick; Meincke, Carol; Peek, Georgianne

    1999-01-01

    During the past five years, the Sandia National Labo- ratories Decontamination, Decommissioning, Demolition, and Reuse (D3R) Program has evolved and become more focused and efficient. Historical approaches to project documentation, requirements, and drivers are discussed detailing key assumptions, oversight authority, and proj- ect approvals. Discussion of efforts to streamline the D3R project planning and preparation process include the in- corporation of the principles of graded approach, Total Quality Management, and the Observational Method (CH2MHILL April 1989).1 Process improvements were realized by clearly defining regulatory requirements for each phase of a project, establishing general guidance for the program and combining project-specific documents to eliminate redundant and unneeded information. Proc- ess improvements to cost, schedule, and quality are dis- cussed in detail for several projects

  9. The Ellweiler uranium plant - a demolition and recycling project

    International Nuclear Information System (INIS)

    Mika, S.; Rohr, T.; Seehars, R.; Feser, A.

    1999-01-01

    The uranium plant at Ellweiler, district of Birkenfeld, was used for the production and storage of uranium concentrates. The owner of the Ellweiler uranium plant (UAE), Gewerkschaft Brunhilde GmbH, ceased processing uranium ore and recycling in 1989 and has been in liquidation since September 1991. The State of Rhineland-Palatinate, had safety measures adopted in a first step, getting the plant into a safe state by former plant personnel. The entire plant was demolished in a second step. The contract for demolishing the former uranium plant was awarded to ABB Reaktor as the general contractor in August 1996. Demolition work was carried out between April 1997 and May 1999. A total of approx. 7900 Mg of material was disposed of. At present, recultivation measures are being carried out. (orig.) [de

  10. Self-flowing underwater concrete mixtures for high rise structures

    International Nuclear Information System (INIS)

    Yousri, K.M.

    2005-01-01

    Placement of conventional concrete mixtures in underwater construction results in a high percentage of material loss due to washout of cement paste. This paper presents the influence of anti washout admixture (AWA) on various properties of concrete. Eleven self-flowing concrete (SFC) mixtures using type II cement were proportioned. A combination of low water cement (w/c), high cement contents, anti washout admixtures, fly ash, and silica fume were used to enhance the resistance of fresh concrete to washout. The concrete mixtures proportioned to be highly flow able, self-leveling and cohesive. The water-cementitious materials ratios ranged between 0.356 and 0.392 which correspond a typical underwater concrete mixture. The concrete mixtures were tested for slump, slump flow, washout resistance and compressive strength. The compressive strength of each concrete mixture cast underwater was determined at 3, 7, 28 days and compared with the compressive strength of the same concrete mixture cast in normal condition (in air). Test results indicated that the use of an AWA facilitates the production of flow able concrete mixtures with the added benefit of lower washout loss. Concrete mixture proportioned using Type II cement and fly ash at level of replacement of 15% was found to develop self flowing concrete with better fresh and hardened properties and more resistant to washout. The self-flowing underwater concretes developed a 28-day compressive strengths ranging from 20 to 28 MPa

  11. AEKF-SLAM: A New Algorithm for Robotic Underwater Navigation

    Directory of Open Access Journals (Sweden)

    Xin Yuan

    2017-05-01

    Full Text Available In this work, we focus on key topics related to underwater Simultaneous Localization and Mapping (SLAM applications. Moreover, a detailed review of major studies in the literature and our proposed solutions for addressing the problem are presented. The main goal of this paper is the enhancement of the accuracy and robustness of the SLAM-based navigation problem for underwater robotics with low computational costs. Therefore, we present a new method called AEKF-SLAM that employs an Augmented Extended Kalman Filter (AEKF-based SLAM algorithm. The AEKF-based SLAM approach stores the robot poses and map landmarks in a single state vector, while estimating the state parameters via a recursive and iterative estimation-update process. Hereby, the prediction and update state (which exist as well in the conventional EKF are complemented by a newly proposed augmentation stage. Applied to underwater robot navigation, the AEKF-SLAM has been compared with the classic and popular FastSLAM 2.0 algorithm. Concerning the dense loop mapping and line mapping experiments, it shows much better performances in map management with respect to landmark addition and removal, which avoid the long-term accumulation of errors and clutters in the created map. Additionally, the underwater robot achieves more precise and efficient self-localization and a mapping of the surrounding landmarks with much lower processing times. Altogether, the presented AEKF-SLAM method achieves reliably map revisiting, and consistent map upgrading on loop closure.

  12. DUMAND-II (Deep Underwater Muon and Neutrino Detector) PROGRESS Report

    OpenAIRE

    Young, Kenneth K.

    1994-01-01

    The DUMAND-II detector will search for astronomical sources of high energy neutrinos. Successful deployment of the basic infrastructure, including the shore cable, the underwater junction box, and an environmental module was accomplished in December, 1993. One optical module string was also deployed and operated, logging data for about 10 hours. The underwater cable was connected to the shore station where we were able to successfully exercise system controls and log further environmental dat...

  13. A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks.

    Science.gov (United States)

    Li, Ning; Cürüklü, Baran; Bastos, Joaquim; Sucasas, Victor; Fernandez, Jose Antonio Sanchez; Rodriguez, Jonathan

    2017-05-04

    The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) project is to make autonomous underwater vehicles (AUVs), remote operated vehicles (ROVs) and unmanned surface vehicles (USVs) more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC) algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV's parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC) algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the transmission power

  14. A Probabilistic and Highly Efficient Topology Control Algorithm for Underwater Cooperating AUV Networks

    Directory of Open Access Journals (Sweden)

    Ning Li

    2017-05-01

    Full Text Available The aim of the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs project is to make autonomous underwater vehicles (AUVs, remote operated vehicles (ROVs and unmanned surface vehicles (USVs more accessible and useful. To achieve cooperation and communication between different AUVs, these must be able to exchange messages, so an efficient and reliable communication network is necessary for SWARMs. In order to provide an efficient and reliable communication network for mission execution, one of the important and necessary issues is the topology control of the network of AUVs that are cooperating underwater. However, due to the specific properties of an underwater AUV cooperation network, such as the high mobility of AUVs, large transmission delays, low bandwidth, etc., the traditional topology control algorithms primarily designed for terrestrial wireless sensor networks cannot be used directly in the underwater environment. Moreover, these algorithms, in which the nodes adjust their transmission power once the current transmission power does not equal an optimal one, are costly in an underwater cooperating AUV network. Considering these facts, in this paper, we propose a Probabilistic Topology Control (PTC algorithm for an underwater cooperating AUV network. In PTC, when the transmission power of an AUV is not equal to the optimal transmission power, then whether the transmission power needs to be adjusted or not will be determined based on the AUV’s parameters. Each AUV determines their own transmission power adjustment probability based on the parameter deviations. The larger the deviation, the higher the transmission power adjustment probability is, and vice versa. For evaluating the performance of PTC, we combine the PTC algorithm with the Fuzzy logic Topology Control (FTC algorithm and compare the performance of these two algorithms. The simulation results have demonstrated that the PTC is efficient at reducing the

  15. Research on the underwater target imaging based on the streak tube laser lidar

    Science.gov (United States)

    Cui, Zihao; Tian, Zhaoshuo; Zhang, Yanchao; Bi, Zongjie; Yang, Gang; Gu, Erdan

    2018-03-01

    A high frame rate streak tube imaging lidar (STIL) for real-time 3D imaging of underwater targets is presented in this paper. The system uses 532nm pulse laser as the light source, the maximum repetition rate is 120Hz, and the pulse width is 8ns. LabVIEW platform is used in the system, the system control, synchronous image acquisition, 3D data processing and display are realized through PC. 3D imaging experiment of underwater target is carried out in a flume with attenuation coefficient of 0.2, and the images of different depth and different material targets are obtained, the imaging frame rate is 100Hz, and the maximum detection depth is 31m. For an underwater target with a distance of 22m, the high resolution 3D image real-time acquisition is realized with range resolution of 1cm and space resolution of 0.3cm, the spatial relationship of the targets can be clearly identified by the image. The experimental results show that STIL has a good application prospect in underwater terrain detection, underwater search and rescue, and other fields.

  16. Development of underwater camera using high-definition camera

    International Nuclear Information System (INIS)

    Tsuji, Kenji; Watanabe, Masato; Takashima, Masanobu; Kawamura, Shingo; Tanaka, Hiroyuki

    2012-01-01

    In order to reduce the time for core verification or visual inspection of BWR fuels, the underwater camera using a High-Definition camera has been developed. As a result of this development, the underwater camera has 2 lights and 370 x 400 x 328mm dimensions and 20.5kg weight. Using the camera, 6 or so spent-fuel IDs are identified at 1 or 1.5m distance at a time, and 0.3mmφ pin-hole is recognized at 1.5m distance and 20 times zoom-up. Noises caused by radiation less than 15 Gy/h are not affected the images. (author)

  17. Time-of-flight range imaging for underwater applications

    Science.gov (United States)

    Merbold, Hannes; Catregn, Gion-Pol; Leutenegger, Tobias

    2018-02-01

    Precise and low-cost range imaging in underwater settings with object distances on the meter level is demonstrated. This is addressed through silicon-based time-of-flight (TOF) cameras operated with light emitting diodes (LEDs) at visible, rather than near-IR wavelengths. We find that the attainable performance depends on a variety of parameters, such as the wavelength dependent absorption of water, the emitted optical power and response times of the LEDs, or the spectral sensitivity of the TOF chip. An in-depth analysis of the interplay between the different parameters is given and the performance of underwater TOF imaging using different visible illumination wavelengths is analyzed.

  18. Reduced Attitude Control of a Robotic Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Bláha Lukáš

    2017-01-01

    Full Text Available This paper deals with stabilization and reduced attitude control of a robotic underwater vehicle. The vehicle is assumed to be able to perform a full stable rotations around all axes in underwater space, that is why the standard bottom-heavy structure is not used. The system preferably uses a vectored-thrust arrangement and is built as an overactuated system, which enables to gain a better robustness and guarantees a stable controlled motion even if some thruster suddenly stop working. Because the heading angle cannot be measured, the reduced attitude control strategy is designed and the stability of reduced state of the system is proved using perturbation method.

  19. Study of underwater laser propulsion using different target materials.

    Science.gov (United States)

    Qiang, Hao; Chen, Jun; Han, Bing; Shen, Zhong-Hua; Lu, Jian; Ni, Xiao-Wu

    2014-07-14

    In order to investigate the influence of target materials, including aluminum (Al), titanium (Ti) and copper (Cu), on underwater laser propulsion, the analytical formula of the target momentum IT is deduced from the enhanced coupling theory of laser propulsion in atmosphere with transparent overlay metal target. The high-speed photography method and numerical simulation are employed to verify the IT model. It is shown that the enhanced coupling theory, which was developed originally for laser propulsion in atmosphere, is also applicable to underwater laser propulsion with metal targets.

  20. Environmental effects on underwater optical transmission

    Science.gov (United States)

    Chu, Peter C.; Breshears, Brian F.; Cullen, Alexander J.; Hammerer, Ross F.; Martinez, Ramon P.; Phung, Thai Q.; Margolina, Tetyana; Fan, Chenwu

    2017-05-01

    Optical communication/detection systems have potential to get around some limitations of current acoustic communications and detection systems especially increased fleet and port security in noisy littoral waters. Identification of environmental effects on underwater optical transmission is the key to the success of using optics for underwater communication and detection. This paper is to answer the question "What are the transfer and correlation functions that relate measurements of hydrographic to optical parameters?" Hydrographic and optical data have been collected from the Naval Oceanographic Office survey ships with the High Intake Defined Excitation (HIDEX) photometer and sea gliders with optical back scattering sensor in various Navy interested areas such as the Arabian Gulf, Gulf of Oman, east Asian marginal seas, and Adriatic Sea. The data include temperature, salinity, bioluminescence, chlorophyll-a fluorescence, transmissivity at two different wavelengths (TRed at 670 nm, TBlue at 490 nm), and back scattering coefficient (bRed at 700 nm, bBlue at 470 nm). Transfer and correlation functions between the hydrographic and optical parameters are obtained. Bioluminescence and fluorescence maxima, transmissivity minimum with their corresponding depths, red and blue laser beam peak attenuation coefficients are identified from the optical profiles. Evident correlations are found between the ocean mixed layer depth and the blue and red laser beam peak attenuation coefficients, bioluminescence and fluorescence maxima in the Adriatic Sea, Arabian Gulf, Gulf of Oman, and Philippine Sea. Based on the observational data, an effective algorithm is recommended for solving the radiative transfer equation (RTE) for predicting underwater laser radiance.

  1. A Data Link Layer in Support of Swarming of Autonomous Underwater Vehicles

    Science.gov (United States)

    Jabba Molinares, Daladier

    2009-01-01

    Communication underwater is challenging because of the inherent characteristics of the media. First, common radio frequency (RF) signals utilized in wireless communications cannot be used under water. RF signals are attenuated in such as way that RF communication underwater is restricted to very few meters. As a result, acoustic-based…

  2. A field guide to valuable underwater aquatic plants of the Great Lakes

    Science.gov (United States)

    Schloesser, Donald W.

    1986-01-01

    Underwater plants are a valuable part of the Great Lakes ecosystem, providing food and shelter for aquatic animals. Aquatic plants also help stabilize sediments, thereby reducing shoreline erosion. Annual fall die-offs of underwater plants provide food and shelter for overwintering small aquatic animals such as insects, snails, and freshwater shrimp.

  3. Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions.

    Science.gov (United States)

    Muhammed, Dalhatu; Anisi, Mohammad Hossein; Zareei, Mahdi; Vargas-Rosales, Cesar; Khan, Anwar

    2018-02-01

    Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node's cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

  4. Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

    Directory of Open Access Journals (Sweden)

    Dalhatu Muhammed

    2018-02-01

    Full Text Available Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal, long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted.

