WorldWideScience

Sample records for waste autonomous mobile

  1. The Stored Waste Autonomous Mobile Inspector (SWAMI)

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1995-01-01

    A mobile robot system called Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance wit DOE's technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trails at the Fernald site

  2. Remote radioactive waste drum inspection with an autonomous mobile robot

    International Nuclear Information System (INIS)

    Heckendorn, F.M.; Ward, C.R.; Wagner, D.G.

    1992-01-01

    An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions

  3. Development of the stored waste autonomous mobile inspector (SWAMI II)

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1995-01-01

    A mobile robot system called the Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance with DOE's technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trials at the Fernald site

  4. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1994-01-01

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  5. Mobile Intelligent Autonomous Systems

    OpenAIRE

    Jitendra R. Raol; Ajith Gopal

    2010-01-01

    Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

  6. Autonomous mobile robot teams

    Science.gov (United States)

    Agah, Arvin; Bekey, George A.

    1994-01-01

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

  7. Mobile Autonomous Reconfigurable System

    Directory of Open Access Journals (Sweden)

    Pavliuk N.A.

    2018-04-01

    Full Text Available The object of this study is a multifunctional modular robot able to assemble independently in a given configuration and responsively change it in the process of operation depending on the current task. In this work we aim at developing and examining unified modules for a modular robot, which can both perform autonomous movement and form a complex structure by connecting to other modules. The existing solutions in the field of modular robotics were reviewed and classified by power supply, the ways of interconnection, the ways of movement and the possibility of independent movement of separate modules. Basing on the analysis of the shortcomings of existing analogues, we have developed a module of mobile autonomous reconfigurable system, including a base unit, a set of magneto-mechanical connectors and two motor wheels. The basic kinematic scheme of the modular robot, the features of a single module, as well as the modular structure formed by an array of similar modules were described. Two schemes for placing sets of magneto-mechanical connectors in the basic module have been proposed. We described the principle of operation of a magneto-mechanical connector based on redirection of the magnetic flux of a permanent magnet. This solution simplifies the system for controlling a mechanism of connection with other modules, increases energy efficiency and a battery life of the module. Since the energy is required only at the moment of switching the operating modes of the connector, there is no need to power constantly the connector mechanism to maintain the coupling mode.

  8. Autonomous Industrial Mobile Manipulation (AIMM)

    DEFF Research Database (Denmark)

    Hvilshøj, Mads; Bøgh, Simon; Nielsen, Oluf Skov

    2012-01-01

    Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper investiga......Purpose - The purpose of this paper is to provide a review of the interdisciplinary research field Autonomous Industrial Mobile Manipulation (AIMM), with an emphasis on physical implementations and applications. Design/methodology/approach - Following an introduction to AIMM, this paper......; sustainability, configuration, adaptation, autonomy, positioning, manipulation and grasping, robot-robot interaction, human-robot interaction, process quality, dependability, and physical properties. Findings - The concise yet comprehensive review provides both researchers (academia) and practitioners (industry......) with a quick and gentle overview of AIMM. Furthermore, the paper identifies key open issues and promising research directions to realize real-world integration and maturation of the AIMM technology. Originality/value - This paper reviews the interdisciplinary research field Autonomous Industrial Mobile...

  9. Computer vision for an autonomous mobile robot

    CSIR Research Space (South Africa)

    Withey, Daniel J

    2015-10-01

    Full Text Available Computer vision systems are essential for practical, autonomous, mobile robots – machines that employ artificial intelligence and control their own motion within an environment. As with biological systems, computer vision systems include the vision...

  10. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Bartos, R.J.

    1994-01-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate trademark robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA copyright) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection

  11. Autonomous mobile robot localization using Kalman filter

    Directory of Open Access Journals (Sweden)

    Mohd Nasir Nabil Zhafri

    2017-01-01

    Full Text Available Autonomous mobile robot field has gain interest among researchers in recent years. The ability of a mobile robot to locate its current position and surrounding environment is the fundamental in order for it to operate autonomously, which commonly known as localization. Localization of mobile robot are commonly affected by the inaccuracy of the sensors. These inaccuracies are caused by various factors which includes internal interferences of the sensor and external environment noises. In order to overcome these noises, a filtering method is required in order to improve the mobile robot’s localization. In this research, a 2- wheeled-drive (2WD mobile robot will be used as platform. The odometers, inertial measurement unit (IMU, and ultrasonic sensors are used for data collection. Data collected is processed using Kalman filter to predict and correct the error from these sensors reading. The differential drive model and measurement model which estimates the environmental noises and predict a correction are used in this research. Based on the simulation and experimental results, the x, y and heading was corrected by converging the error to10 mm, 10 mm and 0.06 rad respectively.

  12. CSIR eNews: Mobile Intelligent Autonomous Systems

    CSIR Research Space (South Africa)

    CSIR

    2008-03-01

    Full Text Available autonomous systems Distinguished scientist from India to share knowledge with CSIR An esteemed scientist from India, Dr Jitendra Raol, will spend the next 14 months at the CSIR, specifically in the mobile intelligence autonomous systems (MIAS) emerging...

  13. Mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1992-01-01

    The robotics development group at the Savannah River Laboratory (SRL) is developing a mobile autonomous robot that performs radiological surveys of potentially contaminated floors. The robot is called SIMON, which stands for Semi-Intelligent Mobile Observing Navigator. Certain areas of SRL are classified as radiologically controlled areas (RCAs). In an RCA, radioactive materials are frequently handled by workers, and thus, the potential for contamination is ever present. Current methods used for floor radiological surveying includes labor-intensive manual scanning or random smearing of certain floor locations. An autonomous robot such as SIMON performs the surveying task in a much more efficient manner and will track down contamination before it is contacted by humans. SIMON scans floors at a speed of 1 in./s and stops and alarms upon encountering contamination. Its environment is well defined, consisting of smooth building floors with wide corridors. The kind of contaminations that SIMON is capable of detecting are alpha and beta-gamma. The contamination levels of interest are low to moderate

  14. Autonomous Mobile Robot That Can Read

    Directory of Open Access Journals (Sweden)

    Létourneau Dominic

    2004-01-01

    Full Text Available The ability to read would surely contribute to increased autonomy of mobile robots operating in the real world. The process seems fairly simple: the robot must be capable of acquiring an image of a message to read, extract the characters, and recognize them as symbols, characters, and words. Using an optical Character Recognition algorithm on a mobile robot however brings additional challenges: the robot has to control its position in the world and its pan-tilt-zoom camera to find textual messages to read, potentially having to compensate for its viewpoint of the message, and use the limited onboard processing capabilities to decode the message. The robot also has to deal with variations in lighting conditions. In this paper, we present our approach demonstrating that it is feasible for an autonomous mobile robot to read messages of specific colors and font in real-world conditions. We outline the constraints under which the approach works and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a Sony EVI-D30 pan-tilt-zoom camera.

  15. Autonomous E-Mobility as a Service - Final Report

    OpenAIRE

    Pitera, Kelly; Marinelli, Giuseppe

    2017-01-01

    Mobility as a Service (MaaS) is a systems-oriented approach of integration of numerous transport services into a single, seamless mobility service using a technology platform. Building on MaaS to incorporate both electric and autonomous mobility, the concept of Autonomous E-Mobility as a Service (AE-MaaS) is examined within this project as a way to improve the environmental sustainability of urban mobility. Through a series of workshops and meetings, the aim was to understand the feasibility ...

  16. An Adaptive Game Algorithm for an Autonomous, Mobile Robot

    DEFF Research Database (Denmark)

    Hansen, Søren Tranberg; Bak, Thomas; Risager, Claus

    2012-01-01

    This paper presents a field study of a physical ball game for elderly based on an autonomous, mobile robot. The game algorithm is based on Case Based Reasoning and adjusts the game challenge to the player’s mobility skills by registering the spatio-temporal behaviour of the player using an on boa...

  17. Experiments in Competence Acquisition for Autonomous Mobile Robots

    OpenAIRE

    Nehmzow, Ulrich

    1992-01-01

    This thesis addresses the problem of intelligent control of autonomous mobile robots, particularly under circumstances unforeseen by the designer.As the range of applications for autonomous robots widens and increasingly includes operation in unknown environments (exploration) and tasks which are not clearly specifiable a priori (maintenance work), this question is becoming more and more important. It is argued that in order to achieve such flexibility in unforeseen situations it is necess...

  18. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-09-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  19. Autonomous Deployment and Restoration of Sensor Network using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Tsuyoshi Suzuki

    2010-06-01

    Full Text Available This paper describes an autonomous deployment and restoration of a Wireless Sensor Network (WSN using mobile robots. The authors have been developing an information-gathering system using mobile robots and WSNs in underground spaces in post-disaster environments. In our system, mobile robots carry wireless sensor nodes (SN and deploy them into the environment while measuring Received Signal Strength Indication (RSSI values to ensure communication, thereby enabling the WSN to be deployed and restored autonomously. If the WSN is disrupted, mobile robots restore the communication route by deploying additional or alternate SNs to suitable positions. Utilizing the proposed method, a mobile robot can deploy a WSN and gather environmental information via the WSN. Experimental results using a verification system equipped with a SN deployment and retrieval mechanism are presented.

  20. Mechanical deployment system on aries an autonomous mobile robot

    International Nuclear Information System (INIS)

    Rocheleau, D.N.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the mechanical deployment system-referred to as the camera positioning system (CPS)-used in the project. The CPS is used for positioning four identical but separate camera packages consisting of vision cameras and other required sensors such as bar-code readers and light stripe projectors. The CPS is attached to the top of a mobile robot and consists of two mechanisms. The first is a lift mechanism composed of 5 interlocking rail-elements which starts from a retracted position and extends upward to simultaneously position 3 separate camera packages to inspect the top three drums of a column of four drums. The second is a parallelogram special case Grashof four-bar mechanism which is used for positioning a camera package on drums on the floor. Both mechanisms are the subject of this paper, where the lift mechanism is discussed in detail

  1. Mobile Robot Designed with Autonomous Navigation System

    Science.gov (United States)

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

    2017-10-01

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

  2. MART: an overview of the Mobile Autonomous Robot Twente project

    NARCIS (Netherlands)

    Tillema, H.G.; de Graaf, A.J.; Koster, M.P.; Nauta, J.M.; Oelen, W.; Schipper, D.A.