  5. Game Theory-Based Cooperation for Underwater Acoustic Sensor Networks: Taxonomy, Review, Research Challenges and Directions

    Science.gov (United States)

    Muhammed, Dalhatu; Anisi, Mohammad Hossein; Vargas-Rosales, Cesar; Khan, Anwar

    2018-01-01

    Exploring and monitoring the underwater world using underwater sensors is drawing a lot of attention these days. In this field cooperation between acoustic sensor nodes has been a critical problem due to the challenging features such as acoustic channel failure (sound signal), long propagation delay of acoustic signal, limited bandwidth and loss of connectivity. There are several proposed methods to improve cooperation between the nodes by incorporating information/game theory in the node’s cooperation. However, there is a need to classify the existing works and demonstrate their performance in addressing the cooperation issue. In this paper, we have conducted a review to investigate various factors affecting cooperation in underwater acoustic sensor networks. We study various cooperation techniques used for underwater acoustic sensor networks from different perspectives, with a concentration on communication reliability, energy consumption, and security and present a taxonomy for underwater cooperation. Moreover, we further review how the game theory can be applied to make the nodes cooperate with each other. We further analyze different cooperative game methods, where their performance on different metrics is compared. Finally, open issues and future research direction in underwater acoustic sensor networks are highlighted. PMID:29389874

  6. Data Gap Analysis and Damage Case Studies: Risk Analyses from Construction and Demolition Debris Landfills and Recycling Facilities

    Science.gov (United States)

    The report presents an evaluation of construction and demolition (C&D) debris management in the US to update and expand upon the previous set of data to include information on more recent cases of damage and potential impacts and expand the breadth of damages beyond groundwater a...

  7. CFD Based Added Mass Prediction in Cruise Condition of Underwater Vehicle Dynamic

    Science.gov (United States)

    Agoes Moelyadi, Mochammad; Bambang Riswandi, Bagus

    2018-04-01

    One of the unsteady flow behavior on the hydrodynamic characteristics of underwater vehicle is the presence of added mass. In cruising conditions, the underwater vehicle may require the addition of speed or experience the disturbance in the form of unsteady flow so that cause the hydrodynamic interaction between the surface of the vehicle with the surrounding fluid. This leads to the rise of local velocity of flow and the great changes of hydrodynamic forces which are very influential on the stability of the underwater vehicle. One of the result is an additional force called added mass. It is very useful parameter to control underwater vehicle dynamic.This paper reports the research on the added mass coefficient of underwater vehicles obtained through the Computational Fluid Dynmaic (CFD) simulation method using CFX software. Added mass coefficient is calculated by performing an unsteady simulation or known as transient simulation. Computational simulations are based on the Reynold Average Navier- Stokes (RANS) equation solution. The simulated vehicle moves forward and backward according to the sinus function, with a frequency of 0.25 Hz, a 2 m amplitude, a cruising depth of 10 m below sea level, and Vcruise 1.54 m / s (Re = 9.000.000). Simulation result data includes velocity contour, variation of force and acceleration to frequency, and added mass coefficient.

  8. Priority Determination of Underwater Tourism Site Development in Gorontalo Province using Analytical Hierarchy Process (AHP)

    Science.gov (United States)

    Rohandi, M.; Tuloli, M. Y.; Jassin, R. T.

    2018-02-01

    This research aims to determine the development of priority of underwater tourism in Gorontalo province using the Analytical Hierarchy Process (AHP) method which is one of DSS methods applying Multi-Attribute Decision Making (MADM). This method used 5 criteria and 28 alternatives to determine the best priority of underwater tourism site development in Gorontalo province. Based on the AHP calculation it appeared that the best priority development of underwater tourism site is Pulau Cinta whose total AHP score is 0.489 or 48.9%. This DSS produced a reliable result, faster solution, time-saving, and low cost for the decision makers to obtain the best underwater tourism site to be developed.

  9. SEATURTLE: Sustained Engagement Autonomous Tracking of Underwater RepTiLEs

    OpenAIRE

    Budd, Johnathan

    2015-01-01

    While oceans cover the majority of our planet, these vast expanses remain relatively unexplored. Among the most interesting parts of the ocean are the shallow reef systems, which contain a huge amount of the planet’s biodiversity. The Sustained Engagement Autonomous Tracking of Underwater RepTiLEs or SEATURTLE is a low cost Autonomous Underwater Vehicle designed to carry out missions in these shallow environments. Its small displacement and precise movement make it ideal for navigating tight ...

  10. A Wide Area Risk Assessment Framework for Underwater Military Munitions Response

    Science.gov (United States)

    Holland, K. T.; Calantoni, J.

    2017-12-01

    Our objective was to develop a prototype statistical framework supporting Wide Area Assessment and Remedial Investigation decisions relating to the risk of unexploded ordnance and other military munitions concentrated in underwater environments. Decision making involving underwater munitions is inherently complex due to the high degree of uncertainty in the environmental conditions that force munitions responses (burial, decay, migration, etc.) and associated risks to the public. The prototype framework provides a consistent approach to accurately delineating contaminated areas at underwater munitions sites through the estimation of most probable concentrations. We adapted existing deterministic models and environmental data services for use within statistical modules that allowed the estimation of munition concentration given historic site information and environmental attributes. Ultimately this risk surface can be used to evaluate costs associated with various remediation approaches (e.g. removal, monitoring, etc.). Unfortunately, evaluation of the assessment framework was limited due to the lack of enduser data services from munition site managers. Of the 450 U.S. sites identified as having potential contamination with underwater munitions, assessment of available munitions information (including historic firing or disposal records, and recent ground-truth munitions samples) indicated very limited information in the databases. Example data types include the most probable munition types, approximate firing / disposal dates and locations, and any supportive munition survey or sampling results. However the overall technical goal to integrate trained statistical belief networks with detailed geophysical knowledge of sites, of sensors and of the underwater environment was demonstrated and should allow probabilistic estimates of the most likely outcomes and tradeoffs while managing uncertainty associated with military munitions response.

  11. Contact arc metal cutting (CAMC), a young cutting technique has matured. Successful use under water in the demolition of the Karlsruhe multipurpose research reactor (MFZR)

    International Nuclear Information System (INIS)

    Stanke, D.; Bienia, H.; Loeb, A.; Thoma, M.; Eisenmann, B.; Prechtl, E.; Suessdorf, W.; Kremer, G.; Ruemenapp, T.

    2006-01-01

    Dismantling radiologically burdened large components is among the most complex and difficult jobs in the demolition of nuclear installations. The technologies used and their safe operation play a key role in demolition. Dismantling highly activated components as a rule requires shielding by water. As a consequence, the techniques employed must be designed for use under water. A variety of technologies are available for these applications. One established mechanical cutting method is water abrasive suspension jet cutting (WASS). Because of the small cutting nozzle employed, this highly flexible cutting technique can be used nearly anywhere together with different guiding systems. In the course of disassembly under water of the MZFR, plasma cutting has been found to be a reliable and efficient technique for remote operation. Contact arc metal cutting is a thermal cutting technique allowing all electrically conducting materials, including those with claddings, to be cut nearly irrespective of their component geometries. The methods, technology, possible uses, and practical operation of contact arc metal cutting in the demolition of the MZFR are covered in this article. (orig.)

  12. Validation of Underwater Sensor Package Using Feature Based SLAM

    Directory of Open Access Journals (Sweden)

    Christopher Cain

    2016-03-01

    Full Text Available Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package.

  13. Validation of Underwater Sensor Package Using Feature Based SLAM

    Science.gov (United States)

    Cain, Christopher; Leonessa, Alexander

    2016-01-01

    Robotic vehicles working in new, unexplored environments must be able to locate themselves in the environment while constructing a picture of the objects in the environment that could act as obstacles that would prevent the vehicles from completing their desired tasks. In enclosed environments, underwater range sensors based off of acoustics suffer performance issues due to reflections. Additionally, their relatively high cost make them less than ideal for usage on low cost vehicles designed to be used underwater. In this paper we propose a sensor package composed of a downward facing camera, which is used to perform feature tracking based visual odometry, and a custom vision-based two dimensional rangefinder that can be used on low cost underwater unmanned vehicles. In order to examine the performance of this sensor package in a SLAM framework, experimental tests are performed using an unmanned ground vehicle and two feature based SLAM algorithms, the extended Kalman filter based approach and the Rao-Blackwellized, particle filter based approach, to validate the sensor package. PMID:26999142

  14. L2-LBMT: A Layered Load Balance Routing Protocol for underwater multimedia data transmission

    Science.gov (United States)

    Lv, Ze; Tang, Ruichun; Tao, Ye; Sun, Xin; Xu, Xiaowei

    2017-12-01

    Providing highly efficient underwater transmission of mass multimedia data is challenging due to the particularities of the underwater environment. Although there are many schemes proposed to optimize the underwater acoustic network communication protocols, from physical layer, data link layer, network layer to transport layer, the existing routing protocols for underwater wireless sensor network (UWSN) still cannot well deal with the problems in transmitting multimedia data because of the difficulties involved in high energy consumption, low transmission reliability or high transmission delay. It prevents us from applying underwater multimedia data to real-time monitoring of marine environment in practical application, especially in emergency search, rescue operation and military field. Therefore, the inefficient transmission of marine multimedia data has become a serious problem that needs to be solved urgently. In this paper, A Layered Load Balance Routing Protocol (L2-LBMT) is proposed for underwater multimedia data transmission. In L2-LBMT, we use layered and load-balance Ad Hoc Network to transmit data, and adopt segmented data reliable transfer (SDRT) protocol to improve the data transport reliability. And a 3-node variant of tornado (3-VT) code is also combined with the Ad Hoc Network to transmit little emergency data more quickly. The simulation results show that the proposed protocol can balance energy consumption of each node, effectively prolong the network lifetime and reduce transmission delay of marine multimedia data.

  15. Forecasting of construction and demolition waste in Brazil.

    Science.gov (United States)

    Paz, Diogo Hf; Lafayette, Kalinny Pv

    2016-08-01

    The objective of this article is to develop a computerised tool (software) that facilitates the analysis of strategies for waste management on construction sites through the use of indicators of construction and demolition waste generation. The development involved the following steps: knowledge acquisition, structuring the system, coding and system evaluation. The step of knowledge acquisition aims to provide subsidies for the representation of them through models. In the step of structuring the system, it was presented the structuring and formalisation of knowledge for the development of the system, and has two stages: the construction of the conceptual model and the subsequent instantiation of the model. The coding system aims to implement (code) the conceptual model developed in a model played by computer (digital). The results showed that the system is very useful and applicable in construction sites, helping to improve the quality of waste management, and creating a database that will support new research. © The Author(s) 2016.

  16. Modelling of the underwater disposal of uranium mine tailings in Elliot Lake

    International Nuclear Information System (INIS)

    Halbert, B.E.; Scharer, J.M.; Chakravatti, J.L.; Barnes, E.

    1982-01-01

    Underwater disposal of uranium mine tailings from the Elliot Lake area operations offers potential advantages in controlling radon gas release, emission of airborne particulate matter, and acid production from pyrites in the tailings. In addition, the proximity of the three active properties, one owned by Denison Mines Limited and two by Rio Algom Limited, to a large deep lake has spurred interest in the concept. It has been estimated that the placement of approximately 150 million tonnes of tailings from future planned production would occupy less than 20% of the lake volume. To assess the applicability of the underwater tailings disposal concept, a multi-stage study was developed in conjunction with the regulatory agencies. The most important facet identified for investigation during the first-stage investigations was an assessment of the effects of underwater disposal on water quality in the Serpent River Basin watershed. To simulate the effects of underwater disposal, a computer simulation routine was developed and integrated with a water quality model previously developed for the Basin which predicts levels of total dissolved solids, ammonia, dissolved radium-226 and pH. The underwater disposal model component reflects the effects of direct input of tailings into the hypolimnion, the chemical/biological transformation of dissolved constituents in the water column, the reactions of pyritic tailings deposited on the bottom, and the flux of dissolved constituents from the tailings into the water column. To establish site-specific values for the underwater disposal model, field and laboratory experiments were utilized to evaluate rates of pyrite and ammonia oxidation, and pH-alkalinity relationships. The results of these studies and their use in the water quality model are discussed. In addition, the results of two model run simulations are presented. (author)

  17. 41 CFR 102-75.170 - What happens to the related personal property in a structure scheduled for demolition?

    Science.gov (United States)

    2010-07-01

    ... consideration should be given to designating items having possible historical or artistic value as personal... related personal property in a structure scheduled for demolition? 102-75.170 Section 102-75.170 Public... As Personal Property § 102-75.170 What happens to the related personal property in a structure...

  18. System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

    Science.gov (United States)

    Stone, William C. (Inventor); Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kapit, Jason (Inventor); Scully, Mark (Inventor); Kimball, Peter (Inventor)

    2018-01-01

    A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

  19. Ireland and the UNESCO Convention on the Protection of the Underwater Cultural Heritage

    Science.gov (United States)

    Kirwan, Seán

    2010-12-01

    Ratification by Ireland of the 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage will not be able to take place until after enactment of additional domestic legislation. The reasons for this are examined in the context of Ireland's legal system. Since 1987 Ireland has had extensive legal protection for underwater cultural heritage, but the jurisdictional aspects of the Convention are key to understanding why additional legislation is necessary. Issues relating to salvage law are also considered. The 2001 Convention is placed in the context of development of Irish policy on underwater cultural heritage.

  20. H∞ control of a remotely operated underwater vehicle

    International Nuclear Information System (INIS)

    Conte, G.; Serrani, A.

    1994-01-01

    The paper discusses the application of H∞ control techniques to the design of a control system for a remotely operated underwater vehicle. As the main problem in defining a control strategy for such vehicles is the nonlinear and uncertain nature of the modeled dynamics, the robustness properties of H∞ controllers can in principle be used to provide stability and nominal performances for the closed loop system. Therefore, a control strategy based on a scheduling of such controllers has been proposed, and the overall performance of the closed loop system have been evaluated by means of nonlinear simulation in a broad range of working conditions, with particular attention to the effects of the underwater current that acts on the vehicle

  1. Stripping in hot mix asphalt produced by aggregates from construction and demolition waste.

    Science.gov (United States)

    Pérez, I; Pasandín, A R; Gallego, J

    2012-01-01

    This paper analyses the effect of water on the durability of hot asphalt mixtures made with recycled aggregates from construction and demolition debris. Indirect tensile stress tests were carried out to evaluate stripping behaviour. The mixtures tested were fabricated with 0, 20, 40 and 60% recycled aggregates. Two types of natural aggregates were used: schist and calcite dolomite. An increase in the percentage of recycled aggregates was found to produce a decrease in the tensile stress ratio of the hot asphalt mixtures. To study this phenomenon, two and three factor analyses of variance (ANOVA) were performed with indirect tensile stress being used as the dependent variable. The factors studied were the percentage of recycled aggregates (0, 20, 40 and 60%), the moisture state (dry, wet) and the type of natural aggregate (schist, calcite). On the basis of the ANOVA results, it was found that the most important factor affecting resistance was the moisture state (dry, wet) of the specimens. The percentage of recycled aggregate also affected indirect tensile stress, especially in the dry state. The type of natural aggregate did not have a significant effect on indirect tensile stress. The hot asphalt mixture specimens made with different percentages of recycled aggregates from construction and demolition debris and of natural quarry aggregates showed poor stripping behaviour. This stripping behaviour can be related to both the poor adhesion of the recycled aggregates and the high absorption of the mortar of cement adhered to them.

  2. Simulation of the behavior of pressurized underwater concrete

    Directory of Open Access Journals (Sweden)

    Ashraf Mohamed Heniegal

    2015-06-01

    Full Text Available Under-Water Concrete (UWC contains Anti-Washout Admixtures (AWA (0.0%, 0.2%, 0.3%, 0.4% and 0.5% by weight of cement with cement contents (400, 450, 500 and 550 kg/m3. All concrete mix contains silica fume and high-range water reducing (15% and 4% respectively by weight of cement. The fine to steel slag coarse aggregate was 1:1. The concrete mix was tested for slump, slump flow, compressive strength and washout resistance using two test methods based on different principles. The first method is the plunge test CRDC61 which is widely used in North America, and the second method is the pressurized air tube which has been manufactured for this research and developed to simulate the effect of water pressure on washout resistance of underwater mix. The results of compressive strength test were compared to concrete cast underwater with that cast in air. Test results indicated that the use of an AWA facilitates the production of UWC mix with the added benefit of lower washout resistance. New technique of simulating pressurized UWC is reliable for detecting UWC properties. Adding AWA (0.3–0.5% by weight of cement makes all mix acceptable according to Japanese Society of Civil Engineers.

  3. Cognitive Routing in Software-Defined Underwater Acoustic Networks

    Directory of Open Access Journals (Sweden)

    Huma Ghafoor

    2017-12-01

    Full Text Available There are two different types of primary users (natural acoustic and artificial acoustic, and there is a long propagation delay for acoustic links in underwater cognitive acoustic networks (UCANs. Thus, the selection of a stable route is one of the key design factors for improving overall network stability, thereby reducing end-to-end delay. Software-defined networking (SDN is a novel approach that improves network intelligence. To this end, we propose a novel SDN-based routing protocol for UCANs in order to find a stable route between source and destination. A main controller is placed in a surface buoy that is responsible for the global view of the network, whereas local controllers are placed in different autonomous underwater vehicles (AUVs that are responsible for a localized view of the network. The AUVs have fixed trajectories, and sensor nodes within transmission range of the AUVs serve as gateways to relay the gathered information to the controllers. This is an SDN-based underwater communications scheme whereby two nodes can only communicate when they have a consensus about a common idle channel. To evaluate our proposed scheme, we perform extensive simulations and improve network performance in terms of end-to-end delay, delivery ratio, and overhead.

  4. Multibeam 3D Underwater SLAM with Probabilistic Registration

    Directory of Open Access Journals (Sweden)

    Albert Palomer

    2016-04-01

    Full Text Available This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i.e., point clouds. An Iterative Closest Point (ICP with a probabilistic implementation is then used to register the point clouds, taking into account their uncertainties. The registration process is divided in two steps: (1 point-to-point association for coarse registration and (2 point-to-plane association for fine registration. The point clouds of the surfaces to be registered are sub-sampled in order to decrease both the computation time and also the potential of falling into local minima during the registration. In addition, a heuristic is used to decrease the complexity of the association step of the ICP from O ( n 2 to O ( n . The performance of the SLAM framework is tested using two real world datasets: First, a 2.5D bathymetric dataset obtained with the usual down-looking multibeam sonar configuration, and second, a full 3D underwater dataset acquired with a multibeam sonar mounted on a pan and tilt unit.

  5. Underwater Electromagnetic Sensor Networks—Part I: Link Characterization

    Directory of Open Access Journals (Sweden)

    Gara Quintana-Díaz

    2017-01-01

    Full Text Available Underwater Wireless Sensor Networks (UWSNs using electromagnetic (EM technology in marine shallow waters are examined, not just for environmental monitoring but for further interesting applications. Particularly, the use of EM waves is reconsidered in shallow waters due to the benefits offered in this context, where acoustic and optical technologies have serious disadvantages. Sea water scenario is a harsh environment for radiocommunications, and there is no standard model for the underwater EM channel. The high conductivity of sea water, the effect of seabed and the surface make the behaviour of the channel hard to predict. This justifies the need of link characterization as the first step to approach the development of EM underwater sensor networks. To obtain a reliable link model, measurements and simulations are required. The measuring setup for this purpose is explained and described, as well as the procedures used. Several antennas have been designed and tested in low frequency bands. Agreement between attenuation measurements and simulations at different distances was analysed and made possible the validation of simulation setups and the design of different communications layers of the system. This leads to the second step of this work, where data and routing protocols for the sensor network are examined.

  6. The Research of Optical Turbulence Model in Underwater Imaging System

    Directory of Open Access Journals (Sweden)

    Liying Sun

    2014-01-01

    Full Text Available In order to research the effect of turbulence on underwater imaging system and image restoration, the underwater turbulence model is simulated by computer fluid dynamics. This model is obtained in different underwater turbulence intensity, which contains the pressure data that influences refractive index distribution. When the pressure value is conversed to refractive index, the refractive index distribution can be received with the refraction formula. In the condition of same turbulent intensity, the distribution of refractive index presents gradient in the whole region, with disorder and mutations in the local region. With the turbulence intensity increase, the holistic variation of the refractive index in the image is larger, and the refractive index change more tempestuously in the local region. All the above are illustrated by the simulation results with he ray tracing method and turbulent refractive index model. According to different turbulence intensity analysis, it is proved that turbulence causes image distortion and increases noise.

  7. H∞ control for path tracking of autonomous underwater vehicle motion

    Directory of Open Access Journals (Sweden)

    Lin-Lin Wang

    2015-05-01

    Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.

  8. Comparison of leaching tests to determine and quantify the release of inorganic contaminants in demolition waste

    International Nuclear Information System (INIS)

    Delay, Markus; Lager, Tanja; Schulz, Horst D.; Frimmel, Fritz H.

    2007-01-01

    The changes in waste management policy caused by the massive generation of waste materials (e.g. construction and demolition waste material, municipal waste incineration products) has led to an increase in the reuse and recycling of waste materials. For environmental risk assessment, test procedures are necessary to examine waste materials before they can be reused. In this article, results of column and lysimeter leaching tests having been applied to inorganic compounds in a reference demolition waste material are presented. The results show a good agreement between the leaching behaviour determined with the lysimeter unit and the column units used in the laboratory. In view of less time and system requirements compared to lysimeter systems, laboratory column units can be considered as a practicable instrument to assess the time-dependent release of inorganic compounds under conditions similar to those encountered in a natural environment. The high concentrations of elements in the seepage water at the initial stage of elution are reflected by the laboratory column leaching tests. In particular, authorities or laboratories might benefit and have an easy-to-use, but nevertheless reliable, method to serve as a basis for decision-making

  9. Innovative probabilistic risk assessment applications: barrier impairments and fracture toughness. 2. Demolition Debris and Tornado Missile Hazard During Decommissioning

    International Nuclear Information System (INIS)

    Calhoun, David; Shepherd, Stephen

    2001-01-01

    During their operating lives, nuclear power plants typically maintain a high level of control over the amount of debris that is allowed to accumulate at the plant site. Although primarily intended to reduce the potential for fire damage, some plants also rely on these controls to limit the damage that could be caused during a tornado from missiles generated from loose debris. Demolition work associated with power plant decommissioning inevitably increases the quantity of debris. When bulk commodities such as piping and electrical distribution components are demolished, they are subject to various staging, handling, and storage processes before they can be released from the site. The demolition of plant structures dramatically increases the quantity of loose steel and concrete debris. For the foreseeable future, all plants that undertake decommissioning will have spent-fuel assemblies present on the plant site during the demolition project whether the spent fuel remains stored in a spent-fuel pool or is transferred to an independent spent-fuel storage installation (ISFSI). Under present regulations, protection from tornado missiles would be required for both types of spent-fuel storage. In addition, a small proportion of decommissioning plants will have operating units in close proximity. Licensing commitments for tornado missile protection may mandate controls on the production or storage of demolition debris. This paper presents a case study of the San Onofre Nuclear Generating Station (Fig. 1). Tornado missile protection licensing commitments from three types of facilities will be in force during the decommissioning of San Onofre Unit 1 (Unit 1): 1. Unit 1, under a possession-only license; 2. an ISFSI that will eventually store spent fuel from Unit 1; 3. San Onofre Operating Unit 2 (Unit 2) and San Onofre Operating Unit 3 (Unit 3). Together, these three facilities illustrate the range of impacts that licensing commitments designed for tornado protection may

  10. Underwater Image Enhancement by Adaptive Gray World and Differential Gray-Levels Histogram Equalization

    Directory of Open Access Journals (Sweden)

    WONG, S.-L.

    2018-05-01

    Full Text Available Most underwater images tend to be dominated by a single color cast. This paper presents a solution to remove the color cast and improve the contrast in underwater images. However, after the removal of the color cast using Gray World (GW method, the resultant image is not visually pleasing. Hence, we propose an integrated approach using Adaptive GW (AGW and Differential Gray-Levels Histogram Equalization (DHE that operate in parallel. The AGW is applied to remove the color cast while DHE is used to improve the contrast of the underwater image. The outputs of both chromaticity components of AGW and intensity components of DHE are combined to form the enhanced image. The results of the proposed method are compared with three existing methods using qualitative and quantitative measures. The proposed method increased the visibility of underwater images and in most cases produces better quantitative scores when compared to the three existing methods.

  11. Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II

    Science.gov (United States)

    Liu, Fang; Wang, Yan-hui; Wu, Zhi-liang; Wang, Shu-xin

    2017-03-01

    A hybrid underwater glider Petrel-II has been developed and field tested. It is equipped with an active buoyancy unit and a compact propeller unit. Its working modes have been expanded to buoyancy driven gliding and propeller driven level-flight, which can make the glider work in strong currents, as well as many other complicated ocean environments. Its maximal gliding speed reaches 1 knot and the propelling speed is up to 3 knots. In this paper, a 3D dynamic model of Petrel-II is derived using linear momentum and angular momentum equations. According to the dynamic model, the spiral motion in the underwater space is simulated for the gliding mode. Similarly the cycle motion on water surface and the depth-keeping motion underwater are simulated for the level-flight mode. These simulations are important to the performance analysis and parameter optimization for the Petrel-II underwater glider. The simulation results show a good agreement with field trials.

  12. Heavy metals in recovered fines from construction and demolition debris recycling facilities in Florida.

    Science.gov (United States)

    Townsend, Timothy; Tolaymat, Thabet; Leo, Kevin; Jambeck, Jenna

    2004-10-01

    A major product recovered from the processing and recycling of construction and demolition (C&D) debris is screened soil, also referred to as fines. A proposed reuse option for C&D debris fines is fill material, typically in construction projects as a substitute for natural soil. Waste material that is reused in a manner similar to soil must first be characterized to examine potential risks to human health and the environment. In Florida, samples of C&D debris fines from 13 C&D debris recycling facilities were characterized for 11 total and leachable heavy metal concentrations. Total metal concentration results (mg/kg) were compared to existing data on background Florida soil concentrations and to Florida's risk-based soil cleanup target levels (SCTLs). All of the detected metals were found to be elevated with respect to background. The 95% upper confidence level of arsenic from 99 samples was 3.2 mg/kg; arsenic presented the greatest limitation to reuse when compared to the SCTLs. Lead was not found to pose a major problem, likely because of the relatively new building infrastructure in Florida, which results in less demolition debris and less material impacted by lead-based paint. The results of batch leaching tests conducted using simulated rainwater (mg/l) were compared directly to risk-based groundwater levels for Florida and were found not to pose a risk using existing risk assessment policies.

  13. Apparatus for Changing the Attack Angle of a Cavitator on a Supercavatating Underwater Research Model

    Science.gov (United States)

    2005-07-18

    the Invention 14 The present invention generally relates to an apparatus 15 for changing the attack of a cavitator on a supercavitating 16 underwater...research model. 17 2. Description of the Prior Art 18 Supercavitating underwater vehicles and projectiles are 19 known in the art. One such... supercavitating underwater 20 projectile is described in Harkins et al., U.S. Patent No. 21 5,955,698. This projectile uses a supercavitating nose 22 section that

  14. Recycling of construction and demolition waste: case study in the Port of Antwerp

    OpenAIRE

    Bergmans, Jef; Broos, Kris; Nielsen, Peter; Dierckx, Philippe; Brijsse, Yvan; Jacobs, Kurt

    2015-01-01

    Construction and demolition waste (C&DW) represents one of the EU’s largest waste streams. According to the Directive 2008/98/EC on waste, at least 70 percent (by weight) of non-hazardous C&DW must be recuperated by 2020. Eurostat estimates an annual C&DW generation of 970 Mton in EU-27, representing an average value of almost 2.0 ton per inhabitant, with an average recovery rate of 47%. A case study in the Port of Antwerp (PoA) demonstrated new high grade recycling options for purified mater...

  15. Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network

    Directory of Open Access Journals (Sweden)

    Gianluca Dini

    2012-02-01

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

  16. Predictive Model for the Analysis of the Effects of Underwater Impulsive Sources on Marine Life

    National Research Council Canada - National Science Library

    Lazauski, Colin J

    2007-01-01

    A method is provided to predict the biological consequences to marine animals from exposure to multiple underwater impulsive sources by simulating underwater explosions over a defined period of time...

  17. Validation of multi-body modelling methodology for reconfigurable underwater robots

    DEFF Research Database (Denmark)

    Nielsen, M.C.; Eidsvik, O. A.; Blanke, Mogens

    2016-01-01

    This paper investigates the problem of employing reconfigurable robots in an underwater setting. The main results presented is the experimental validation of a modelling methodology for a system consisting of N dynamically connected robots with heterogeneous dynamics. Two distinct types...... of experiments are performed, a series of hydrostatic free-decay tests and a series of open-loop trajectory tests. The results are compared to a simulation based on the modelling methodology. The modelling methodology shows promising results for usage with systems composed of reconfigurable underwater modules...