    1993-01-01

    At the University of Twente a mobile autonomous robot system is built that is designed to operate in a 'factory of the future'. Multiple robots, consisting of a manipulator on top of a vehicle, will drive through an assembly hall to collect components at part supply stations and to assemble

  3. Developing operation algorithms for vision subsystems in autonomous mobile robots

    Science.gov (United States)

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

    2018-05-01

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

  4. Sensor Fusion for Autonomous Mobile Robot Navigation

    DEFF Research Database (Denmark)

    Plascencia, Alfredo

    Multi-sensor data fusion is a broad area of constant research which is applied to a wide variety of fields such as the field of mobile robots. Mobile robots are complex systems where the design and implementation of sensor fusion is a complex task. But research applications are explored constantl....... The scope of the thesis is limited to building a map for a laboratory robot by fusing range readings from a sonar array with landmarks extracted from stereo vision images using the (Scale Invariant Feature Transform) SIFT algorithm....

  5. Autonomous mobile robot for radiologic surveys

    International Nuclear Information System (INIS)

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1994-01-01

    An apparatus is described for conducting radiologic surveys. The apparatus comprises in the main a robot capable of following a preprogrammed path through an area, a radiation monitor adapted to receive input from a radiation detector assembly, ultrasonic transducers for navigation and collision avoidance, and an on-board computer system including an integrator for interfacing the radiation monitor and the robot. Front and rear bumpers are attached to the robot by bumper mounts. The robot may be equipped with memory boards for the collection and storage of radiation survey information. The on-board computer system is connected to a remote host computer via a UHF radio link. The apparatus is powered by a rechargeable 24-volt DC battery, and is stored at a docking station when not in use and/or for recharging. A remote host computer contains a stored database defining paths between points in the area where the robot is to operate, including but not limited to the locations of walls, doors, stationary furniture and equipment, and sonic markers if used. When a program consisting of a series of paths is downloaded to the on-board computer system, the robot conducts a floor survey autonomously at any preselected rate. When the radiation monitor detects contamination, the robot resurveys the area at reduced speed and resumes its preprogrammed path if the contamination is not confirmed. If the contamination is confirmed, the robot stops and sounds an alarm. 5 figures

  6. A mobile autonomous robot for radiological surveys

    International Nuclear Information System (INIS)

    Dudar, A.M.; Wagner, D.G.; Teese, G.D.

    1992-01-01

    The Robotics Development Group at the Savannah River Site is developing an autonomous robot (SIMON) to perform radiological surveys of potentially contaminated floors. The robot scans floors at a speed of one-inch/second and stops, sounds an alarm, and flashes lights when contamination in a certain area is detected. The contamination of interest here is primarily alpha and beta-gamma. The robot, a Cybermotion K2A base, is radio controlled, uses dead reckoning to determine vehicle position, and docks with a charging station to replenish its batteries and calibrate its position. It uses an ultrasonic ranging system for collision avoidance. In addition, two safety bumpers located in the front and the back of the robot will stop the robots motion when they are depressed. Paths for the robot are preprogrammed and the robots motion can be monitored on a remote screen which shows a graphical map of the environment. The radiation instrument being used is an Eberline RM22A monitor. This monitor is microcomputer based with a serial I/0 interface for remote operation. Up to 30 detectors may be configured with the RM22A

  7. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  8. Simulation Framework for Rebalancing of Autonomous Mobility on Demand Systems

    Directory of Open Access Journals (Sweden)

    Marczuk Katarzyna A.

    2016-01-01

    This study is built upon our previous work on Autonomous Mobility on Demand (AMOD systems. Our methodology is simulation-based and we make use of SimMobility, an agent-based microscopic simulation platform. In the current work we focus on the framework for testing different rebalancing policies for the AMOD systems. We compare three different rebalancing methods: (i no rebalancing, (ii offline rebalancing, and (iii online rebalancing. Simulation results indicate that rebalancing reduces the required fleet size and shortens the customers’ wait time.

  9. "Little Helper" - An Autonomous Industrial Mobile Manipulator Concept

    Directory of Open Access Journals (Sweden)

    Mads Hvilshoj

    2011-06-01

    Full Text Available This paper presents the concept "autonomous industrial mobile manipulation" (AIMM based on the mobile manipulator "Little Helper" - an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of "Little Helper" from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off‐the‐shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the "Little Helper" concept a full‐scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

  10. Mobile waste inspection real time radiography system

    International Nuclear Information System (INIS)

    Vigil, J.; Taggart, D.; Betts, S.; Rael, C.; Martinez, F.; Mendez, J.

    1995-01-01

    The 450-KeV Mobile Real Time Radiography System was designed and purchased to inspect containers of radioactive waste produced at Los Alamos National Laboratory (LANL). The Mobile Real Time Radiography System has the capability of inspecting waste containers of various sizes from 5-gal. buckets to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). The fact that this unit is mobile makes it an attractive alternative to the costly road closures associated with moving waste from the waste generator to storage or disposal facilities

  11. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-02-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  12. An Autonomous Mobile Robotic System for Surveillance of Indoor Environments

    Directory of Open Access Journals (Sweden)

    Donato Di Paola

    2010-03-01

    Full Text Available The development of intelligent surveillance systems is an active research area. In this context, mobile and multi-functional robots are generally adopted as means to reduce the environment structuring and the number of devices needed to cover a given area. Nevertheless, the number of different sensors mounted on the robot, and the number of complex tasks related to exploration, monitoring, and surveillance make the design of the overall system extremely challenging. In this paper, we present our autonomous mobile robot for surveillance of indoor environments. We propose a system able to handle autonomously general-purpose tasks and complex surveillance issues simultaneously. It is shown that the proposed robotic surveillance scheme successfully addresses a number of basic problems related to environment mapping, localization and autonomous navigation, as well as surveillance tasks, like scene processing to detect abandoned or removed objects and people detection and following. The feasibility of the approach is demonstrated through experimental tests using a multisensor platform equipped with a monocular camera, a laser scanner, and an RFID device. Real world applications of the proposed system include surveillance of wide areas (e.g. airports and museums and buildings, and monitoring of safety equipment.

  13. Application of autonomous mobile patrol system for nuclear power plants

    International Nuclear Information System (INIS)

    Kanemoto, S.; Hattori, Y.; Ochiai, M.; Tai, I.; Ozaki, O.; Shimada, H.; Okano, H.

    1995-01-01

    The integrity of the components of an operating nuclear power plant (NPP) is usually monitored daily by an operator patrol. Currently, there is a great need to replace such human patrol activities by automated remote monitoring in order to reduce radiation exposure and severe workload. From this perspective, we started an R and D project with the objective of developing an autonomous mobile patrol system for NPPs. The project started in 1991 and is scheduled to be completed in 1996. The main targets of this project are as follows. (1) Development of an autonomous and independent mobile robot, (2) Development of a transportable compact remote sensing system for plant component inspection, (3) Development of a patrol guidance and sensing data evaluation system. The remote sensing system has the capability of detecting video image, sound, temperature and vibration distribution of component surfaces. A laser Doppler vibrometer is newly developed to measure a wide range of vibration distribution remotely. Also, in order to integrate and recognize various kinds of remote sensing data, a 3-dimensional (3D) computer aided design database and 3D graphics technology is extensively used. Operators can interpret the measured image data by mapping their textures onto the 3-dimensional model surface. In this paper, we describe the concept of the entire patrol system and its three main component technologies, that is, mobile robot, remote sensing and inspected data evaluations. (author)

  14. A Voice Operated Tour Planning System for Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Charles V. Smith Iii

    2010-06-01

    Full Text Available Control systems driven by voice recognition software have been implemented before but lacked the context driven approach to generate relevant responses and actions. A partially voice activated control system for mobile robotics is presented that allows an autonomous robot to interact with people and the environment in a meaningful way, while dynamically creating customized tours. Many existing control systems also require substantial training for voice application. The system proposed requires little to no training and is adaptable to chaotic environments. The traversable area is mapped once and from that map a fully customized route is generated to the user

  15. Autonomous Navigation Apparatus With Neural Network for a Mobile Vehicle

    Science.gov (United States)

    Quraishi, Naveed (Inventor)

    1996-01-01

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

  16. Context recognition and situation assessment in autonomous mobile robots

    Science.gov (United States)

    Yavnai, Arie

    1993-05-01

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

  17. Low-level stored waste inspection using mobile robots

    International Nuclear Information System (INIS)

    Byrd, J.S.; Pettus, R.O.

    1996-01-01

    A mobile robot inspection system, ARIES (Autonomous Robotic Inspection Experimental System), has been developed for the U.S. Department of Energy to replace human inspectors in the routine, regulated inspection of radioactive waste stored in drums. The robot will roam the three-foot aisles of drums, stacked four high, making decisions about the surface condition of the drums and maintaining a database of information about each drum. A distributed system of onboard and offboard computers will provide versatile, friendly control of the inspection process. This mobile robot system, based on a commercial mobile platform, will improve the quality of inspection, generate required reports, and relieve human operators from low-level radioactive exposure. This paper describes and discusses primarily the computer and control processes for the system

  18. Development and implementation of algorithms in a population of cooperative autonomous mobile robots

    CSIR Research Space (South Africa)

    Namoshe, M

    2007-10-01

    Full Text Available An increase in the number of mobile robot users has lead to the design and implementation of cooperative autonomous mobile robots. Autonomous robots require the ability to build maps of an unknown environment while simultaneously using these maps...

  19. Navigation strategies for multiple autonomous mobile robots moving in formation

    Science.gov (United States)

    Wang, P. K. C.

    1991-01-01

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

  20. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

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

  1. Autonomous Power Control MAC Protocol for Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    2006-01-01

    Full Text Available Battery energy limitation has become a performance bottleneck for mobile ad hoc networks. IEEE 802.11 has been adopted as the current standard MAC protocol for ad hoc networks. However, it was developed without considering energy efficiency. To solve this problem, many modifications on IEEE 802.11 to incorporate power control have been proposed in the literature. The main idea of these power control schemes is to use a maximum possible power level for transmitting RTS/CTS and the lowest acceptable power for sending DATA/ACK. However, these schemes may degrade network throughput and reduce the overall energy efficiency of the network. This paper proposes autonomous power control MAC protocol (APCMP, which allows mobile nodes dynamically adjusting power level for transmitting DATA/ACK according to the distances between the transmitter and its neighbors. In addition, the power level for transmitting RTS/CTS is also adjustable according to the power level for DATA/ACK packets. In this paper, the performance of APCMP protocol is evaluated by simulation and is compared with that of other protocols.

  2. Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm

    Directory of Open Access Journals (Sweden)

    Fahed Awad

    2018-01-01

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

  3. Collaborative Indoor Access Point Localization Using Autonomous Mobile Robot Swarm.

    Science.gov (United States)

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

    2018-01-31

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

  4. Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

    Science.gov (United States)

    Raimalwala, K.; Faragalli, M.; Reid, E.

    2018-04-01

    The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

  5. Design considerations for an intelligent mobile robot for mixed-waste inspection

    Energy Technology Data Exchange (ETDEWEB)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J. [Clemson Univ., SC (United States). Dept. of Electrical and Computer Engineering; Byrd, J.S.; Pettus, R.O. [South Carolina Univ., Columbia, SC (United States). Dept. of Electrical and Computer Engineering

    1993-06-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper.

  6. Design considerations for an intelligent mobile robot for mixed-waste inspection

    International Nuclear Information System (INIS)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J.; Byrd, J.S.; Pettus, R.O.

    1993-01-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper

  7. Design of an autonomous mobile robot for service applications

    CSIR Research Space (South Africa)

    De Villiers, M

    2011-02-01

    Full Text Available This research project proposes the development of an autonomous, omnidirectional vehicle that will be used for general indoor service applications. A suggested trial application for this service robot will be to deliver printouts to various network...

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

    Science.gov (United States)

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

    1989-01-01

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

  9. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    National Research Council Canada - National Science Library

    Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

    2005-01-01

    High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

  10. Autonomous Distributed Self-Organization for Mobile Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Chih-Yu Wen

    2009-11-01

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

  11. Autonomous distributed self-organization for mobile wireless sensor networks.

    Science.gov (United States)

    Wen, Chih-Yu; Tang, Hung-Kai

    2009-01-01

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

  12. Predictive routing for autonomous mobility-on-demand systems with ride-sharing

    NARCIS (Netherlands)

    Alonso Mora, J.; Wallar, Alex; Rus, Daniela; Bicchi, A.; Maciejewski, T.

    2017-01-01

    Ride-sharing, or carpooling, systems with autonomous vehicles will provide efficient and reliable urban mobility on demand. In this work we present a method for dynamic vehicle routing that leverages historical data to improve the performance of a network of self-driving taxis. In particular, we

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

    Science.gov (United States)

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

    2012-01-01

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

  14. Autonomous navigation and mobility for a planetary rover

    Science.gov (United States)

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

    1989-01-01

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

  15. Localization Using Magnetic Patterns for Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Won Suk You

    2014-03-01

    Full Text Available In this paper, we present a method of localization using magnetic landmarks. With this method, it is possible to compensate the pose error (xe, ye, θe of a mobile robot correctly and localize its current position on a global coordinate system on the surface of a structured environment with magnetic landmarks. A set of four magnetic bars forms total six different patterns of landmarks and these patterns can be read by the mobile robot with magnetic hall sensors. A sequential motion strategy for a mobile robot is proposed to find the geometric center of magnetic landmarks by reading the nonlinear magnetic field. The mobile robot first moves into the center region of the landmark where it can read the magnetic pattern, after which tracking and global localization can be easily achieved by recognizing the patterns of neighboring landmarks. Experimental results show the effectiveness of the sequential motion strategy for estimating the center of the first encountered landmark as well as the performance of tracking and global localization of the proposed system.

  16. 2D navigation and pilotage of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Favre, Patrick

    1989-01-01

    The contribution of this thesis deals with the navigation and the piloting of an autonomous robot, in a known or weakly known environment of dimension two without constraints. This leads to generate an optimal path to a given goal and then to compute the commands to follow this path. Several constraints are taken into account (obstacles, geometry and kinematic of the robot, dynamic effects). The first part defines the problem and presents the state of the art. The three following parts present a set of complementary solutions according to the knowledge level of the environment and to the space constraints: - Case of a known environment: generation and following of a trajectory with respect to given path points. - Case of a weakly known environment: coupling of a command module interacting with the environment perception, and a path planner. This allows a fast motion of the robot. - Case of a constrained environment: planner enabling the taking into account of many constraints as the robot's shape, turning radius limitation, backward motion and orientation. (author) [fr

  17. Toxicity characterization of waste mobile phone plastics

    International Nuclear Information System (INIS)

    Nnorom, I.C.; Osibanjo, O.

    2009-01-01

    Waste plastic housing units (N = 60) of mobile phones (of different models, and brands), were collected and analyzed for lead, cadmium, nickel and silver using atomic absorption spectrophotometry after acid digestion using a 1:1 mixture of H 2 SO 4 and HNO 3 . The mean (±S.D.) and range of the results are 58.3 ± 50.4 mg/kg (5.0-340 mg/kg) for Pb, 69.9 ± 145 mg/kg (4.6-1005 mg/kg) for Cd, 432 ± 1905 mg/kg (5.0-11,000 mg/kg) for Ni, and 403 ± 1888 mg/kg (5.0-12,500 mg/kg) for Ag. Approximately 90% of the results for the various metals were ≤100 mg/kg. Results greater than 300 mg/kg were generally less than 7% for each metal and could be attributed to exogenous contamination of the samples. These results suggest that there may not be any immediate danger from end-of-life (EoL) mobile phone plastic housing if appropriately treated/managed. However, considering the large quantities generated and the present low-end management practices in most developing countries, such as open burning, there appears a genuine concern over the potential for environmental pollution and toxicity to man and the ecology

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

    Science.gov (United States)

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

    2011-11-01

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

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

    Science.gov (United States)

    Pulskamp, Jeffrey S.

    2012-06-01

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

  20. Autonomous Industrial Mobile Manipulation (AIMM) - Maturation, Exploitation and Implementation

    DEFF Research Database (Denmark)

    Bøgh, Simon

    ) "Little Helper" is introduced, a manufacturing assistant inspired by the Walt Disney character. The main rationale of the AIMM concept is a compromise between traditional automation (efficiency) and manual labor (flexibility), which contributes to realizing transformable manufacturing systems. From...... a state-of-the-art review, it is observed that implementations of mobile manipulators in industry have been limited although the needs for flexible automation are present. The second topic is “Identifying skills for AIMM robots” and is dedicated to defining a unifying terminology for task......-level programming by means of skills with focus on the identification of skills for AIMM robots. The terminology is built as a hierarchy similar to that of human action modeling (e.g. actions and activities) or human language (e.g. words and sentences). Two approaches are applied for identifying relevant skills...

  1. Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

    Directory of Open Access Journals (Sweden)

    Brandon Sights

    2006-10-01

    Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

  2. Problems in the development of autonomous mobile laser systems based on a cw chemical DF laser

    International Nuclear Information System (INIS)

    Aleksandrov, B P; Bashkin, A S; Beznozdrev, V N; Parfen'ev, M V; Pirogov, N A; Semenov, S N

    2003-01-01

    The problems involved in designing autonomous mobile laser systems based on high-power cw chemical DF lasers, whose mass and size parameters would make it possible to install them on various vehicles, are discussed. The need for mobility of such lasers necessitates special attention to be paid to the quest for ways and means of reducing the mass and size of the main laser systems. The optimisation of the parameters of such lasers is studied for various methods of scaling their systems. A complex approach to analysis of the optical scheme of the laser system is developed. (special issue devoted to the 80th anniversary of academician n g basov's birth)

  3. “Little Helper” — An Autonomous Industrial Mobile Manipulator Concept

    Directory of Open Access Journals (Sweden)

    Mads Hvilshøj

    2011-06-01

    Full Text Available This paper presents the concept “autonomous industrial mobile manipulation” (AIMM based on the mobile manipulator “Little Helper” – an ongoing research project at Aalborg University, Denmark, concerning the development of an autonomous and flexible manufacturing assistant. The paper focuses on the contextual aspects and the working principles of AIMM. Furthermore, the paper deals with the design principles and overall hardware and software architectures of “Little Helper” from a functional and modular mechatronics point of view, in order to create a generic AIMM platform. The design challenges faced in the project is to integrate commercial off-the-shelf (COTS and dedicated highly integrated systems into an autonomous mobile manipulator system with the ability to perform diverse tasks in industrial environments. We propose an action based domain specific communication language for AIMM for routine and task definition, in order to lower the entry barriers for the users of the technology. To demonstrate the “Little Helper” concept a full-scale prototype has been built and different application examples carried out. Experiences and knowledge gained from this show promising results regarding industrial integration, exploitation and maturation of the AIMM technology.

  4. Mobilizing Foucault: history, subjectivity and autonomous learners in nurse education.

    Science.gov (United States)

    Darbyshire, Chris; Fleming, Valerie E M

    2008-12-01

    In the past 20, years the impact of progressive educational theories have become influential in nurse education particularly in relation to partnership and empowerment between lecturers and students and the development of student autonomy. The introduction of these progressive theories was in response to the criticisms that nurse education was characterized by hierarchical and asymmetrical power relationships between lecturers and students that encouraged rote learning and stifled student autonomy. This article explores how the work of Michel Foucault can be mobilized to think about autonomy in three different yet overlapping ways: as a historical event; as a discursive practice; and as part of an overall strategy to produce a specific student subject position. The implications for educational practice are that, rather than a site where students are empowered, nurse education is both a factory and a laboratory where new subjectivities are continually being constructed. This suggests that empowering practices and disciplinary practices uneasily co-exist. Critical reflection needs to be directed not only at structural dimensions of power but also on ourselves as students and lecturers by asking a Foucauldian question: How are you interested in autonomy?