  18. Underwater laser beam welding of Alloy 690

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Kono, Wataru; Kawano, Shohei; Yoda, Masaki

    2009-01-01

    Stress Corrosion Clacking (SCC) has been reported at Alloy 600 welds between nozzles and safe-end in Pressurized Water Reactor (PWR) plant. Alloy 690, which has higher chromium content than Alloy 600, has been applied for cladding on Alloy 600 welds for repairing damaged SCC area. Toshiba has developed Underwater Laser Beam Welding technique. This method can be conducted without draining, so that the repairing period and the radiation exposure during the repair can be dramatically decreased. In some old PWRs, high-sulfur stainless steel is used as the materials for this section. It has a high susceptibility of weld cracks. Therefore, the optimum welding condition of Alloy 690 on the high-sulfur stainless steel was investigated with our Underwater Laser Beam Welding unit. Good cladding layer, without any crack, porosity or lack of fusion, could be obtained. (author)

  19. A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models.

    Science.gov (United States)

    Kao, Chien-Chi; Lin, Yi-Shan; Wu, Geng-De; Huang, Chun-Ju

    2017-06-22

    The Internet of Underwater Things (IoUT) is a novel class of Internet of Things (IoT), and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs) have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs), and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1) we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2) we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3) we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

  20. Mechanically durable underwater superoleophobic surfaces based on hydrophilic bulk metals for oil/water separation

    Science.gov (United States)

    Yu, Huadong; Lian, Zhongxu; Xu, Jinkai; Wan, Yanling; Wang, Zuobin; Li, Yiquan; Yu, Zhanjiang; Weng, Zhankun

    2018-04-01

    Despite the success of previous methods for fabricating underwater superoleophobic surfaces, most of the surfaces based on soft materials are prone to collapse and deformation due to their mechanically fragile nature, and they fail to perform their designed functions after the surface materials are damaged in water. In this work, the nanosecond laser-induced oxide coatings on hydrophilic bulk metals are reported which overcomes the limitation and shows the robust underwater superoleophobicity to a mechanical challenge encountered by surfaces deployed in water environment. The results show that the surface materials have the advantage that the underwater superoleophobicity is still preserved after the surfaces are scratched by knife or sandpaper and even completely destroyed because of the hydrophilic property of damaged materials in water. It is important that the results provide a guide for the design of durable underwater superoleophobic surfaces, and the development of superoleophobic materials in many potential applications such as the oil-repellent and the oil/water separation. Additionally, the nanosecond laser technology is simple, cost-effective and suitable for the large-area and mass fabrication of mechanically durable underwater superoleophobic metal materials.

  1. Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

    Directory of Open Access Journals (Sweden)

    Yi-Hsiang Tseng

    2013-01-01

    Full Text Available The study has investigated the almost disturbance decoupling problem of nonlinear uncertain control systems via the fuzzy feedback linearization approach. The significant dedication of this paper is to organize a control algorithm such that the closed-loop system is active for given initial condition and bounded tracking trajectory with the input-to-state stability and almost disturbance decoupling performance. This study presents a feedback linearization controller for diving control of an unmanned underwater vehicle. Unmanned underwater vehicle proposes difficult control subject due to its nonlinear dynamics, uncertain models, and the existence of disturbances that are difficult to measure. In general, while investigating the diving dynamics of an unmanned underwater vehicle, the pitch angle is always assumed to be small. This assumption is a strong restricting constraint in many interesting practical applications and will be relaxed in this study.

  2. An Environment-Friendly Multipath Routing Protocol for Underwater Acoustic Sensor Network

    Directory of Open Access Journals (Sweden)

    Yun Li

    2017-01-01

    Full Text Available Underwater Acoustic Sensor Network (UASN is a promising technique by facilitating a wide range of aquatic applications. However, routing scheme in UASN is a challenging task because of the characteristics of the nodes mobility, interruption of link, and interference caused by other underwater acoustic systems such as marine mammals. In order to achieve reliable data delivery in UASN, in this work, we present a disjoint multipath disruption-tolerant routing protocol for UASN (ENMR, which incorporates the Hue, Saturation, and Value color space (HSV model to establish routing paths to greedily forward data packets to sink nodes. ENMR applies the mechanism to maintain the network topology. Simulation results show that, compared with the classic underwater routing protocols named PVBF, ENMR can improve packet delivery ratio and reduce network latency while avoiding introducing additional energy consumption.

  3. A study on practical use of underwater abrasive water jet cutting

    Science.gov (United States)

    Yamaguchi, Hitoshi; Demura, Kenji

    1993-09-01

    The practicality of underwater abrasive water jet cutting technology was studied in experiments. A study of abrasives in slurried form showed that optimum polymer concentration can be selected to suit underwater conditions. For the long-distance transport of slurry from the ocean surface to the ocean floor, a direct supply system by hose proved to be practical. This system takes advantage of the insolubility of the slurry in water due to a difference in specific gravity. For cutting thick steel plate at great ocean depths, a simulation with a pressurized container revealed the requirements for actual cutting. Confirmation of remote cutting operations will become the most important technology in field applications. Underwater sound vibration characteristics were found to change significantly in direct response to modifications in cutting conditions. This will be important basic data to develop an effective sensoring method.

  4. Underwater navigation using diffusion-based trajectory observers

    DEFF Research Database (Denmark)

    Jouffroy, Jerome; Opderbecke, Jan

    2007-01-01

    This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consid...

  5. Development of a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics

    Science.gov (United States)

    Amin, Osman Md; Karim, Md. Arshadul; Saad, Abdullah His

    2017-12-01

    At present, research on unmanned underwater vehicle (UUV) has become a significant & familiar topic for researchers from various engineering fields. UUV is of mainly two types - AUV (Autonomous Underwater vehicle) & ROV (Remotely Operated Vehicle). There exist a significant number of published research papers on UUV, where very few researchers emphasize on the ease of maneuvering and control of UUV. Maneuvering is important for underwater vehicle in avoiding obstacles, installing underwater piping system, searching undersea resources, underwater mine disposal operations, oceanographic surveys etc. A team from Dept. of Naval Architecture & Marine Engineering of MIST has taken a project to design a highly maneuverable unmanned underwater vehicle on the basis of quad-copter dynamics. The main objective of the research is to develop a control system for UUV which would be able to maneuver the vehicle in six DOF (Degrees of Freedom) with great ease. For this purpose we are not only focusing on controllability but also designing an efficient hull with minimal drag force & optimized propeller using CFD technique. Motors were selected on the basis of the simulated thrust generated by propellers in ANSYS Fluent software module. Settings for control parameters to carry out different types of maneuvering such as hovering, spiral, one point rotation about its centroid, gliding, rolling, drifting and zigzag motions were explained in short at the end.

  6. 3D MODELING FOR UNDERWATER ARCHAEOLOGICAL DOCUMENTATION: METRIC VERIFICATIONS

    Directory of Open Access Journals (Sweden)

    S. D’Amelio

    2015-04-01

    Full Text Available The survey in underwater environment has always presented considerable difficulties both operative and technical and this has sometimes made it difficult to use the techniques of survey commonly used for the documentation of Cultural Heritage in dry environment. The work of study concerns the evaluation in terms of capability and accuracy of the Autodesk123DCatch software for the reconstruction of a three-dimensional model of an object in underwater context. The subjects of the study are models generated from sets of photographs and sets of frames extracted from video sequence. The study is based on comparative method, using a reference model, obtained with laser scanner technique.

  7. Pressure vessel made by free forming using underwater explosion

    Directory of Open Access Journals (Sweden)

    H Iyama

    2016-03-01

    Full Text Available Explosive forming is one particular forming technique, in which, mostcommonly, water is used as the pressure transmission medium. In recentyears, we have done the development of the method which obtains anecessary form of the metal by the control of underwater shock wave actson the metal plate, without a metal die. On the other hand, the pressurevessel is required in various fields, but we think that the free forming usingthe underwater shock wave is advantageous in the production of pressurevessel of a simple spherical, ellipse, parabola shape. In this paper, we willintroduce an experiment and several numerical simulations that we carriedout for this technical development.

  8. Detuned mechanical parametric amplification as a quantum non-demolition measurement

    International Nuclear Information System (INIS)

    Szorkovszky, A; Bowen, W P; Clerk, A A; Doherty, A C

    2014-01-01

    Recently it has been demonstrated that the combination of continuous position detection with detuned parametric driving can lead to significant steady-state mechanical squeezing, far beyond the 3 dB limit normally associated with parametric driving. In this work, we show the close connection between this detuned scheme and quantum non-demolition (QND) measurement of a single mechanical quadrature. In particular, we show that applying an experimentally realistic detuned parametric drive to a cavity optomechanical system allows one to effectively realize a QND measurement despite being in the bad-cavity limit. In the limit of strong squeezing, we show that this scheme offers significant advantages over standard backaction evasion, not only by allowing operation in the weak measurement and low efficiency regimes, but also in terms of the purity of the mechanical state

  9. Localization of an Underwater Control Network Based on Quasi-Stable Adjustment

    Science.gov (United States)

    Chen, Xinhua; Zhang, Hongmei; Feng, Jie

    2018-01-01

    There exists a common problem in the localization of underwater control networks that the precision of the absolute coordinates of known points obtained by marine absolute measurement is poor, and it seriously affects the precision of the whole network in traditional constraint adjustment. Therefore, considering that the precision of underwater baselines is good, we use it to carry out quasi-stable adjustment to amend known points before constraint adjustment so that the points fit the network shape better. In addition, we add unconstrained adjustment for quality control of underwater baselines, the observations of quasi-stable adjustment and constrained adjustment, to eliminate the unqualified baselines and improve the results’ accuracy of the two adjustments. Finally, the modified method is applied to a practical LBL (Long Baseline) experiment and obtains a mean point location precision of 0.08 m, which improves by 38% compared with the traditional method. PMID:29570627

  10. Environmental assessment for the salvage/demolition of 200 West Area, 200 East Area, and 300 Area steam plants

    International Nuclear Information System (INIS)

    1996-10-01

    This environmental assessment has been prepared to assess potential environmental impacts associated with the US Department of Energy's proposed action: the salvage/demolition of the 200 West Area, 200 East Area, and 300 Area Steam Plants and steam distribution piping. Impact information will be used by the US Department of Energy, Richland Operations Office Manager, to determine if the proposed action is a major federal action significantly affecting the quality of the human environment. If the proposed action is determined to be major and significant, an environmental impact statement will be prepared. If the proposed action is determined not to be major and significant, a Finding of No Significant Impact (FONSI) will be issued and the action can proceed. The proposed action involves the salvage and demolition of the 200 West Area, 200 East Are, and 300 Area steam plants and their associated steam distribution piping, equipment, and ancillary facilities. Activities include the salvaging and recycling of all materials, wastes, and equipment where feasible, with waste minimization efforts utilized

  11. Hydrogen sulfide flux measurements from construction and demolition debris (C&D) landfills.

    Science.gov (United States)

    Eun, Sangho; Reinhart, Debra R; Cooper, C David; Townsend, Timothy G; Faour, Ayman

    2007-01-01

    Hydrogen sulfide (H2S) has been identified as a principal odorous component of gaseous emissions from construction and demolition debris (C&D) landfills. Although several studies have reported the ambient concentrations of H2S near C&D landfills, few studies have quantified emission rates of H2S. One of the most widely used techniques for measuring surface gas emission rates from landfills is the flux chamber method. Flux measurements using the flux chamber were performed at five different C&D landfills from April to August, 2003. The flux rates of H2S measured in this research were between 0.192 and 1.76 mg/(m2-d).

  12. Decontaminating agents and decontamination processes for nuclear industry and for plant demolition

    International Nuclear Information System (INIS)

    Henning, Klaus; Gojowczyk, Peter

    2012-01-01

    Decontamination of surfaces of materials in nuclear facilities or in nuclear power plants under demolition can be carried out successfully if surface treatment is performed by dipping or in an ultrasonic bath by alternating between alkaline and acid baths with intermediate rinsing in demineralized water. Decontaminating aluminium surfaces sensitive to corrosion requires further treatment in an ultrasonic bath, after the first 2 ultrasonic baths, with a weak alkaline decontaminating agent. This applies alike to components to be decontaminated for re-use and parts of materials to be disposed of. The decontamination action depends on the surfaces either being free from corrosion or else showing pronounced corrosion. (orig.)

  13. On the Accuracy Potential in Underwater/Multimedia Photogrammetry.

    Science.gov (United States)

    Maas, Hans-Gerd

    2015-07-24

    Underwater applications of photogrammetric measurement techniques usually need to deal with multimedia photogrammetry aspects, which are characterized by the necessity of handling optical rays that are refracted at interfaces between optical media with different refractive indices according to Snell's Law. This so-called multimedia geometry has to be incorporated into geometric models in order to achieve correct measurement results. The paper shows a flexible yet strict geometric model for the handling of refraction effects on the optical path, which can be implemented as a module into photogrammetric standard tools such as spatial resection, spatial intersection, bundle adjustment or epipolar line computation. The module is especially well suited for applications, where an object in water is observed by cameras in air through one or more planar glass interfaces, as it allows for some simplifications here. In the second part of the paper, several aspects, which are relevant for an assessment of the accuracy potential in underwater/multimedia photogrammetry, are discussed. These aspects include network geometry and interface planarity issues as well as effects caused by refractive index variations and dispersion and diffusion under water. All these factors contribute to a rather significant degradation of the geometric accuracy potential in underwater/multimedia photogrammetry. In practical experiments, a degradation of the quality of results by a factor two could be determined under relatively favorable conditions.

  14. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

  15. An evaluation of the composition of soil cement bricks with construction and demolition waste - doi: 10.4025/actascitechnol.v33i2.9377

    Directory of Open Access Journals (Sweden)

    Antonio Anderson da Silva Segantini

    2011-04-01

    Full Text Available Sustainable development requires the existence of a production network that includes the reuse of construction waste for new materials. Current analysis investigates an optimal soil-cement composition made up of construction and demolition waste for the manufacture of pressed bricks. Soil-cement bricks were manufactured from construction and demolition wastes (CDW, A-4 classified fine sandy soil and cement CP II Z 32. Laboratory tests, comprising test compaction, optimum water content and maximum dry specific weight, consistency limits, grain size distribution and linear shrinkage, were made to characterize the materials researched. Compressive strength and absorption tests were also undertaken in different combinations of composition. Results showed that the application of CDW improved soil-cement qualities and reduced shrinkage of the material used.