  5. Toxicity characterization of waste mobile phone plastics.

    Science.gov (United States)

    Nnorom, I C; Osibanjo, O

    2009-01-15

    Waste plastic housing units (N=60) of mobile phones (of different models, and brands), were collected and analyzed for lead, cadmium, nickel and silver using atomic absorption spectrophotometry after acid digestion using a 1:1 mixture of H2SO4 and HNO3. The mean (+/-S.D.) and range of the results are 58.3+/-50.4mg/kg (5.0-340mg/kg) for Pb, 69.9+/-145mg/kg (4.6-1005mg/kg) for Cd, 432+/-1905mg/kg (5.0-11,000mg/kg) for Ni, and 403+/-1888mg/kg (5.0-12,500mg/kg) for Ag. Approximately 90% of the results for the various metals were plastic housing if appropriately treated/managed. However, considering the large quantities generated and the present low-end management practices in most developing countries, such as open burning, there appears a genuine concern over the potential for environmental pollution and toxicity to man and the ecology.

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

    Science.gov (United States)

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

    2016-10-01

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

  7. A survey on pattern formation of autonomous mobile robots: asynchrony, obliviousness and visibility

    International Nuclear Information System (INIS)

    Yamauchi, Yukiko

    2013-01-01

    A robot system consists of autonomous mobile robots each of which repeats Look-Compute-Move cycles, where the robot observes the positions of other robots (Look phase), computes the track to the next location (Compute phase), and moves along the track (Move phase). In this survey, we focus on self-organization of mobile robots, especially their power of forming patterns. The formation power of a robot system is the class of patterns that the robots can form, and existing results show that the robot system's formation power is determined by their asynchrony, obliviousness, and visibility. We briefly survey existing results, with impossibilities and pattern formation algorithms. Finally, we present several open problems related to the pattern formation problem of mobile robots

  8. HUMS: An Autonomous Moving Strategy for Mobile Sinks in Data-Gathering Sensor Networks

    Directory of Open Access Journals (Sweden)

    Yanzhong Bi

    2007-06-01

    Full Text Available Sink mobility has attracted much research interest in recent years because it can improve network performance such as energy efficiency and throughput. An energy-unconscious moving strategy is potentially harmful to the balance of the energy consumption among sensor nodes so as to aggravate the hotspot problem of sensor networks. In this paper, we propose an autonomous moving strategy for the mobile sinks in data-gathering applications. In our solution, a mobile sink approaches the nodes with high residual energy to force them to forward data for other nodes and tries to avoid passing by the nodes with low energy. We performed simulation experiments to compare our solution with other three data-gathering schemes. The simulation results show that our strategy cannot only extend network lifetime notably but also provides scalability and topology adaptability.

  9. Mobile fission and activation products in nuclear waste disposal

    Energy Technology Data Exchange (ETDEWEB)

    Umeki, H; Evans, N; Czervinski, K; Bruggeman, Ch; Poineau, F; Breynaert, A; Reiler, P; Pablo, J de; Pipon, Y; Molnar, M; Nishimura, T; Kienzler, B; Van Iseghem, P; Crovisier, J L; Wieland, E; Mace, N; Pablo, J de; Spahiu, K; Cui, D; Lida, Y; Charlet, L; Liu, X; Sato, H; Goutelard, F; Savoye, S; Glaus, M; Poinssot, C; Seby, F; Sato, H; Tournassat, Ch; Montavon, G; Rotenberg, B; Spahiu, K; Smith, G; Marivoet, J; Landais, P; Bruno, J; Johnson, H; Umeki, L; Geckeis, H; Giffaut, E; Grambow, B; Dierckx, A

    2007-07-01

    This document gathers 33 oral presentations that were made at this workshop dedicated to the mobility of some radionuclides in nuclear waste disposal. The workshop was organized into 6 sessions: 1) performance assessment, 2) speciation/interaction in aqueous media, 3) radioactive wastes, 4) redox processes at interfaces, 5) diffusion processes, and 6) retention processes.

  10. Mobile fission and activation products in nuclear waste disposal

    International Nuclear Information System (INIS)

    Umeki, H.; Evans, N.; Czervinski, K.; Bruggeman, Ch.; Poineau, F.; Breynaert, A.; Reiler, P.; Pablo, J. de; Pipon, Y.; Molnar, M.; Nishimura, T.; Kienzler, B.; Van Iseghem, P.; Crovisier, J.L.; Wieland, E.; Mace, N.; Pablo, J. de; Spahiu, K.; Cui, D.; Lida, Y.; Charlet, L.; Liu, X.; Sato, H.; Goutelard, F.; Savoye, S.; Glaus, M.; Poinssot, C.; Seby, F.; Sato, H.; Tournassat, Ch.; Montavon, G.; Rotenberg, B.; Spahiu, K.; Smith, G.; Marivoet, J.; Landais, P.; Bruno, J.; Johnson, H.; Umeki, L.; Geckeis, H.; Giffaut, E.; Grambow, B.; Dierckx, A.

    2007-01-01

    This document gathers 33 oral presentations that were made at this workshop dedicated to the mobility of some radionuclides in nuclear waste disposal. The workshop was organized into 6 sessions: 1) performance assessment, 2) speciation/interaction in aqueous media, 3) radioactive wastes, 4) redox processes at interfaces, 5) diffusion processes, and 6) retention processes

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

    Science.gov (United States)

    Armah, Stephen Kofi

    Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

  12. Toward semi-autonomous control of mobile robots for constrained environments

    International Nuclear Information System (INIS)

    Mercier, O.; Cara, O.

    1991-01-01

    Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

  13. Concepts of the Internet of Things from the Aspect of the Autonomous Mobile Robots

    Directory of Open Access Journals (Sweden)

    Janos Simon

    2015-01-01

    Full Text Available The Internet of Things (IoT is slowly gaining grounds and through the properties of barcodes, QR codes, RFID, active sensors and IPv6, objects are fitted with some form of readability and traceability. People are becoming part of digital global network driven by personal interests. The feeling being part of a community and the constant drive of getting connected from real life finds it continuation in digital networks. This article investigates the concepts of the internet of things from the aspect of the autonomous mobile robots with an overview of the performances of the currently available database systems.

  14. A Trivia like Mobile Game with Autonomous Content That Uses Wikipedia Based Ontologies

    Directory of Open Access Journals (Sweden)

    Bogdan IANCU

    2015-01-01

    Full Text Available The mobile devices are everywhere and the gaming industry has an important market share on this field. This paper aims to present a new approach of game which generates autonomous its content, without human intervention, by using existing facts from the semantic version of Wikipedia, called DBpedia. At the beginning a short introduction of the studied field and of the used terms and technologies is presented. There are also remembered similar approaches and different struggles from this domain. In the middle part the architecture and the logic of the system are shown. The paper ends with some conclusions and future plans.

  15. Temporal Memory Reinforcement Learning for the Autonomous Micro-mobile Robot Based-behavior

    Institute of Scientific and Technical Information of China (English)

    Yang Yujun(杨玉君); Cheng Junshi; Chen Jiapin; Li Xiaohai

    2004-01-01

    This paper presents temporal memory reinforcement learning for the autonomous micro-mobile robot based-behavior. Human being has a memory oblivion process, i.e. the earlier to memorize, the earlier to forget, only the repeated thing can be remembered firmly. Enlightening forms this, and the robot need not memorize all the past states, at the same time economizes the EMS memory space, which is not enough in the MPU of our AMRobot. The proposed algorithm is an extension of the Q-learning, which is an incremental reinforcement learning method. The results of simulation have shown that the algorithm is valid.

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

    Science.gov (United States)

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

    2016-04-01

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

  17. 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.

  18. Present status of recycling waste mobile phones in China: a review.

    Science.gov (United States)

    Li, Jingying; Ge, Zhongying; Liang, Changjin; An, Ni

    2017-07-01

    A large number of waste mobile phones have already been generated and are being generated. Various countries around the world have all been positively exploring the way of recycling and reuse when facing such a large amount of waste mobile phones. In some countries, processing waste mobile phones has been forming a complete industrial chain, which can not only recycle waste mobile phones to reduce their negative influence on the environment but also turn waste into treasure to acquire economic benefits dramatically. However, the situation of recycling waste mobile phones in China is not going well. Waste mobile phones are not formally covered by existing regulations and policies for the waste electric and electronic equipment in China. In order to explore an appropriate system to recover waste mobile phones, the mobile phone production and the amount of waste mobile phones are introduced in this paper, and status of waste mobile phones recycling is described; then, the disposal technology of electronic waste that would be most likely to be used for processing of electronic waste in industrial applications in the near future is reviewed. Finally, rationalization proposals are put forward based on the current recovery status of waste mobile phones for the purpose of promoting the development of recycling waste mobile phones in developing countries with a special emphasis on China.

  19. Thiosulfate leaching of gold from waste mobile phones.

    Science.gov (United States)

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

    2010-06-15

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

  20. Fast mapping of the local environment of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Fanton, Herve

    1989-01-01

    The construction of a map of the local world for the navigation of an autonomous mobile robot leads to the following problem: how to extract among the sensor data information accurate an reliable enough to plan a path, in a way that enables a reasonable displacement speed. Choice has been made not to tele-operate the vehicle nor to design any custom architecture. So the only way to match the computational cost is to look for the most efficient sensor-algorithms-architecture combination. A good solution is described in this study, using a laser range-finder, a grid model of the world and both SIMD and MIMD parallel processors. A short review of some possible approaches is made first; the mapping algorithms are then described as also the parallel implementations with the corresponding speedup and efficiency factors. (author) [fr

  1. Autonomous trajectory generation for mobile robots with non-holonomic and steering angle constraints

    International Nuclear Information System (INIS)

    Pin, F.G.; Vasseur, H.A.

    1990-01-01

    This paper presents an approach to the trajectory planning of mobile platforms characterized by non-holonomic constraints and constraints on the steering angle and steering angle rate. The approach is based on geometric reasoning and provides deterministic trajectories for all pairs of initial and final configurations (position x, y, and orientation θ) of the robot. Furthermore, the method generates trajectories taking into account the forward and reverse mode of motion of the vehicle, or combination of these when complex maneuvering is involved or when the environment is obstructed with obstacles. The trajectory planning algorithm is described, and examples of trajectories generated for a variety of environmental conditions are presented. The generation of the trajectories only takes a few milliseconds of run time on a micro Vax, making the approach quite attractive for use as a real-time motion planner for teleoperated or sensor-based autonomous vehicles in complex environments. 10 refs., 11 figs

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

    Directory of Open Access Journals (Sweden)

    I. Ahmed M. J. SADIIG

    2005-10-01

    Full Text Available An Autonomous Mobile Agent-Based Distributed Learning Architecture-A Proposal and Analytical Analysis Dr. I. Ahmed M. J. SADIIG Department of Electrical & Computer EngineeringInternational Islamic University GombakKuala Lumpur-MALAYSIA ABSTRACT The traditional learning paradigm invoving face-to-face interaction with students is shifting to highly data-intensive electronic learning with the advances in Information and Communication Technology. An important component of the e-learning process is the delivery of the learning contents to their intended audience over a network. A distributed learning system is dependent on the network for the efficient delivery of its contents to the user. However, as the demand of information provision and utilization increases on the Internet, the current information service provision and utilization methods are becoming increasingly inefficient. Although new technologies have been employed for efficient learning methodologies within the context of an e-learning environment, the overall efficiency of the learning system is dependent on the mode of distribution and utilization of its learning contents. It is therefore imperative to employ new techniques to meet the service demands of current and future e-learning systems. In this paper, an architecture based on autonomous mobile agents creating a Faded Information Field is proposed. Unlike the centralized information distribution in a conventional e-learning system, the information is decentralized in the proposed architecture resulting in increased efficiency of the overall system for distribution and utilization of system learning contents efficiently and fairly. This architecture holds the potential to address the heterogeneous user requirements as well as the changing conditions of the underlying network.

  3. Characterizing Early Adolescent Plate Waste Using the Mobile Food Record

    OpenAIRE

    Panizza, Chloe E.; Boushey, Carol J.; Delp, Edward J.; Kerr, Deborah A.; Lim, Eunjung; Gandhi, Krupa; Banna, Jinan C.

    2017-01-01

    This study aimed to assess the amount of plate waste and how plate waste was disposed by early adolescent girls using a mobile food record (mFR). Participants were girls nine to thirteen years residing in O’ahu, Hawai’i (n = 93). Foods selected and leftover were estimated using a three day mFR. Each leftover food was then classified as thrown into the trash, fed to a pet, eaten later, or other (e.g., composted). Repeated measures analyses of variance (ANOVA) were conducted and Tukey’s post-ho...

  4. A ToF-Camera as a 3D Vision Sensor for Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Sobers Lourdu Xavier Francis

    2015-11-01

    Full Text Available The aim of this paper is to deploy a time-of-flight (ToF based photonic mixer device (PMD camera on an Autonomous Ground Vehicle (AGV whose overall target is to traverse from one point to another in hazardous and hostile environments employing obstacle avoidance without human intervention. The hypothesized approach of applying a ToF Camera for an AGV is a suitable approach to autonomous robotics because, as the ToF camera can provide three-dimensional (3D information at a low computational cost, it is utilized to extract information about obstacles after their calibration and ground testing and is mounted and integrated with the Pioneer mobile robot. The workspace is a two-dimensional (2D world map which has been divided into a grid/cells, where the collision-free path defined by the graph search algorithm is a sequence of cells the AGV can traverse to reach the target. PMD depth data is used to populate traversable areas and obstacles by representing a grid/cells of suitable size. These camera data are converted into Cartesian coordinates for entry into a workspace grid map. A more optimal camera mounting angle is needed and adopted by analysing the camera's performance discrepancy, such as pixel detection, the detection rate and the maximum perceived distances, and infrared (IR scattering with respect to the ground surface. This mounting angle is recommended to be half the vertical field-of-view (FoV of the PMD camera. A series of still and moving tests are conducted on the AGV to verify correct sensor operations, which show that the postulated application of the ToF camera in the AGV is not straightforward. Later, to stabilize the moving PMD camera and to detect obstacles, a tracking feature detection algorithm and the scene flow technique are implemented to perform a real-time experiment.

  5. Mobile concrete solidification systems for power reactor waste

    International Nuclear Information System (INIS)

    Tchemitcheff, E.; Bordas, Y.

    1990-01-01

    In late 1988 SGN received an order from Electricite de France (EDF) for the construction of a mobile concrete solidification system to process secondary system resins generated by the P'4 and N4 series PWR power plants in France. This order was placed in view of SGN's experience with low- and medium-level radioactive waste treatment and conditioning over a period of almost 20 years. In addition to the construction of fixed waste processing facilities using more conventional technologies, SGN has been involved in application of the mobile system concept to the bituminization process in the United States, which led to the construction and commissioning of two transportable systems in collaboration with its American licensee US Ecology. It has also conducted large-scale R ampersand D on LLW/MLW concrete solidification, particularly for ion exchange resins. 5 figs

  6. A mobile robot for remote inspection of radioactive waste

    International Nuclear Information System (INIS)

    Suh, Y. C.; Kim, C. H.; Cho, J. W.; Choi, Y. S.; Kim, S. H.

    2004-01-01

    Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation. This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident

  7. Cyber Physical Autonomous Mobile Robot (CPAMR Framework in the Context of Industry 4.0

    Directory of Open Access Journals (Sweden)

    Lee Yoon Ket

    2018-01-01

    Full Text Available Industry 4.0 or Smart Manufacturing creates intelligent object networking and independent process management through Internet of thing and data services. Cyber-Physical System (CPS communicates among humans, machines and products through Internet of Things (IoT. In this paper a cyber physical autonomous mobile robot (CPAMR IoT infrastructure system has been proposed. It is capable of performing human-machine interact by allowing users to place and manage orders using cloud platform. The Enterprise Resource Planning (ERP system processes the data and send the product's data to Radio-frequency identification (RFID tag system for storage and printout. Through Remote Telemetry Unit (RTU, the status of the product, CPAMR system and workstations or machineries are linked to the cloud platform. Initially, system identify the locations of CPAMR, product and the desired workstation. After gathering all the required information, Artificial Intelligence Algorithms (AIA performs real time route map planning according to the shortest distance between CPAMR and the destination. This route map planning will then be sent to the CPAMR’s micro-controller for operation. While the CPAMR is moving, it moves according to the planned route map with the assistance of the Obstacle Avoidance System until it reaches the destination and notifies cloud platform. Three individual projects representing three main functions of the proposed CPAMR have been carried out. Results show that the framework of the project is viable.

  8. Autonomic Semantic-Based Context-Aware Platform for Mobile Applications in Pervasive Environments

    Directory of Open Access Journals (Sweden)

    Adel Alti

    2016-09-01

    Full Text Available Currently, the field of smart-* (home, city, health, tourism, etc. is naturally heterogeneous and multimedia oriented. In such a domain, there is an increasing usage of heterogeneous mobile devices, as well as captors transmitting data (IoT. They are highly connected and can be used for many different services, such as to monitor, to analyze and to display information to users. In this context, data management and adaptation in real time are becoming a challenging task. More precisely, at one time, it is necessary to handle in a dynamic, intelligent and transparent framework various data provided by multiple devices with several modalities. This paper presents a Kali-Smart platform, which is an autonomic semantic-based context-aware platform. It is based on semantic web technologies and a middleware providing autonomy and reasoning facilities. Moreover, Kali-Smart is generic and, as a consequence, offers to users a flexible infrastructure where they can easily control various interaction modalities of their own situations. An experimental study has been made to evaluate the performance and feasibility of the proposed platform.

  9. Kinematics modeling and simulation of an autonomous omni-directional mobile robot

    Directory of Open Access Journals (Sweden)

    Daniel Garcia Sillas

    2015-05-01

    Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

  10. Autonomously Implemented Versatile Path Planning for Mobile Robots Based on Cellular Automata and Ant Colony

    Directory of Open Access Journals (Sweden)

    Adel Akbarimajd

    2012-02-01

    Full Text Available A path planning method for mobile robots based on two dimensional cellular automata is proposed. The method can be applied for environments with both concave and convex obstacles. It is also appropriate for multi-robot problems as well as dynamic environments. In order to develop the planning method, environment of the robot is decomposed to a rectangular grid and the automata is defined with four states including Robot cell, Free cell, Goal cell and Obstacle cell. Evolution rules of automata are proposed in order to direct the robot toward its goal. CA based path planner method is afterwards modified by a colony technique to be applicable for concave obstacles. Then a layered architecture is proposed to autonomously implement the planning algorithm. The architecture employs an abstraction approach which makes the complexity manageable. An important feature of the architecture is internal artifacts that have some beliefs about the world. Most actions of the robot are planned and performed with respect to these artifacts.

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

    Directory of Open Access Journals (Sweden)

    Jesus M. de la Cruz

    2012-02-01

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

  12. Self-localization for an autonomous mobile robot based on an omni-directional vision system

    Science.gov (United States)

    Chiang, Shu-Yin; Lin, Kuang-Yu; Chia, Tsorng-Lin

    2013-12-01

    In this study, we designed an autonomous mobile robot based on the rules of the Federation of International Robotsoccer Association (FIRA) RoboSot category, integrating the techniques of computer vision, real-time image processing, dynamic target tracking, wireless communication, self-localization, motion control, path planning, and control strategy to achieve the contest goal. The self-localization scheme of the mobile robot is based on the algorithms featured in the images from its omni-directional vision system. In previous works, we used the image colors of the field goals as reference points, combining either dual-circle or trilateration positioning of the reference points to achieve selflocalization of the autonomous mobile robot. However, because the image of the game field is easily affected by ambient light, positioning systems exclusively based on color model algorithms cause errors. To reduce environmental effects and achieve the self-localization of the robot, the proposed algorithm is applied in assessing the corners of field lines by using an omni-directional vision system. Particularly in the mid-size league of the RobotCup soccer competition, selflocalization algorithms based on extracting white lines from the soccer field have become increasingly popular. Moreover, white lines are less influenced by light than are the color model of the goals. Therefore, we propose an algorithm that transforms the omni-directional image into an unwrapped transformed image, enhancing the extraction features. The process is described as follows: First, radical scan-lines were used to process omni-directional images, reducing the computational load and improving system efficiency. The lines were radically arranged around the center of the omni-directional camera image, resulting in a shorter computational time compared with the traditional Cartesian coordinate system. However, the omni-directional image is a distorted image, which makes it difficult to recognize the

  13. Development and Characteristics of a Mobile, Semi-Autonomous Floating Platform for in situ Lake Measurements

    Science.gov (United States)

    Barry, D.; Lemmin, U.; Le Dantec, N.; Zulliger, L.; Rusterholz, M.; Bolay, M.; Rossier, J.; Kangur, K.