  16. Experimental study on scale removal from special-shaped conduits through underwater electrical discharge

    International Nuclear Information System (INIS)

    Cao, Y; Wang, Z Q; Li, G F; Wu, Y; Zhou, J J

    2013-01-01

    Underwater electrical discharge technology is an innovative technique that can be used to enhance the stress intensity of water and improve the load addition. The technique enlarges the section area and compresses the surrounding water using a high-powered shock wave, which is induced by an underwater electrical discharge. This paper investigates the effectiveness of scale removal for special-shaped conduits employing underwater electrical discharge. Experimental results show that the pressure wave generated by underwater electrical discharge is capable of eliminating scale in special-shaped conduits. The data indicates that when the capacitance of the parallel-pulsed capacitors was 4 μF, the high pulsed power voltage was 33 kV and the primary discharge gap was 48 mm, the result of scale removal was remarkable. In laboratory tests, the scale of special equipment was removed to a great extent by this method. Because of its effectiveness and low cost, this method improves the practice and extends the lifetime of such equipment, and thus has potential application and economic value.

  17. Underwater explosive compaction-sintering of tungsten-copper coating on a copper surface

    Science.gov (United States)

    Chen, Xiang; Li, Xiaojie; Yan, Honghao; Wang, Xiaohong; Chen, Saiwei

    2018-01-01

    This study investigated underwater explosive compaction-sintering for coating a high-density tungsten-copper composite on a copper surface. First, 50% W-50% Cu tungsten-copper composite powder was prepared by mechanical alloying. The composite powder was pre-compacted and sintered by hydrogen. Underwater explosive compaction was carried out. Finally, a high-density tungsten-copper coating was obtained by diffusion sintering of the specimen after explosive compaction. A simulation of the underwater explosive compaction process showed that the peak value of the pressure in the coating was between 3.0 and 4.8 GPa. The hardness values of the tungsten-copper layer and the copper substrate were in the range of 87-133 and 49 HV, respectively. The bonding strength between the coating and the substrate was approximately 100-105 MPa.

  18. A Comprehensive Study on the Internet of Underwater Things: Applications, Challenges, and Channel Models

    Directory of Open Access Journals (Sweden)

    Chien-Chi Kao

    2017-06-01

    Full Text Available The Internet of Underwater Things (IoUT is a novel class of Internet of Things (IoT, and is defined as the network of smart interconnected underwater objects. IoUT is expected to enable various practical applications, such as environmental monitoring, underwater exploration, and disaster prevention. With these applications, IoUT is regarded as one of the potential technologies toward developing smart cities. To support the concept of IoUT, Underwater Wireless Sensor Networks (UWSNs have emerged as a promising network system. UWSNs are different from the traditional Territorial Wireless Sensor Networks (TWSNs, and have several unique properties, such as long propagation delay, narrow bandwidth, and low reliability. These unique properties would be great challenges for IoUT. In this paper, we provide a comprehensive study of IoUT, and the main contributions of this paper are threefold: (1 we introduce and classify the practical underwater applications that can highlight the importance of IoUT; (2 we point out the differences between UWSNs and traditional TWSNs, and these differences are the main challenges for IoUT; and (3 we investigate and evaluate the channel models, which are the technical core for designing reliable communication protocols on IoUT.

  19. Network lifetime-aware data collection in Underwater Sensor ...

    Indian Academy of Sciences (India)

    Jalaja Janardanan Kartha

    2017-09-07

    Sep 7, 2017 ... existing models to assess their effectiveness and to investigate the trade-offs. Results show ... coverage drops below a predefined threshold and (vi) connectivity is .... Cost Clustering Protocol (MCCP), Distributed Underwater.

  20. The Control Packet Collision Avoidance Algorithm for the Underwater Multichannel MAC Protocols via Time-Frequency Masking

    Directory of Open Access Journals (Sweden)

    Yang Yu

    2016-01-01

    Full Text Available Establishing high-speed and reliable underwater acoustic networks among multiunmanned underwater vehicles (UUVs is basic to realize cooperative and intelligent control among different UUVs. Nevertheless, different from terrestrial network, the propagation speed of the underwater acoustic network is 1500 m/s, which makes the design of the underwater acoustic network MAC protocols a big challenge. In accordance with multichannel MAC protocols, data packets and control packets are transferred through different channels, which lowers the adverse effect of acoustic network and gradually becomes the popular issues of underwater acoustic networks MAC protocol research. In this paper, we proposed a control packet collision avoidance algorithm utilizing time-frequency masking to deal with the control packets collision in the control channel. This algorithm is based on the scarcity of the noncoherent underwater acoustic communication signals, which regards collision avoiding as separation of the mixtures of communication signals from different nodes. We first measure the W-Disjoint Orthogonality of the MFSK signals and the simulation result demonstrates that there exists time-frequency mask which can separate the source signals from the mixture of the communication signals. Then we present a pairwise hydrophones separation system based on deep networks and the location information of the nodes. Consequently, the time-frequency mask can be estimated.

  1. Acquisition and tracking for underwater optical communications

    Science.gov (United States)

    Williams, Andrew J.; Laycock, Leslie L.; Griffith, Michael S.; McCarthy, Andrew G.; Rowe, Duncan P.

    2017-10-01

    There is a growing requirement to transfer large volumes of data between underwater platforms. As seawater is transmissive in the visible band, underwater optical communications is an active area of interest since it offers the potential for power efficient, covert and high bandwidth datalinks at short to medium ranges. Short range systems have been successfully demonstrated using sources with low directionality. To realise higher data rates and/or longer ranges, the use of more efficient directional beams is required; by necessity, these must be sufficiently aligned to achieve the required link margin. For mobile platforms, the acquisition and tracking of each node is therefore critical in order to establish and maintain an optical datalink. This paper describes work undertaken to demonstrate acquisition and tracking in a 3D underwater environment. A range of optical sources, beam steering technologies, and tracking sensors have been assessed for suitability. A novel scanning strategy exploiting variable beam divergence was developed to provide robust acquisition whilst minimising acquisition time. A prototype system was assembled and demonstrated in a large water tank. This utilised custom quadrant detectors based on Silicon PhotoMultiplier (SiPM) arrays for fine tracking, and a Wide Field of View (WFoV) sCMOS camera for link acquisition. Fluidic lenses provided dynamic control of beam divergence, and AC modulation/filtering enabled background rejection. The system successfully demonstrated robust optical acquisition and tracking between two nodes with only nanowatt received optical powers. The acquisition time was shown to be dependent on the initial conditions and the transmitted optical power.

  2. Cascading Multi-Hop Reservation and Transmission in Underwater Acoustic Sensor Networks

    Directory of Open Access Journals (Sweden)

    Jae-Won Lee

    2014-10-01

    Full Text Available The long propagation delay in an underwater acoustic channel makes designing an underwater media access control (MAC protocol more challenging. In particular, handshaking-based MAC protocols widely used in terrestrial radio channels have been known to be inappropriate in underwater acoustic channels, because of the inordinately large latency involved in exchanging control packets. Furthermore, in the case of multi-hop relaying in a hop-by-hop handshaking manner, the end-to-end delay significantly increases. In this paper, we propose a new MAC protocol named cascading multi-hop reservation and transmission (CMRT. In CMRT, intermediate nodes between a source and a destination may start handshaking in advance for the next-hop relaying before handshaking for the previous node is completed. By this concurrent relaying, control packet exchange and data delivery cascade down to the destination. In addition, to improve channel utilization, CMRT adopts a packet-train method where multiple data packets are sent together by handshaking once. Thus, CMRT reduces the time taken for control packet exchange and accordingly increases the throughput. The performance of CMRT is evaluated and compared with that of two conventional MAC protocols (multiple-access collision avoidance for underwater (MACA-U and MACA-U with packet trains (MACA-UPT. The results show that CMRT outperforms other MAC protocols in terms of both throughput and end-to-end delay.

  3. Measurement and Modeling of Narrowband Channels for Ultrasonic Underwater Communications

    Directory of Open Access Journals (Sweden)

    Francisco J. Cañete

    2016-02-01

    Full Text Available Underwater acoustic sensor networks are a promising technology that allow real-time data collection in seas and oceans for a wide variety of applications. Smaller size and weight sensors can be achieved with working frequencies shifted from audio to the ultrasonic band. At these frequencies, the fading phenomena has a significant presence in the channel behavior, and the design of a reliable communication link between the network sensors will require a precise characterization of it. Fading in underwater channels has been previously measured and modeled in the audio band. However, there have been few attempts to study it at ultrasonic frequencies. In this paper, a campaign of measurements of ultrasonic underwater acoustic channels in Mediterranean shallow waters conducted by the authors is presented. These measurements are used to determine the parameters of the so-called κ-μ shadowed distribution, a fading model with a direct connection to the underlying physical mechanisms. The model is then used to evaluate the capacity of the measured channels with a closed-form expression.

  4. Multiuser chirp modulation for underwater acoustic channel based on VTRM

    Directory of Open Access Journals (Sweden)

    Fei Yuan

    2017-05-01

    Full Text Available In this paper, an ascheme is proposed for multiuser underwater acoustic communication by using the multi-chirp rate signals. It differs from the well known TDMA (Time Division Multiple Access, FDMA (Frequency Division Multiple Access or CDMA (Code Division Multiple Access, by assigning each users with different chirp-rate carriers instead of the time, frequency or PN code. Multi-chirp rate signals can be separated from each other by FrFT (Fractional Fourier Transform, which can be regarded as the chirp-based decomposing, and superior to the match filter in the underwater acoustic channel. VTRM (Virtual Time Reverse Mirror is applied into the system to alleviate the ISI caused by the multipatch and make the equalization more simple. Results of computer simulations and pool experiments prove that the proposed multiuser underwater acoustic communication based on the multi-chirp rate exhibit well performance. Outfield experments carrie out in Xiamen Port show that using about 10 kHz bandwidth, four users could communicate at the same time with 425 bps with low BER and can match the UAC application.

  5. Underwater noise generated by offshore pile driving

    NARCIS (Netherlands)

    Tsouvalas, A.

    2015-01-01

    Anthropogenic noise emission in the marine environment has always been an environmental issue of serious concern. In particular, the noise generated during the installation of foundation piles is considered to be one of the most significant sources of underwater noise pollution. This is mainly

  6. MOSES, development of an Underwater Warfare Testbed

    NARCIS (Netherlands)

    Lentze, S.G.

    2001-01-01

    The TNO underwater warfare (UWW) research programme results in a large number of models used in operational research projects. To enhance the accessibility and re-use of these models for new projects, TNO-FEL has developed the modelling environment ‘MOSES - Maritime Operations Simulation and

  7. 77 FR 38236 - Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA

    Science.gov (United States)

    2012-06-27

    ...-AA08 Special Local Regulation, Underwater Music Festival, Carr Inlet, Cutts Island, WA AGENCY: Coast... ensure the safety of the maritime public during the Underwater Music Festival and would do so by... Music Festival is an event which includes musical performances from a barge. Spectators approach the...

  8. Human Injury Criteria for Underwater Blasts

    Science.gov (United States)

    2014-09-08

    further underscored the need for this new guideline based on injury data. Conference Name: Personal Armour Systems Symposium Conference Date...29.  Cole, R., Underwater Explosion. (Dover Publications, Inc ., New York, N.Y., 1948) 30.  Nakahara, M., Nagayama, K, Mori, Y, Japanese Journal...Abstract of the Undersea and Hyperbaric Medical Society, Inc . Annual Scientific Meeting, (1976).

  9. A Framework for Evaluating Advanced Search Concepts for Multiple Autonomous Underwater Vehicle (AUV) Mine Countermeasures (MCM)

    National Research Council Canada - National Science Library

    Gooding, Trent

    2001-01-01

    .... In recent years, autonomous underwater vehicles (AUV) have emerged as a viable technology for conducting underwater search, survey, and clearance operations in support of the mine countermeasures (MCM) mission...

  10. Electrostatic images for underwater anisotropic conductive half spaces

    International Nuclear Information System (INIS)

    Flykt, M.; Lindell, I.; Eloranta, E.

    1998-01-01

    A static image principle makes it possible to derive analytical solutions to some basic geometries for DC fields. The underwater environment is especially difficult both from the theoretical and practical point of view. However, there are increasing demands that also the underwater geological formations should be studied in detail. The traditional image of a point source lies at the mirror point of the original. When anisotropic media is involved, however, the image location can change and the image source may be a continues, sector-like distribution. In this paper some theoretical considerations are carried out in the case where the lower half space can have a very general anisotropy in terms of electrical conductivity, while the upper half space is assumed isotropic. The reflection potential field is calculated for different values of electrical conductivity. (orig.)

  11. Heavy metals in recovered fines from construction and demolition debris recycling facilities in Florida

    International Nuclear Information System (INIS)

    Townsend, Timothy; Tolaymat, Thabet; Leo, Kevin; Jambeck, Jenna

    2004-01-01

    A major product recovered from the processing and recycling of construction and demolition (C and D) debris is screened soil, also referred to as fines. A proposed reuse option for C and D debris fines is fill material, typically in construction projects as a substitute for natural soil. Waste material that is reused in a manner similar to soil must first be characterized to examine potential risks to human health and the environment. In Florida, samples of C and D debris fines from 13 C and D debris recycling facilities were characterized for 11 total and leachable heavy metal concentrations. Total metal concentration results (mg/kg) were compared to existing data on background Florida soil concentrations and to Florida's risk-based soil cleanup target levels (SCTLs). All of the detected metals were found to be elevated with respect to background. The 95% upper confidence level of arsenic from 99 samples was 3.2 mg/kg; arsenic presented the greatest limitation to reuse when compared to the SCTLs. Lead was not found to pose a major problem, likely because of the relatively new building infrastructure in Florida, which results in less demolition debris and less material impacted by lead-based paint. The results of batch leaching tests conducted using simulated rainwater (mg/l) were compared directly to risk-based groundwater levels for Florida and were found not to pose a risk using existing risk assessment policies

  12. Efficient Modelling Methodology for Reconfigurable Underwater Robots

    DEFF Research Database (Denmark)

    Nielsen, Mikkel Cornelius; Blanke, Mogens; Schjølberg, Ingrid

    2016-01-01

    This paper considers the challenge of applying reconfigurable robots in an underwater environment. The main result presented is the development of a model for a system comprised of N, possibly heterogeneous, robots dynamically connected to each other and moving with 6 Degrees of Freedom (DOF). Th...