    2013-12-01

    In the development of sustainable management strategies of lakes more insight into their physical, chemical and ecological dynamics is needed. Field data obtained from various types of sensors with adequate spatial and temporal sampling rate are essential to understand better the processes that govern fluxes and pathways of water masses and transported compounds, whether for model validation or for monitoring purposes. One advantage of unmanned platforms is that they limit the disturbances typically affecting the quality of data collected on small vessels, including perturbations caused by movements of onboard crew. We have developed a mobile, semi-autonomous floating platform with 8 h power autonomy using a 5 m long by 2.5 m wide catamaran. Our approach focused on modularity and high payload capacity in order to accommodate a large number of sensors both in terms of electronic (power and data) and mechanical constraints of integration. Software architecture and onboard electronics use National Instruments technology to simplify and standardize integration of sensors, actuators and communication. Piecewise-movable deck sections allow optimizing platform stability depending on the payload. The entire system is controlled by a remote computer located on an accompanying vessel and connected via a wireless link with a range of over 1 km. Real-time transmission of GPS-stamped measurements allows immediate modifications in the survey plan if needed. The displacement of the platform is semi-autonomous, with the options of either autopilot mode following a pre-planned course specified by waypoints or remote manual control from the accompanying vessel. Maintenance of permanent control over the platform displacement is required for safety reasons with respect to other users of the lake. Currently, the sensor payload comprises an array of fast temperature probes, a bottom-tracking ADCP and atmospheric sensors including a radiometer. A towed CTD with additional water quality

  14. Coastal zone environment measurements at Sakhalin Island using autonomous mobile robotic system

    Science.gov (United States)

    Tyugin, Dmitry; Kurkin, Andrey; Zaytsev, Andrey; Zeziulin, Denis; Makarov, Vladimir

    2017-04-01

    To perform continuous complex measurements of environment characteristics in coastal zones autonomous mobile robotic system was built. The main advantage of such system in comparison to manual measurements is an ability to quickly change location of the equipment and start measurements. AMRS allows to transport a set of sensors and appropriate power source for long distances. The equipment installed on the AMRS includes: a modern high-tech ship's radar «Micran» for sea waves measurements, multiparameter platform WXT 520 for weather monitoring, high precision GPS/GLONASS receiver OS-203 for georeferencing, laser scanner platform based on two Sick LMS-511 scanners which can provide 3D distance measurements in up to 80 meters on the AMRS route and rugged designed quad-core fanless computer Matrix MXE-5400 for data collecting and recording. The equipment is controlled by high performance modular software developed specially for the AMRS. During the summer 2016 the experiment was conducted. Measurements took place at the coastal zone of Sakhalin Island (Russia). The measuring system of AMRS was started in automatic mode controlled by the software. As result a lot of data was collected and processed to database. It consists of continuous measurements of the coastal zone including different weather conditions. The most interesting for investigation is a period of three-point storm detected on June, 2, 2016. Further work will relate to data processing of measured environment characteristics and numerical models verification based on the collected data. The presented results of research obtained by the support of the Russian president's scholarship for young scientists and graduate students №SP-193.2015.5

  15. Autonomous mobile platform with simultaneous localisation and mapping system for patrolling purposes

    Science.gov (United States)

    Mitka, Łukasz; Buratowski, Tomasz

    2017-10-01

    This work describes an autonomous mobile platform for supervision and surveillance purposes. The system can be adapted for mounting on different types of vehicles. The platform is based on a SLAM navigation system which performs a localization task. Sensor fusion including laser scanners, inertial measurement unit (IMU), odometry and GPS lets the system determine its position in a certain and precise way. The platform is able to create a 3D model of a supervised area and export it as a point cloud. The system can operate both inside and outside as the navigation algorithm is resistant to typical localization errors caused by wheel slippage or temporal GPS signal loss. The system is equipped with a path-planning module which allows operating in two modes. The first mode is for periodical observation of points in a selected area. The second mode is turned on in case of an alarm. When it is called, the platform moves with the fastest route to the place of the alert. The path planning is always performed online with use of the most current scans, therefore the platform is able to adjust its trajectory to the environment changes or obstacles that are in the motion. The control algorithms are developed under the Robot Operating System (ROS) since it comes with drivers for many devices used in robotics. Such a solution allows for extending the system with any type of sensor in order to incorporate its data into a created area model. Proposed appliance can be ported to other existing robotic platforms or used to develop a new platform dedicated to a specific kind of surveillance. The platform use cases are to patrol an area, such as airport or metro station, in search for dangerous substances or suspicious objects and in case of detection instantly inform security forces. Second use case is a tele-operation in hazardous area for an inspection purposes.

  16. Application of autonomous robotics to surveillance of waste storage containers for radioactive surface contamination

    International Nuclear Information System (INIS)

    Sweeney, F.J.; Beckerman, M.; Butler, P.L.; Jones, J.P.; Reister, D.B.

    1991-01-01

    This paper describes a proof-of-principal demonstration performed with the HERMIES-III mobile robot to automate the inspection of waste storage drums for radioactive surface contamination and thereby reduce the human burden of operating a robot and worker exposure to potentially hazardous environments. Software and hardware for the demonstration were developed by a team consisting of Oak Ridge National Laboratory, and the Universities of Florida, Michigan, Tennessee, and Texas. Robot navigation, machine vision, manipulator control, parallel processing and human-machine interface techniques developed by the team were demonstrated utilizing advanced computer architectures. The demonstration consists of over 100,000 lines of computer code executing on nine computers

  17. Characterizing Early Adolescent Plate Waste Using the Mobile Food Record.

    Science.gov (United States)

    Panizza, Chloe E; Boushey, Carol J; Delp, Edward J; Kerr, Deborah A; Lim, Eunjung; Gandhi, Krupa; Banna, Jinan C

    2017-01-26

    This study aimed to assess the amount of plate waste and how plate waste was disposed by early adolescent girls using a mobile food record (mFR). Participants were girls nine to thirteen years residing in O'ahu, Hawai'i ( n = 93). Foods selected and leftover were estimated using a three day mFR. Each leftover food was then classified as thrown into the trash, fed to a pet, eaten later, or other (e.g., composted). Repeated measures analyses of variance (ANOVA) were conducted and Tukey's post-hoc test were used to adjust for multiple comparisons between times (breakfast, lunch, dinner, and snack) on leftover food and leftover food thrown into the trash. The percentage of food leftover and thrown into the trash was highest at lunch. The percentage of protein, grain, vegetables, fruit, and dairy leftover at lunch were unexpectedly low compared to previous studies. The median for percentage of food thrown into the trash at lunch was <5% for all food groups, and was consistently low across the day (<10%). Average energy intake was 436 kcal (±216) at lunch, and 80% of caregivers reported total household income as ≥$70,000. Studies in real-time using technology over full days may better quantify plate waste among adolescents.

  18. Characterizing Early Adolescent Plate Waste Using the Mobile Food Record

    Directory of Open Access Journals (Sweden)

    Chloe E. Panizza

    2017-01-01

    Full Text Available This study aimed to assess the amount of plate waste and how plate waste was disposed by early adolescent girls using a mobile food record (mFR. Participants were girls nine to thirteen years residing in O’ahu, Hawai’i (n = 93. Foods selected and leftover were estimated using a three day mFR. Each leftover food was then classified as thrown into the trash, fed to a pet, eaten later, or other (e.g., composted. Repeated measures analyses of variance (ANOVA were conducted and Tukey’s post-hoc test were used to adjust for multiple comparisons between times (breakfast, lunch, dinner, and snack on leftover food and leftover food thrown into the trash. The percentage of food leftover and thrown into the trash was highest at lunch. The percentage of protein, grain, vegetables, fruit, and dairy leftover at lunch were unexpectedly low compared to previous studies. The median for percentage of food thrown into the trash at lunch was <5% for all food groups, and was consistently low across the day (<10%. Average energy intake was 436 kcal (±216 at lunch, and 80% of caregivers reported total household income as ≥$70,000. Studies in real-time using technology over full days may better quantify plate waste among adolescents.

  19. Reliable Autonomous Surface Mobility (RASM) in Support of Human Exploration, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — ProtoInnovations, LLC and Carnegie Mellon University have formed a partnership to commercially develop rover-autonomy technologies into Reliable Autonomous Surface...

  20. Impeding 99Tc(IV) mobility in novel waste forms

    Science.gov (United States)

    Lee, Mal-Soon; Um, Wooyong; Wang, Guohui; Kruger, Albert A.; Lukens, Wayne W.; Rousseau, Roger; Glezakou, Vassiliki-Alexandra

    2016-01-01

    Technetium (99Tc) is an abundant, long-lived radioactive fission product whose mobility in the subsurface is largely governed by its oxidation state. Tc immobilization is crucial for radioactive waste management and environmental remediation. Tc(IV) incorporation in spinels has been proposed as a novel method to increase Tc retention in glass waste forms during vitrification. However, experiments under high-temperature and oxic conditions show reoxidation of Tc(IV) to volatile pertechnetate, Tc(VII). Here we examine this problem with ab initio molecular dynamics simulations and propose that, at elevated temperatures, doping with first row transition metal can significantly enhance Tc retention in magnetite in the order Co>Zn>Ni. Experiments with doped spinels at 700 °C provide quantitative confirmation of the theoretical predictions in the same order. This work highlights the power of modern, state-of-the-art simulations to provide essential insights and generate theory-inspired design criteria of complex materials at elevated temperatures. PMID:27357121

  1. Autonomous navigation system for mobile robots of inspection; Sistema de navegacion autonoma para robots moviles de inspeccion

    Energy Technology Data Exchange (ETDEWEB)

    Angulo S, P. [ITT, Metepec, Estado de Mexico (Mexico); Segovia de los Rios, A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: pedrynteam@hotmail.com

    2005-07-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  2. Technical baseline description of high-level waste and low-activity waste feed mobilization and delivery

    International Nuclear Information System (INIS)

    Papp, I.G.

    1997-01-01

    This document is a compilation of information related to the high-level waste (HLW) and low-activity waste (LAW) feed staging, mobilization, and transfer/delivery issues. Information relevant to current Tank Waste Remediation System (TWRS) inventories and activities designed to feed the Phase I Privatization effort at the Hanford Site is included. Discussions on the higher level Phase II activities are offered for a perspective on the interfaces

  3. Mining in the Future: Autonomous Robotics for Safer Mines

    CSIR Research Space (South Africa)

    Shahdi, A

    2012-10-01

    Full Text Available ? Require less support infrastructure ? Advanced sensors ? CSIR 2012 Slide 4 Degree of Autonomy ? Teleoperation ? Semi-autonomous ? Autonomous ? CSIR 2012 Slide 5 Mobile Intelligent Autonomous Systems Group ? The Mobile Intelligent Autonomous...

  4. Metal mobilization from metallurgical wastes by soil organic acids.

    Science.gov (United States)

    Potysz, Anna; Grybos, Malgorzata; Kierczak, Jakub; Guibaud, Gilles; Fondaneche, Patrice; Lens, Piet N L; van Hullebusch, Eric D

    2017-07-01

    Three types of Cu-slags differing in chemical and mineralogical composition (historical, shaft furnace, and granulated slags) and a matte from a lead recovery process were studied with respect to their susceptibility to release Cu, Zn and Pb upon exposure to organic acids commonly encountered in soil environments. Leaching experiments (24-960 h) were conducted with: i) humic acid (20 mg/L) at pH t 0  = 4.4, ii) fulvic acid (20 mg/L) at pH t 0  = 4.4, iii) an artificial root exudates (ARE) (17.4 g/L) solution at pH t 0  = 4.4, iv) ARE solution at pH t 0  = 2.9 and v) ultrapure water (pH t 0  = 5.6). The results demonstrated that the ARE contribute the most to the mobilization of metals from all the wastes analyzed, regardless of the initial pH of the solution. For example, up to 14%, 30%, 24% and 5% of Cu is released within 960 h from historical, shaft furnace, granulated slags and lead matte, respectively, when exposed to the artificial root exudates solution (pH 2.9). Humic and fulvic acids were found to have a higher impact on granulated and shaft furnace slags as compared to the ultrapure water control and increased the release of metals by a factor up to 37.5 (Pb) and 20.5 (Cu) for granulated and shaft furnace slags, respectively. Humic and fulvic acids amplified the mobilization of metals by a maximal factor of 13.6 (Pb) and 12.1 (Pb) for historical slag and lead matte, respectively. The studied organic compounds contributed to different release rates of metallic contaminants from individual metallurgical wastes under the conditions tested. Copyright © 2017 Elsevier Ltd. All rights reserved.

  5. How Can Autonomous and Connected Vehicles, Electromobility, BRT, Hyperloop, Shared Use Mobility and Mobility-As-A-Service Shape Transport Futures for the Context of Smart Cities?

    Directory of Open Access Journals (Sweden)

    Alexandros Nikitas

    2017-11-01

    Full Text Available A smarter transport system that caters for social, economic and environmental sustainability is arguably one of the most critical prerequisites for creating pathways to more livable urban futures. This paper aims to provide a state-of-the-art analysis of a selection of mobility initiatives that may dictate the future of urban transportation and make cities smarter. These are mechanisms either recently introduced with encouraging uptake so far and much greater potential to contribute in a shift to a better transport paradigm or still in an embryonic stage of their development and yet to be embraced as powerful mechanisms that could change travel behaviour norms. Autonomous and connected vehicles are set to revolutionise the urban landscape by allowing machines to take over driving that for over a century has been exclusively a human activity, while electrical vehicles are already helping decarbonising the transport sector. Bus rapid transit has been steadily reinventing and rebranding conventional bus services revitalising the use of the humblest form of public transport, while hyperloop is an entirely new, disruptive, and somewhat provocative, travel mode proposition based on the use of sealed tube systems through which pods could travel free of air resistance with speeds exceeding 1000 km/h. Shared use mobility mechanisms like car-sharing, ride-sharing, ride-sourcing and public bicycles can help establishing a culture for using mobility resources on an as-needed basis, while mobility-as-a-service will take this sharing culture a step further, offering tailored mobility and trip planning packages that could entirely replace the need for privately owned modes of transport.

  6. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    Energy Technology Data Exchange (ETDEWEB)

    Tuvshinjargal, Doopalam; Lee, Deok Jin [Kunsan National University, Gunsan (Korea, Republic of)

    2015-06-15

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

  7. Efficient Kinect Sensor-Based Reactive Path Planning Method for Autonomous Mobile Robots in Dynamic Environments

    International Nuclear Information System (INIS)

    Tuvshinjargal, Doopalam; Lee, Deok Jin

    2015-01-01

    In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments

  8. Results of Sludge Mobilization Testing at Hanford High Level Waste (HLW) Tank

    International Nuclear Information System (INIS)

    STAEHR, T.W.

    2001-01-01

    Waste stored in the Tank 241-AZ-101 at the US DOE Hanford is scheduled as the initial feed for high-level waste vitrification. Tank 241-AZ-101 currently holds over 3,000,000 liters of waste made up of a settled sludge layer covered by a layer of liquid supernant. To retrieve the waste from the tank, it is necessary to mobilize and suspend the settled sludge so that the resulting slurry can be pumped from the tank for treatment and vitrification. Two 223.8-kilowatt mixer pumps have been installed in Tank 241-AZ-101 to mobilize the settled sludge layer of waste for retrieval. In May of 2000, the mixer pumps were subjected to a series of tests to determine (1) the extent to which the mixer pumps could mobilize the settle sludge layer of waste, (2) if the mixer pumps could function within operating parameters, and (3) if state-of-the-art monitoring equipment could effectively monitor and quantify the degree of sludge mobilization and suspension. This paper presents the major findings and results of the Tank 241-AZ-101 mixer pump tests, based on analysis of data and waste samples that were collected during the testing. Discussion of the results focuses on the effective cleaning radius achieved and the volume and concentration of sludge mobilized, with both one and two pumps operating in various configurations and speeds. The Tank 241-AZ-101 mixer pump tests were unique in that sludge mobilization parameters were measured using actual waste in an underground storage tank at the hanford Site. The methods and instruments that were used to measure waste mobilization parameters in Tank 241-AZ-101 can be used in other tanks. It can be concluded from the testing that the use of mixer pumps is an effective retrieval method for the mobilization of settled solids in Tank 241-AZ-101

  9. Mobile loading transuranic waste at small quantity sites in the Department of Energy complex-10523

    International Nuclear Information System (INIS)

    Carter, Mitch; Howard, Bryan; Weyerman, Wade; Mctaggart, Jerri

    2009-01-01

    Los Alamos National Laboratory, Carlsbad Office (LANL-CO), operates mobile loading operations for all of the large and small quantity transuranic (TRU) waste sites in the Department of Energy (DOE) complex. The mobile loading team performs loading and unloading evolutions for both contact handled (CH) and remote handled (RH) waste. For small quantity sites, many of which have yet to remove their TRU waste, the mobile loading team will load shipments that will ship to Idaho National Laboratory, a centralization site, or ship directly to the Waste Isolation Pilot Plant (WIPP). For example, Argonne National Laboratory and General Electric Vallecitos Nuclear Center have certified programs for RH waste so they will ship their RH waste directly to WIPP. Many of the other sites will ship their waste to Idaho for characterization and certification. The Mobile Loading Units (MLU) contain all of the necessary equipment needed to load CH and RH waste into the appropriate shipping vessels. Sites are required to provide additional equipment, such as cranes, fork trucks, and office space. The sites are also required to provide personnel to assist in the shipping operations. Each site requires a site visit from the mobile loading team to ensure that all of the necessary site equipment, site requirements and space for shipping can be provided. The mobile loading team works diligently with site representatives to ensure that all safety and regulatory requirements are met. Once the waste is ready and shipping needs are met, the mobile loading team can be scheduled to ship the waste. The CH MLU is designed to support TRUPACT-II and HalfPACT loading activities wherever needed within the DOE complex. The team that performs the mobile loading operation has obtained national certification under DOE for TRUPACT-II and HalfPACT loading and shipment certification. The RH MLU is designed to support removable lid canister (RLC) and RH-72B cask loading activities wherever needed within the DOE

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

    Science.gov (United States)

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

    2017-11-01

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

  11. Derived Requirements for Double Shell Tank (DST) High Level Waste (HLW) Auxiliary Solids Mobilization

    Energy Technology Data Exchange (ETDEWEB)

    TEDESCHI, A.R.

    2000-02-28

    The potential need for auxiliary double-shell tank waste mixing and solids mobilization requires an evaluation of optional technologies. This document formalizes those operating and design requirements needed for further engineering evaluations.

  12. Derived Requirements for Double-Shell Tank (DST) High Level Waste (HLW) Auxiliary Solids Mobilization

    International Nuclear Information System (INIS)

    TEDESCHI, A.R.

    2000-01-01

    The potential need for auxiliary double-shell tank waste mixing and solids mobilization requires an evaluation of optional technologies. This document formalizes those operating and design requirements needed for further engineering evaluations

  13. Mobility and attenuation of arsenic in sulfide-rich mining wastes from the Czech Republic

    Czech Academy of Sciences Publication Activity Database

    Drahota, P.; Knappová, M.; Kindlová, H.; Culka, A.; Majzlan, J.; Mihaljevič, M.; Rohovec, Jan; Veselovský, F.; Fridrichová, Michaela; Jehlička, J.

    557/558, July 01 (2016), s. 192-203 ISSN 0048-9697 Institutional support: RVO:67985831 Keywords : arsenic * mining waste * mobility * pore water * secondary arsenic minerals Subject RIV: DD - Geochemistry Impact factor: 4.900, year: 2016

  14. Recognition and automatic tracking of weld line in fringe welding by autonomous mobile robot with visual sensor

    International Nuclear Information System (INIS)

    Suga, Yasuo; Saito, Keishin; Ishii, Hideaki.

    1994-01-01

    An autonomous mobile robot with visual sensor and four driving axes for welding of pipe and fringe was constructed. The robot can move along a pipe, and detect the weld line to be welded by visual sensor. Moreover, in order to perform welding automatically, the tip of welding torch can track the weld line of the joint by rotating the robot head. In the case of welding of pipe and fringe, the robot can detect the contact angle between the two base metals to be welded, and the torch angle changes according to the contact angle. As the result of tracking test by the robot system, it was made clear that the recognition of geometry of the joint by the laser lighting method and automatic tracking of weld line were possible. The average tracking error was ±0.3 mm approximately and the torch angle could be always kept at the optimum angle. (author)

  15. Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

    Directory of Open Access Journals (Sweden)

    Yi-Chung Lai

    2012-10-01

    Full Text Available The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system.