  13. Impacts of underwater noise on marine vertebrates

    NARCIS (Netherlands)

    Liebschner, Alexander; Seibel, Henrike; Teilmann, Jonas; Wittekind, Dietrich; Parmentier, Eric; Dähne, Michael; Dietz, Rune; Driver, Jörg; Elk, van Cornelis; Everaarts, Eligius; Findeisen, Henning; Kristensen, Jacob; Lehnert, Kristina; Lucke, Klaus; Merck, Thomas; Müller, Sabine; Pawliczka, Iwona; Ronnenberg, Katrin; Rosenberger, Tanja; Ruser, Andreas; Tougaard, Jakob; Schuster, Max; Sundermeyer, Janne; Sveegaard, Signe; Siebert, Ursula

    2016-01-01

    The project conducts application-oriented research on impacts of underwater noise on marine vertebrates in the North and Baltic Seas. In distinct subprojects, the hearing sensitivity of harbor porpoises and gray seals as well as the acoustic tolerance limit of harbor porpoises to impulsive noise

  14. Using the combination refraction-reflection solid to design omni-directional light source used in underwater wireless optical communication

    Science.gov (United States)

    Rao, Jionghui; Yao, Wenming; Wen, Linqiang

    2015-10-01

    Underwater wireless optical communication is a communication technology which uses laser as an information carrier and transmits data through water. Underwater wireless optical communication has some good features such as broader bandwidth, high transmission rate, better security, anti—interference performance. Therefore, it is promising to be widely used in the civil and military communication domains. It is also suitable for high-speed, short-range communication between underwater mobile vehicles. This paper presents a design approach of omni-directional light source used in underwater wireless optical communication, using TRACEPRO simulation tool to help design a combination solid composed of the lens, conical reflector and parabolic reflector, and using the modulated DPSS green laser in the transmitter module to output the laser beam in small divergence angles, after expanded by the combination refraction-reflection solid, the angle turns into a space divergence angle of 2π, achieving the omni-directional light source of hemisphere space, and test in the air and underwater, the result shows that the effect is fine. This paper analyzes the experimental test in the air and water, in order to make further improvement of the uniformity of light distribution, we optimize the reflector surface parameters of combination refraction-reflection solid and test in the air and water. The result shows that omni-directional light source used in underwater wireless optical communication optimized could achieve the uniformity of light distribution of underwater space divergence angle of 2π. Omni-directional light source used in underwater wireless optical communication designed in this paper has the characteristics of small size and uniformity of light distribution, it is suitable for application between UUVs, AUVs, Swimmer Delivery Vehicles (SDVs) and other underwater vehicle fleet, it realizes point-to-multipoint communications.

  15. Underwater image enhancement based on the dark channel prior and attenuation compensation

    Science.gov (United States)

    Guo, Qingwen; Xue, Lulu; Tang, Ruichun; Guo, Lingrui

    2017-10-01

    Aimed at the two problems of underwater imaging, fog effect and color cast, an Improved Segmentation Dark Channel Prior (ISDCP) defogging method is proposed to solve the fog effects caused by physical properties of water. Due to mass refraction of light in the process of underwater imaging, fog effects would lead to image blurring. And color cast is closely related to different degree of attenuation while light with different wavelengths is traveling in water. The proposed method here integrates the ISDCP and quantitative histogram stretching techniques into the image enhancement procedure. Firstly, the threshold value is set during the refinement process of the transmission maps to identify the original mismatching, and to conduct the differentiated defogging process further. Secondly, a method of judging the propagating distance of light is adopted to get the attenuation degree of energy during the propagation underwater. Finally, the image histogram is stretched quantitatively in Red-Green-Blue channel respectively according to the degree of attenuation in each color channel. The proposed method ISDCP can reduce the computational complexity and improve the efficiency in terms of defogging effect to meet the real-time requirements. Qualitative and quantitative comparison for several different underwater scenes reveals that the proposed method can significantly improve the visibility compared with previous methods.

  16. Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Sarton, Christopher

    2003-01-01

    .... Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process...

  17. SOUNET: Self-Organized Underwater Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Hee-won Kim

    2017-02-01

    Full Text Available In this paper, we propose an underwater wireless sensor network (UWSN named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR, and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

  18. SOUNET: Self-Organized Underwater Wireless Sensor Network.

    Science.gov (United States)

    Kim, Hee-Won; Cho, Ho-Shin

    2017-02-02

    In this paper, we propose an underwater wireless sensor network (UWSN) named SOUNET where sensor nodes form and maintain a tree-topological network for data gathering in a self-organized manner. After network topology discovery via packet flooding, the sensor nodes consistently update their parent node to ensure the best connectivity by referring to the timevarying neighbor tables. Such a persistent and self-adaptive method leads to high network connectivity without any centralized control, even when sensor nodes are added or unexpectedly lost. Furthermore, malfunctions that frequently happen in self-organized networks such as node isolation and closed loop are resolved in a simple way. Simulation results show that SOUNET outperforms other conventional schemes in terms of network connectivity, packet delivery ratio (PDR), and energy consumption throughout the network. In addition, we performed an experiment at the Gyeongcheon Lake in Korea using commercial underwater modems to verify that SOUNET works well in a real environment.

  19. Underwater noise modelling for environmental impact assessment

    Energy Technology Data Exchange (ETDEWEB)

    Farcas, Adrian [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom); Thompson, Paul M. [Lighthouse Field Station, Institute of Biological and Environmental Sciences, University of Aberdeen, Cromarty IV11 8YL (United Kingdom); Merchant, Nathan D., E-mail: nathan.merchant@cefas.co.uk [Centre for Environment, Fisheries and Aquaculture Science (Cefas), Pakefield Road, Lowestoft, NR33 0HT (United Kingdom)

    2016-02-15

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  20. Underwater noise modelling for environmental impact assessment

    International Nuclear Information System (INIS)

    Farcas, Adrian; Thompson, Paul M.; Merchant, Nathan D.

    2016-01-01

    Assessment of underwater noise is increasingly required by regulators of development projects in marine and freshwater habitats, and noise pollution can be a constraining factor in the consenting process. Noise levels arising from the proposed activity are modelled and the potential impact on species of interest within the affected area is then evaluated. Although there is considerable uncertainty in the relationship between noise levels and impacts on aquatic species, the science underlying noise modelling is well understood. Nevertheless, many environmental impact assessments (EIAs) do not reflect best practice, and stakeholders and decision makers in the EIA process are often unfamiliar with the concepts and terminology that are integral to interpreting noise exposure predictions. In this paper, we review the process of underwater noise modelling and explore the factors affecting predictions of noise exposure. Finally, we illustrate the consequences of errors and uncertainties in noise modelling, and discuss future research needs to reduce uncertainty in noise assessments.

  1. Cymbal and BB underwater transducers and arrays

    Energy Technology Data Exchange (ETDEWEB)

    Newnham, R.E.; Zhang, J.; Alkoy, S.; Meyer, R.; Hughes, W.J.; Hladky-Hennion, A.C.; Cochran, J.; Markley, D. [Materials Research Laboratory, Penn State University, University Park, PA 16802 (United States)

    2002-09-01

    The cymbal is a miniaturized class V flextensional transducer that was developed for use as a shallow water sound projector and receiver. Single elements are characterized by high Q, low efficiency, and medium power output capability. Its low cost and thin profile allow the transducer to be assembled into large flexible arrays. Efforts were made to model both single elements and arrays using the ATILA code and the integral equation formulation (EQI).Millimeter size microprobe hydrophones (BBs) have been designed and fabricated from miniature piezoelectric hollow ceramic spheres for underwater applications such as mapping acoustic fields of projectors, and flow noise sensors for complex underwater structures. Green spheres are prepared from soft lead zirconate titanate powders using a coaxial nozzle slurry process. A compact hydrophone with a radially-poled sphere is investigated using inside and outside electrodes. Characterization of these hydrophones is done through measurement of hydrostatic piezoelectric charge coefficients, free field voltage sensitivities and directivity beam patterns. (orig.)

  2. Underwater noise from a wave energy converter

    DEFF Research Database (Denmark)

    Tougaard, Jakob

    A recent addition to the anthropogenic sources of underwater noise is offshore wave energy converters. Underwater noise was recorded from the Wavestar wave energy converter located at Hastholm, Denmark (57°7.73´N, 8°37.23´E). The Wavestar is a full-scale test and demonstration converter...... in full operation and start and stop of the converter. Median broad band (10 Hz – 20 kHz) sound pressure level (Leq) was 123 dB re. 1 Pa, irrespective of status of the wave energy converter (stopped, running or starting/stopping). The most pronounced peak in the third-octave spectrum was in the 160 Hz...... significant noise above ambient could be detected above the 250 Hz band. The absolute increase in noise above ambient was very small. L50 third-octave levels in the four bands with the converter running were thus only 1-2 dB above ambient L50 levels. The noise recorded 25 m from the wave energy converter...

  3. 20-meter underwater wireless optical communication link with 15 Gbps data rate

    KAUST Repository

    Shen, Chao

    2016-10-24

    The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (∼10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion. © 2016 Optical Society of America.

  4. 20-meter underwater wireless optical communication link with 15 Gbps data rate

    KAUST Repository

    Shen, Chao; Guo, Yong; Oubei, Hassan M.; Ng, Tien Khee; Liu, Guangyu; Park, Kihong; Ho, Kang-Ting; Alouini, Mohamed-Slim; Ooi, Boon S.

    2016-01-01

    The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (∼10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion. © 2016 Optical Society of America.

  5. Status on underwater plasma arc cutting in KHI, 3

    International Nuclear Information System (INIS)

    Abe, Tadashi; Aota, Toshiichi; Nishizaki, Tadashi; Nakayama, Shigeru; Yamashita, Seiji

    1983-01-01

    In Kawasaki Heavy Industries, Ltd., the development of a remote dismantling system by underwater plasma arc cutting process has been advanced, expecting its application to the dismantling and removal of nuclear reactor facilities. In the previous two reports, the fundamental experimental results such as the comparison of the cutting capability in air and in water were shown, but this time, the remote automatic cutting of wedge-shaped specimens was carried out, using a newly installed manipulator for underwater works, therefore its outline is reported. Also the cutting experiment by overhead position and vertical position was performed by using the same equipment, and comparison was made with the cutting capability by downhand and horizontal positions. It is important to grasp the cutting characteristics in the case of upward advancing and downward advancing cuttings by overhead and vertical positions when the cutting of pressure vessels and horizontal pipes into rings is supposed. The experimental apparatus, the cutting conditions, the testing method and the test results of the cutting capability test, the test of changing direction during cutting, and the remote cutting of pipes into rings are described. The underwater plasma arc cutting can cut all metals, the cutting speed is relatively high, and the apparatus is simple and compact. (Kako, I.)

  6. Mechanical properties of hot mix asphalt made with recycled aggregates from reclaimed construction and demolition debris

    Directory of Open Access Journals (Sweden)

    Taibo, J.

    2007-03-01

    Full Text Available The mix design for asphalt mixtures containing recycled aggregates from construction and demolition debris was evaluated. The tests conducted to characterize the mechanical behaviour of these mixtures showed that the mechanical properties of mixtures with recycled and virgin aggregate are similar. The asphalt mixtures containing recycled aggregate proved to have lower resistance to water action. Nonetheless, recycled aggregate was found to be potentially usable in asphalt mixtures if higher quality materials are selected and such low resistance is corrected. This will call for expanding upon the preliminary work described in the present article.En este trabajo se dosificaron mezclas bituminosas fabricadas con áridos reciclados de residuos de construcción y demolición. Se realizaron una serie de ensayos que permitieron caracterizar el comportamiento mecánico de estas mezclas. Los parámetros mecánicos de las mezclas con áridos reciclados son similares a los de las mezclas fabricadas únicamente con áridos naturales de cantera. Sin embargo, las mezclas bituminosas con áridos reciclados tuvieron un mal comportamiento frente a la disminución de la resistencia por pérdida de cohesión por la acción del agua. No obstante, mediante la selección de materiales de mejor calidad y corrección de este mal comportamiento, existen posibilidades de utilizar áridos reciclados en mezclas bituminosas. Para ello será necesario ampliar la primera aproximación realizada en este artículo.

  7. In-air versus underwater comparison of 3D reconstruction accuracy using action sport cameras.

    Science.gov (United States)

    Bernardina, Gustavo R D; Cerveri, Pietro; Barros, Ricardo M L; Marins, João C B; Silvatti, Amanda P

    2017-01-25

    Action sport cameras (ASC) have achieved a large consensus for recreational purposes due to ongoing cost decrease, image resolution and frame rate increase, along with plug-and-play usability. Consequently, they have been recently considered for sport gesture studies and quantitative athletic performance evaluation. In this paper, we evaluated the potential of two ASCs (GoPro Hero3+) for in-air (laboratory) and underwater (swimming pool) three-dimensional (3D) motion analysis as a function of different camera setups involving the acquisition frequency, image resolution and field of view. This is motivated by the fact that in swimming, movement cycles are characterized by underwater and in-air phases what imposes the technical challenge of having a split volume configuration: an underwater measurement volume observed by underwater cameras and an in-air measurement volume observed by in-air cameras. The reconstruction of whole swimming cycles requires thus merging of simultaneous measurements acquired in both volumes. Characterizing and optimizing the instrumental errors of such a configuration makes mandatory the assessment of the instrumental errors of both volumes. In order to calibrate the camera stereo pair, black spherical markers placed on two calibration tools, used both in-air and underwater, and a two-step nonlinear optimization were exploited. The 3D reconstruction accuracy of testing markers and the repeatability of the estimated camera parameters accounted for system performance. For both environments, statistical tests were focused on the comparison of the different camera configurations. Then, each camera configuration was compared across the two environments. In all assessed resolutions, and in both environments, the reconstruction error (true distance between the two testing markers) was less than 3mm and the error related to the working volume diagonal was in the range of 1:2000 (3×1.3×1.5m 3 ) to 1:7000 (4.5×2.2×1.5m 3 ) in agreement with the

  8. Environmental management of construction and demolition waste in Kuwait.

    Science.gov (United States)

    Kartam, Nabil; Al-Mutairi, Nayef; Al-Ghusain, Ibrahim; Al-Humoud, Jasem

    2004-01-01

    There is an increasing pressure on the construction industry to reduce costs and improve the quality of our environment. The fact is that both of these goals can be achieved at the same time. Although construction and demolition (C&D) constitutes a major source of waste in terms of volume and weight, its management and recycling efforts have not yet seen the light in Kuwait. This study focuses on recycling efforts leading to the minimization of the total C&D waste that is currently landfilled in Kuwait. This paper presents the current status of C&D waste disposal system in Kuwait and identifies the potential problems to the environment, people and economy. Then, it investigates alternative solutions to manage and control this major type of waste in an economically efficient and environmentally safe manner. Next, the paper describes the feasibility of establishing a C&D waste recycling facility in Kuwait. It concludes by highlighting the major benefits and bottleneck problems with such a recycling facility.

  9. Geographical positioning using laser optical instrument for near-shore underwater archaeological explorations

    Digital Repository Service at National Institute of Oceanography (India)

    Ganesan, P.

    carefully identified comers of the underwater artifacts) is found to be more accurate, faster, and reliable. This method can be effectively used only for shallow water near shore underwater archaeo- GLIMPSES OF MARINE ARCHAEOLOGY IN INDIA logical... Trak (placed over selected ground controi station) and a multi-prism (placed over carefully identified comers of the artifact). The standard survey procedures prescribed in the Laser Trak operation manual (Make III model) were used to carry out...

  10. Contour Tracking Control for the REMUS Autonomous Underwater Vehicle

    National Research Council Canada - National Science Library

    Van Reet, Alan R

    2005-01-01

    In the interest of enhancing the capabilities of autonomous underwater vehicles used in US Naval Operations, controlling vehicle position to follow depth contours presents exciting potential for navigation...

  11. Passive aquatic listener (PAL): An adoptive underwater acoustic recording system for the marine environment

    International Nuclear Information System (INIS)

    Anagnostou, Marios N.; Nystuen, Jeffrey A.; Anagnostou, Emmanouil N.; Papadopoulos, Anastasios; Lykousis, Vassilios

    2011-01-01

    The ambient sound field in the ocean is a combination of natural and manmade sounds. Consequently, the interpretation of the ambient sound field can be used to quantify these processes. In the frequency range from 1 to 50 kHz, the general character of ocean ambient sound is a slowly changing background that is closely associated with local wind speed, interspersed with shorter time scale events such as rain storms, ships and animal calls. At lower frequencies the underwater ambient sound budget includes geologically generated sound activities including underwater volcanic eruptions, seismic and seepage faults that generate bubbles, etc. that can also potentially be classified and quantified. Acoustic data are collected on hydrophones. Hydrophones are simple, robust sensors that can be deployed on most ocean instrumentation systems including surface or sub-surface moorings, bottom mounted systems, drifters, ARGO floats or autonomous underwater platforms. A dedicated oceanic underwater recorder called a passive acoustic listener (PAL) has been developed. A principal issue is to accurately distinguish different sound sources so that they can be quantified as part of a sound budget, and then quantified if appropriate. Based on ongoing data collected from the Poseidon II network the retrieval potential of multi-parameters from underwater sound, including meteorological (i.e., precipitation and winds) and in general geophysical, anthropogenetic (i.e., ships, submarines, etc.) and biological (whales, etc.) sources is presented.

  12. Passive aquatic listener (PAL): An adoptive underwater acoustic recording system for the marine environment

    Energy Technology Data Exchange (ETDEWEB)

    Anagnostou, Marios N., E-mail: managnostou@ath.hcmr.g [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Nystuen, Jeffrey A. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Applied Physics Laboratory, University of Washington, Seattle, WA (United States); Anagnostou, Emmanouil N. [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Department of Civil and Environmental Engineering, University of Connecticut, CT (United States); Papadopoulos, Anastasios [Hellenic Center for Marine Research, Department of Inland Waters, Anavissos (Greece); Lykousis, Vassilios [Hellenic Center for Marine Research, Department of Oceanography, Anavissos (Greece)

    2011-01-21

    The ambient sound field in the ocean is a combination of natural and manmade sounds. Consequently, the interpretation of the ambient sound field can be used to quantify these processes. In the frequency range from 1 to 50 kHz, the general character of ocean ambient sound is a slowly changing background that is closely associated with local wind speed, interspersed with shorter time scale events such as rain storms, ships and animal calls. At lower frequencies the underwater ambient sound budget includes geologically generated sound activities including underwater volcanic eruptions, seismic and seepage faults that generate bubbles, etc. that can also potentially be classified and quantified. Acoustic data are collected on hydrophones. Hydrophones are simple, robust sensors that can be deployed on most ocean instrumentation systems including surface or sub-surface moorings, bottom mounted systems, drifters, ARGO floats or autonomous underwater platforms. A dedicated oceanic underwater recorder called a passive acoustic listener (PAL) has been developed. A principal issue is to accurately distinguish different sound sources so that they can be quantified as part of a sound budget, and then quantified if appropriate. Based on ongoing data collected from the Poseidon II network the retrieval potential of multi-parameters from underwater sound, including meteorological (i.e., precipitation and winds) and in general geophysical, anthropogenetic (i.e., ships, submarines, etc.) and biological (whales, etc.) sources is presented.

  13. Development of underwater laser cladding and underwater laser seal welding techniques for reactor components

    International Nuclear Information System (INIS)

    Hino, Takehisa; Tamura, Masataka; Tanaka, Yoshimi; Kouno, Wataru; Makino, Yoshinobu; Kawano, Shohei; Matsunaga, Keiji

    2009-01-01

    Stress corrosion cracking (SCC) has been reported at the aged components in many nuclear power plants. Toshiba has been developing the underwater laser welding. This welding technique can be conducted without draining the water in the reactor vessel. It is beneficial for workers not to exposure the radiation. The welding speed can be attaining twice as fast as that of Gas Tungsten Arc Welding (GTAW). The susceptibility of SCC can also be lower than the Alloy 600 base metal. (author)

  14. Specialization for underwater hearing by the tympanic middle ear of the turtle, Trachemys scripta elegans

    DEFF Research Database (Denmark)

    Christensen-Dalsgaard, J.; Brandt, Christian; Willis, K. L.

    2012-01-01

    Turtles, like other amphibious animals, face a trade-off between terrestrial and aquatic hearing. We used laser vibrometry and auditory brainstem responses to measure their sensitivity to vibration stimuli and to airborne versus underwater sound. Turtles are most sensitive to sound underwater, an...

  15. Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness

    OpenAIRE

    Urbahs, A; Carjova, K; Vulans, P; Straume, R

    2012-01-01

    Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...

  16. Accuracy Assessment of Underwater Photogrammetric Three Dimensional Modelling for Coral Reefs

    Science.gov (United States)

    Guo, T.; Capra, A.; Troyer, M.; Gruen, A.; Brooks, A. J.; Hench, J. L.; Schmitt, R. J.; Holbrook, S. J.; Dubbini, M.

    2016-06-01

    Recent advances in automation of photogrammetric 3D modelling software packages have stimulated interest in reconstructing highly accurate 3D object geometry in unconventional environments such as underwater utilizing simple and low-cost camera systems. The accuracy of underwater 3D modelling is affected by more parameters than in single media cases. This study is part of a larger project on 3D measurements of temporal change of coral cover in tropical waters. It compares the accuracies of 3D point clouds generated by using images acquired from a system camera mounted in an underwater housing and the popular GoPro cameras respectively. A precisely measured calibration frame was placed in the target scene in order to provide accurate control information and also quantify the errors of the modelling procedure. In addition, several objects (cinder blocks) with various shapes were arranged in the air and underwater and 3D point clouds were generated by automated image matching. These were further used to examine the relative accuracy of the point cloud generation by comparing the point clouds of the individual objects with the objects measured by the system camera in air (the best possible values). Given a working distance of about 1.5 m, the GoPro camera can achieve a relative accuracy of 1.3 mm in air and 2.0 mm in water. The system camera achieved an accuracy of 1.8 mm in water, which meets our requirements for coral measurement in this system.

  17. Underwater target positioning with a single acoustic sensor

    Digital Repository Service at National Institute of Oceanography (India)

    David, M-S; Pascoal, A.M.; Joaquin, A.

    The availability of reliable underwater positioning systems to localize one or more vehicles simultaneously based on information received on-board a support ship or an autonomous surface vessel is key to the operation of some classes of AUVs...

  18. Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect

    International Nuclear Information System (INIS)

    Meir, Yehuda; Jerby, Eli

    2015-01-01

    Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments

  19. Underwater microwave ignition of hydrophobic thermite powder enabled by the bubble-marble effect

    Energy Technology Data Exchange (ETDEWEB)

    Meir, Yehuda; Jerby, Eli, E-mail: jerby@eng.tau.ac.il [Faculty of Engineering, Tel Aviv University, Ramat Aviv 6997801 (Israel)

    2015-08-03

    Highly energetic thermite reactions could be useful for a variety of combustion and material-processing applications, but their usability is yet limited by their hard ignition conditions. Furthermore, in virtue of their zero-oxygen balance, exothermic thermite reactions may also occur underwater. However, this feature is also hard to utilize because of the hydrophobic properties of the thermite powder, and its tendency to agglomerate on the water surface rather than to sink into the water. The recently discovered bubble-marble (BM) effect enables the insertion and confinement of a thermite-powder batch into water by a magnetic field. Here, we present a phenomenon of underwater ignition of a thermite-BM by localized microwaves. The thermite combustion underwater is observed in-situ, and its microwave absorption and optical spectral emission are detected. The vapour pressure generated by the thermite reaction is measured and compared to theory. The combustion products are examined ex-situ by X-ray photo-electron spectroscopy which verifies the thermite reaction. Potential applications of this underwater combustion effect are considered, e.g., for detonation, wet welding, thermal drilling, material processing, thrust generation, and composite-material production, also for other oxygen-free environments.

  20. Survey and Recording Technologies in Italian Underwater Cultural Heritage: Research and Public Access Within the Framework of the 2001 UNESCO Convention

    Science.gov (United States)

    Secci, Massimiliano

    2017-08-01

    The 2001 UNESCO Convention on the Protection of the Underwater Cultural Heritage is slowly but peremptorily becoming a standard reference tool for underwater archaeology and underwater cultural heritage management. The many provisions included within the Convention touch on many aspects that are key to an effective protection and promotion of the underwater cultural heritage. Within the web of these provisions many aspects are gaining consideration and driving research in underwater archaeology worldwide. These provisions, when seen within a wider frame of social, economical and technological dynamics, pinpoint many aspects requiring further scrutiny from the disciplinary circle. In the framework of the 2001 UNESCO Convention, this article will analyze the path traveled in technological acquisition in the practice of Italian underwater archaeology and how this has affected the approach to underwater cultural heritage management, particularly highlighting how this process has been further influenced by the adoption in 2001 of the Convention and Italy's ratification of it in 2010.

  1. Particle Filter for Fault Diagnosis and Robust Navigation of Underwater Robot

    DEFF Research Database (Denmark)

    Zhao, Bo; Skjetne, Roger; Blanke, Mogens

    2014-01-01

    A particle filter based robust navigation with fault diagnosis is designed for an underwater robot, where 10 failure modes of sensors and thrusters are considered. The nominal underwater robot and its anomaly are described by a switchingmode hidden Markov model. By extensively running a particle...... filter on the model, the fault diagnosis and robust navigation are achieved. Closed-loop full-scale experimental results show that the proposed method is robust, can diagnose faults effectively, and can provide good state estimation even in cases where multiple faults occur. Comparing with other methods...

  2. The vortex mechanism of suppression of tsunami waves by underwater obstacles

    Science.gov (United States)

    Boshenyatov, B. V.

    2017-12-01

    A theoretical model explaining the effect of anomalous suppression of the energy (up to 70%) of tsunami-type waves by thin (compared to the wavelength) underwater obstacles is developed based on the integral laws of conservation of mass and energy fluxes. It is shown that the analytical dependences for the coefficients of reflection and transmission of waves across an underwater obstacle that have been obtained using the theoretical model proposed by the author agree with the results of the experiments and numerical simulation based on the complete Navier-Stokes equations.

  3. Development of underwater YAG laser repair welding robots for tanks

    International Nuclear Information System (INIS)

    Miwa, Yasuhiro; Satoh, Syuichi; Ito, Kosuke; Kochi, Tsutomu; Kojima, Toshio; Ohwaki, Katsura; Morita, Ichiro

    1999-01-01

    A remote-controlled repair welding robot which uses YAG laser welding technology in underwater environment was developed. This is an underwater robot technology combined with a laser welding technology. This report will describe the structure and performance of this robot, and the welding test results. The repair welding robot consists of two parts. The one is driving equipment, and the other is welding unit. It can swim in the tank, move around the tank wall, and stay on the welding area. After that it starts YAG laser repair welding. The target of this technology is inner surface repair of some tanks made of austenitic stainless steel, for example RW (Radioactive Waste) tanks. A degradation by General Corrosion and so on might be occurred at inner surface of these tanks in BWR type nuclear power plants. If the damaged area is wide, repair welding works are done. Some workers go into the tank and set up scaffolding after full drainage. In many cases it spends too much time for draining water and repair welding preparation. If the repair welding works can be done in underwater environment, the outage period will be reduced. This is a great advantage. (author)

  4. Event localization in underwater wireless sensor networks using Monitoring Courses

    KAUST Repository

    Debont, Matthew John Robert

    2012-08-01

    We propose m-courses (Monitoring Courses), a novel solution to localize events in an underwater wireless sensor network. These networks consists of surface gateways and relay nodes. GPS can localize the position of surface gateways which can then distribute their locations through the network using acoustic modems. Relay nodes are deployed to remain static, but these untethered nodes may drift due to water currents, resulting in disruption of communication links. We develop a novel underwater alarm system using a cyclic graph model. In the event of link failure, a series of alarm packets are broadcast in the network. These alarms are then captured by the underwater m-courses, which can also be used to assure network connectivity and identify node failures. M-courses also allow the network to localize events and identify network issues locally before forwarding results upwards to a Surface Gateway node. This reduces communication overhead and allows for efficient management of nodes in a mobile network. Our results show that m-course routing reduces the number of sends required to report an event to a Surface Gateway by up to 80% when compared to a naïve routing implementation.

  5. Underwater image quality enhancement of sea cucumbers based on improved histogram equalization and wavelet transform

    Directory of Open Access Journals (Sweden)

    Xi Qiao

    2017-09-01

    Full Text Available Sea cucumbers usually live in an environment where lighting and visibility are generally not controllable, which cause the underwater image of sea cucumbers to be distorted, blurred, and severely attenuated. Therefore, the valuable information from such an image cannot be fully extracted for further processing. To solve the problems mentioned above and improve the quality of the underwater images of sea cucumbers, pre-processing of a sea cucumber image is attracting increasing interest. This paper presents a new method based on contrast limited adaptive histogram equalization and wavelet transform (CLAHE-WT to enhance the sea cucumber image quality. CLAHE was used to process the underwater image for increasing contrast based on the Rayleigh distribution, and WT was used for de-noising based on a soft threshold. Qualitative analysis indicated that the proposed method exhibited better performance in enhancing the quality and retaining the image details. For quantitative analysis, the test with 120 underwater images showed that for the proposed method, the mean square error (MSE, peak signal to noise ratio (PSNR, and entropy were 49.2098, 13.3909, and 6.6815, respectively. The proposed method outperformed three established methods in enhancing the visual quality of sea cucumber underwater gray image.

  6. Modelling cavitating flow around underwater missiles

    Directory of Open Access Journals (Sweden)

    Fabien Petitpas

    2011-12-01

    Full Text Available The diffuse interface model of Saurel et al. (2008 is used for the computation of compressible cavitating flows around underwater missiles. Such systems use gas injection and natural cavitation to reduce drag effects. Consequently material interfaces appear separating liquid and gas. These interfaces may have a really complex dynamics such that only a few formulations are able to predict their evolution. Contrarily to front tracking or interface reconstruction method the interfaces are computed as diffused numerical zones, that are captured in a routinely manner, as is done usually with gas dynamics solvers for shocks and contact discontinuity. With the present approach, a single set of partial differential equations is solved everywhere, with a single numerical scheme. This leads to very efficient solvers. The algorithm derived in Saurel et al. (2009 is used to compute cavitation pockets around solid bodies. It is first validated against experiments done in cavitation tunnel at CNU. Then it is used to compute flows around high speed underwater systems (Shkval-like missile. Performance data are then computed showing method ability to predict forces acting on the system.

  7. An explanatory model of underwater adaptation

    Directory of Open Access Journals (Sweden)

    Joaquín Colodro

    Full Text Available The underwater environment is an extreme environment that requires a process of human adaptation with specific psychophysiological demands to ensure survival and productive activity. From the standpoint of existing models of intelligence, personality and performance, in this explanatory study we have analyzed the contribution of individual differences in explaining the adaptation of military personnel in a stressful environment. Structural equation analysis was employed to verify a model representing the direct effects of psychological variables on individual adaptation to an adverse environment, and we have been able to confirm, during basic military diving courses, the structural relationships among these variables and their ability to predict a third of the variance of a criterion that has been studied very little to date. In this way, we have confirmed in a sample of professionals (N = 575 the direct relationship of emotional adjustment, conscientiousness and general mental ability with underwater adaptation, as well as the inverse relationship of emotional reactivity. These constructs are the psychological basis for working under water, contributing to an improved adaptation to this environment and promoting risk prevention and safety in diving activities.

  8. Monitoring Coral Growth - the Dichotomy Between Underwater Photogrammetry and Geodetic Control Network

    Science.gov (United States)

    Neyer, F.; Nocerino, E.; Gruen, A.

    2018-05-01

    Creating 3-dimensional (3D) models of underwater scenes has become a common approach for monitoring coral reef changes and its structural complexity. Also in underwater archeology, 3D models are often created using underwater optical imagery. In this paper, we focus on the aspect of detecting small changes in the coral reef using a multi-temporal photogrammetric modelling approach, which requires a high quality control network. We show that the quality of a good geodetic network limits the direct change detection, i.e., without any further registration process. As the photogrammetric accuracy is expected to exceed the geodetic network accuracy by at least one order of magnitude, we suggest to do a fine registration based on a number of signalized points. This work is part of the Moorea Island Digital Ecosystem Avatar (IDEA) project that has been initiated in 2013 by a group of international researchers (https://mooreaidea.ethz.ch/).

  9. Sustainable construction: construction and demolition waste reconsidered.

    Science.gov (United States)

    del Río Merino, Mercedes; Izquierdo Gracia, Pilar; Weis Azevedo, Isabel Salto

    2010-02-01

    Construction activity in Europe has increased substantially in the past decade. Likewise, there has also been a commensurate rise in the generation of construction and demolition waste (C&DW). This, together with the fact that in many European countries the rate of recycling and reuse of C&DW is still quite low has engendered a serious environmental problem and a motivation to develop strategies and management plans to solve it. Due to its composition, there is a significant potential to reuse and/or recycle C&DW, and thereby, contribute to improving the sustainability of construction and development, but practical procedures are not yet widely known or practiced in the construction industry. This article (a) summarizes the different applications that are presently practiced to optimize the recovery and/or application of C&DW for reuse, and (b) proposes various measures and strategies to improve the processing of this waste. The authors suggest that to enhance environmental effectiveness, a conscious and comprehensive C&DW management plan should be implemented in each jurisdiction. More precisely, this study presents a holistic approach towards C&DW management, through which environmental benefits can be achieved through the application of new construction methods that can contribute to sustainable growth.

  10. Simulation of construction and demolition waste leachate

    Energy Technology Data Exchange (ETDEWEB)

    Townsend, T.G.; Jang, Y.; Thurn, L.G.

    1999-11-01

    Solid waste produced from construction and demolition (C and D) activities is typically disposed of in unlined landfills. Knowledge of C{ampersand}D debris landfill leachate is limited in comparison to other types of wastes. A laboratory study was performed to examine leachate resulting from simulated rainfall infiltrating a mixed C and D waste stream consisting of common construction materials (e.g., concrete, wood, drywall). Lysimeters (leaching columns) filled with the mixed C and D waste were operated under flooded and unsaturated conditions. Leachate constituent concentrations in the leachate from specific waste components were also examined. Leachate samples were collected and analyzed for a number of conventional water quality parameters including pH, alkalinity, total organic carbon, total dissolved solids, and sulfate. In experiments with the mixed C and D waste, high concentrations of total dissolved solids (TDS) and sulfate were detected in the leachate. C and D leachates produced as a result of unsaturated conditions exhibited TDS concentrations in the range of 570--2,200 mg/L. The major contributor to the TDS was sulfate, which ranged in concentration between 280 and 930 mg/L. The concentrations of sulfate in the leachate exceeded the sulfate secondary drinking water standard of 250 mg/L.

  11. Autonomous underwater vehicle for research and rescue operations

    CSIR Research Space (South Africa)

    Holtzhausen S

    2008-11-01

    Full Text Available Autonomous under water vehicles are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures...

  12. A Doubly-Curved Piezoelectric Composite with 1-3 Connectivity for Underwater Transducer Applications

    Science.gov (United States)

    Zhang, Yanjun; Wang, Likun; Qin, Lei; Liao, Qingwei; Zhong, Chao

    2018-03-01

    Aim to increase the horizontal and vertical beam width of the high frequency transducer simultaneously, we present a doubly-curved 1-3 piezoelectric composite element. It consists of 54% piezoelectric ceramic volume fraction and two phases polymer matrix. The finite element analysis (FEA) is used to evaluate the dynamic response of composite. Electroacoustic response in water was measured for the doubly-curved composite being considered as underwater transducer. An underwater transducer was fabricated using the doubly-curved 1-3 piezoelectric composite element. The -3 dB full angle beam width of transducer is approximately 106° and 36° in the horizontal and vertical plane respectively. Both the FEA simulations and experimental results show the potential of a broad covered area of the composite transducer in underwater environment.

  13. 20-meter underwater wireless optical communication link with 1.5 Gbps data rate.

    Science.gov (United States)

    Shen, Chao; Guo, Yujian; Oubei, Hassan M; Ng, Tien Khee; Liu, Guangyu; Park, Ki-Hong; Ho, Kang-Ting; Alouini, Mohamed-Slim; Ooi, Boon S

    2016-10-31

    The video streaming, data transmission, and remote control in underwater call for high speed (Gbps) communication link with a long channel length (~10 meters). We present a compact and low power consumption underwater wireless optical communication (UWOC) system utilizing a 450-nm laser diode (LD) and a Si avalanche photodetector. With the LD operating at a driving current of 80 mA with an optical power of 51.3 mW, we demonstrated a high-speed UWOC link offering a data rate up to 2 Gbps over a 12-meter-long, and 1.5 Gbps over a record 20-meter-long underwater channel. The measured bit-error rate (BER) are 2.8 × 10-5, and 3.0 × 10-3, respectively, which pass well the forward error correction (FEC) criterion.

  14. Research on key technology of prognostic and health management for autonomous underwater vehicle

    Science.gov (United States)

    Zhou, Zhi

    2017-12-01

    Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

  15. Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

    Directory of Open Access Journals (Sweden)

    Zool H. Ismail

    2014-01-01

    Full Text Available This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

  16. A change in strategy for a CERCLA Removal Action Demolition Project in progress results in overall project enhancements

    International Nuclear Information System (INIS)

    Albertin, M.; Nichols, R.M.; Edwards, D.T.

    1995-01-01

    This paper discusses changes made in a demolition project at the Fernald Environmental Management Project (FEMP), a site on the National Priorities list (NPL), owned by the Department of Energy. The project, to demolish fourteen uranium ore silos and their structure, was based on a Removal Action Work Plan, submitted and approved by the United States Environmental Protection Agency (USEPA), that integrated Comprehensive Environmental Response Compensation and Liability Act (CERCLA) requirements to remove the source of contamination and threat to public health and the environment. After the demolition contractor defaulted at 30% complete, completion of the project by the USEPA deadline was threatened. The recovery plan included re-evaluation of project documents in addition to the schedule. It was determined that re-interpretation of the removal action criteria, including design and Removal Action Work Plan, would eliminate road-blocks, and optimize resources, resulting in project completion by the original deadline even after lost-time in mobilizing another contractor. This presentation will discuss the open-quotes lessons learnedclose quotes by the project team and illustrate how simplification of construction methods resulted in enhancements to the environmental controls, improved material handing, and created a safer work environment

  17. Will an underwater robot ever replace the diver? A rather poor progress or a great success?

    Directory of Open Access Journals (Sweden)

    Olejnik Adam

    2016-03-01

    Full Text Available The article deals with the subject matter related to the development of underwater works technologies. Nearly 15 years ago one of the authors of this study published a material in the monthly magazine of “Podwodny Świat” (The Underwater World entitled “The Future of Underwater Technologies – the diver or the robot?” where he noted that the time of great changes in technologies aimed at researching the depths and conducting works under water has arrived. This new era mainly consists in the fact that on an increasing number of occasions the diver is replaced by an underwater robot. The presented material constitutes an attempt to provide an answer to the question whether the then posed thesis is still valid. In the article the authors discuss issues concerned with the development of techniques and technologies applied in the conquest of depths that leads them to the conclusion that the previously observed tendency of a double-tracked development of underwater technologies is gaining in strength, which causes that the works and exploration of bodies of water at great depths will be possible only with the use of unmanned techniques.

  18. Optical aberrations in underwater photogrammetry with flat and hemispherical dome ports

    Science.gov (United States)

    Menna, Fabio; Nocerino, Erica; Remondino, Fabio

    2017-06-01

    The paper analyses differences between dome and flat port housings used for underwater photogrammetry. The underwater environment negatively affects image quality and 3D reconstructions, but this influence on photogrammetric measurements, so far, has not been addressed properly in the literature. In this work, motivations behind the need for systematic underwater calibrations are provided, then experimental tests using a specifically designed photogrammetric modular test object in laboratory and at sea are reported. The experiments are carried out using a Nikon D750 24 Mpx DSLR camera with a 24 mm f2.8 AF/D lens coupled with a NIMAR NI3D750ZM housing, equipped first with a dome and, successively, with a flat port. To quantify the degradation of image quality, MTF measurements are carried out, then the outcomes of self-calibrating bundle adjustment calibrations are shown and commented. Optical phenomena like field curvature as well as chromatic aberration and astigmatism are analysed and their implications on the degradation of image quality is factored in the bundle adjustment through a different weighting of 2D image observations.

  19. The development of controller and navigation algorithm for underwater wall crawler

    Energy Technology Data Exchange (ETDEWEB)

    Cho, Hyung Suck; Kim, Kyung Hoon; Kim, Min Young [Korea Advanced Institute of Science and Technology, Taejon (Korea)

    1999-01-01

    In this project, the control system of a underwater robotic vehicle(URV) for underwater wall inspection in the nuclear reactor pool or the related facilities has been developed. The following 4-sub projects have been studied for this project: (1) Development of the controller and motor driver for the URV (2) Development of the control algorithm for the tracking control of the URV (3) Development of the localization system (4) Underwater experiments of the developed system. First, the dynamic characteristic of thruster with the DC servo-motor was analyzed experimentally. Second the controller board using the INTEL 80C196 was designed and constructed, and the software for the communication and motor control is developed. Third the PWM motor-driver was developed. Fourth the localization system using the laser scanner and inclinometer was developed and tested in the pool. Fifth the dynamics of the URV was studied and the proper control algorithms for the URV was proposed. Lastly the validation of the integrated system was experimentally performed. (author). 27 refs., 51 figs., 8 tabs.

  20. Development of an underwater Cherenkov detector to reveal sources of technogenic radionuclides

    International Nuclear Information System (INIS)

    Chernyaev, A.M.; Gaponov, I.A.; Lapushkina, L.V.

    1999-01-01

    The major difference of the Cherenkov underwater detector from a scintillation detector is that its operation does not require a primary transducer (scintillator). Detected particle energy conversion into a light flash occurs directly in sea water (radiator) due to the Cherenkov effect. Consequently, photoreceiver of the underwater Cherenkov detector registers light from radiator of actually infinite volume. The circumstance is of principle importance, as it permits attaining the utmost sensitivity in case of the minimal overall dimensions and weight of detecting equipment