  16. GEMMP - A Google Maps Enabled Mobile Mission Planning Tool for Autonomous Underwater Vehicles

    OpenAIRE

    Steven Seeley; Ramprasad Balasubramanian

    2012-01-01

    Many applications for mobile robotics involve operations in remote, outdoor environments. In these environments, it can be difficult to plan missions dynamically due to the lack of portability of existing mission planning software. Mobile platforms allow access to the Web from nearly anywhere while other features, like touch interfaces, simplify user interaction, and GPS integration allows developers and users to take advantage to location-based services. In this paper, we describe a prototype...

  17. Autonomous mobile platform for monitoring air emissions from industrial and municipal wastewater ponds.

    Science.gov (United States)

    Fu, Long; Huda, Quamrul; Yang, Zheng; Zhang, Lucas; Hashisho, Zaher

    2017-11-01

    Significant amounts of volatile organic compounds and greenhouse gases are generated from wastewater lagoons and tailings ponds in Alberta, Canada. Accurate measurements of these air pollutants and greenhouse gases are needed to support management and regulatory decisions. A mobile platform was developed to measure air emissions from tailings pond in the oil sands region of Alberta. The mobile platform was tested in 2015 in a municipal wastewater treatment lagoon. With a flux chamber and a CO 2 /CH 4 sensor on board, the mobile platform was able to measure CO 2 and CH 4 emissions over two days at two different locations in the pond. Flux emission rates of CO 2 and CH 4 that were measured over the study period suggest the presence of aerobic and anaerobic zones in the wastewater treatment lagoon. The study demonstrated the capabilities of the mobile platform in measuring fugitive air emissions and identified the potential for the applications in air and water quality monitoring programs. The Mobile Platform demonstrated in this study has the ability to measure greenhouse gas (GHG) emissions from fugitive sources such as municipal wastewater lagoons. This technology can be used to measure emission fluxes from tailings ponds with better detection of spatial and temporal variations of fugitive emissions. Additional air and water sampling equipment could be added to the mobile platform for a broad range of air and water quality studies in the oil sands region of Alberta.

  18. Image processing algorithm design and implementation for real-time autonomous inspection of mixed waste

    International Nuclear Information System (INIS)

    Schalkoff, R.J.; Shaaban, K.M.; Carver, A.E.

    1996-01-01

    The ARIES number-sign 1 (Autonomous Robotic Inspection Experimental System) vision system is used to acquire drum surface images under controlled conditions and subsequently perform autonomous visual inspection leading to a classification as 'acceptable' or 'suspect'. Specific topics described include vision system design methodology, algorithmic structure,hardware processing structure, and image acquisition hardware. Most of these capabilities were demonstrated at the ARIES Phase II Demo held on Nov. 30, 1995. Finally, Phase III efforts are briefly addressed

  19. A traffic priority language for collision-free navigation of autonomous mobile robots in dynamic environments.

    Science.gov (United States)

    Bourbakis, N G

    1997-01-01

    This paper presents a generic traffic priority language, called KYKLOFORTA, used by autonomous robots for collision-free navigation in a dynamic unknown or known navigation space. In a previous work by X. Grossmman (1988), a set of traffic control rules was developed for the navigation of the robots on the lines of a two-dimensional (2-D) grid and a control center coordinated and synchronized their movements. In this work, the robots are considered autonomous: they are moving anywhere and in any direction inside the free space, and there is no need of a central control to coordinate and synchronize them. The requirements for each robot are i) visual perception, ii) range sensors, and iii) the ability of each robot to detect other moving objects in the same free navigation space, define the other objects perceived size, their velocity and their directions. Based on these assumptions, a traffic priority language is needed for each robot, making it able to decide during the navigation and avoid possible collision with other moving objects. The traffic priority language proposed here is based on a set of primitive traffic priority alphabet and rules which compose pattern of corridors for the application of the traffic priority rules.

  20. GEMMP - A Google Maps Enabled Mobile Mission Planning Tool for Autonomous Underwater Vehicles

    Directory of Open Access Journals (Sweden)

    Steven Seeley

    2012-05-01

    Full Text Available Many applications for mobile robotics involve operations in remote, outdoor environments. In these environments, it can be difficult to plan missions dynamically due to the lack of portability of existing mission planning software. Mobile platforms allow access to the Web from nearly anywhere while other features, like touch interfaces, simplify user interaction, and GPS integration allows developers and users to take advantage to location-based services. In this paper, we describe a prototype AUV mission planner developed on the Android platform, created to aid and enhance the capability of an existing AUV mission planner, VectorMap, developed and maintained by OceanServer Technology, by taking advantage of the capabilities of existing mobile computing technology.

  1. Mobile instrumentation platform and robotic accessory for real-time screening of hazardous waste

    International Nuclear Information System (INIS)

    Anderson, M.S.; Jaselskis, E.J.

    1992-01-01

    An innovative mobile laboratory for real-time field screening of soils for inorganic hazardous waste using laser ablation-inductively coupled plasma-atomic emission spectrometry sampling and analysis technique is being developed at Ames Laboratory. This sampling technique as well as the concept for installing, monitoring, and controlling the instrumentation and utilities in the mobile laboratory, the robotic sampling accessory, and manual sampling method are discussed. Benefits of this mobile configuration and future development plans also are described

  2. Adaptive training of neural networks for control of autonomous mobile robots

    NARCIS (Netherlands)

    Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

    2017-01-01

    We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

  3. Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

    Directory of Open Access Journals (Sweden)

    Leonimer Flavio de Melo

    2013-09-01

    Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

  4. Value-driven behavior generation for an autonomous mobile ground robot

    Science.gov (United States)

    Balakirsky, Stephen B.; Lacaze, Alberto

    2002-07-01

    In this paper, we will describe a value-driven graph search technique that is capable of generating a rich variety of single and multiple vehicle behaviors. The generation of behaviors depends on cost and benefit computations that may involve terrain characteristics, line of sight to enemy positions, and cost, benefit, and risk of traveling on roads. Depending on mission priorities and cost values, real-time planners can autonomously build appropriate behaviors on the fly that include road following, cross-country movement, stealthily movement, formation keeping, and bounding overwatch. This system follows NIST's 4D/RCS architecture, and a discussion of the world model, value judgment, and behavior generation components is provided. In addition, techniques for collapsing a multidimensional model space into a cost space and planning graph constraints are discussed. The work described in this paper has been performed under the Army Research Laboratory's Robotics Demo III program.

  5. The research of autonomous obstacle avoidance of mobile robot based on multi-sensor integration

    Science.gov (United States)

    Zhao, Ming; Han, Baoling

    2016-11-01

    The object of this study is the bionic quadruped mobile robot. The study has proposed a system design plan for mobile robot obstacle avoidance with the binocular stereo visual sensor and the self-control 3D Lidar integrated with modified ant colony optimization path planning to realize the reconstruction of the environmental map. Because the working condition of a mobile robot is complex, the result of the 3D reconstruction with a single binocular sensor is undesirable when feature points are few and the light condition is poor. Therefore, this system integrates the stereo vision sensor blumblebee2 and the Lidar sensor together to detect the cloud information of 3D points of environmental obstacles. This paper proposes the sensor information fusion technology to rebuild the environment map. Firstly, according to the Lidar data and visual data on obstacle detection respectively, and then consider two methods respectively to detect the distribution of obstacles. Finally fusing the data to get the more complete, more accurate distribution of obstacles in the scene. Then the thesis introduces ant colony algorithm. It has analyzed advantages and disadvantages of the ant colony optimization and its formation cause deeply, and then improved the system with the help of the ant colony optimization to increase the rate of convergence and precision of the algorithm in robot path planning. Such improvements and integrations overcome the shortcomings of the ant colony optimization like involving into the local optimal solution easily, slow search speed and poor search results. This experiment deals with images and programs the motor drive under the compiling environment of Matlab and Visual Studio and establishes the visual 2.5D grid map. Finally it plans a global path for the mobile robot according to the ant colony algorithm. The feasibility and effectiveness of the system are confirmed by ROS and simulation platform of Linux.

  6. Modelling and Scheduling Autonomous Mobile Robot for a Real-World Industrial Application

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa; Bøgh, Simon

    2013-01-01

    proposes an approach composing of: a mobile robot system design (“Little Helper”), an appropriate and comprehensive industrial application (multiple-part feeding tasks), an implementation concept for industrial environments (the bartender concept), and a real-time heuristics integrated into Mission...... from the real-time heuristics. The results also demonstrated that the proposed real-time heuristics has capability of finding the best schedule in online production mode....

  7. ARK-2: a mobile robot that navigates autonomously in an industrial environment

    International Nuclear Information System (INIS)

    Bains, N.; Nickerson, S.; Wilkes, D.

    1995-01-01

    ARK-2 is a robot that uses a vision system based on a camera and spot laser rangefinder mounted on a pan and tilt unit for navigation. This vision system recognizes known landmarks and computes its position relative to them, thus bounding the error in its position. The vision system is also used to find known gauges, given their approximate locations, and takes readings from them. 'Approximate' in this context means the same sort of accuracy that a human would need: 'down aisle 3 on the right' suffices. ARK-2 is also equipped with the FAD (Floor Anomaly Detector) which is based on the NRC (National Research Council of Canada) BIRIS (Bi-IRIS) sensor, and keeps ARK-2 from failing into open drains or trying to negotiate large cables or pipes on the floor. ARK-2 has also been equipped with a variety of application sensors for security and safety patrol applications. Radiation sensors are used to produce contour maps of radiation levels. In order to detect fires, environmental changes and intruders, ARK-2 is equipped with smoke, temperature, humidity and gas sensors, scanning ultraviolet and infrared detectors and a microwave motion detector. In order to support autonomous, untethered operation for hours at a time, ARK-2 also has onboard systems for power, sonar-based obstacle detection, computation and communications. The project uses a UNIX environment for software development, with the onboard SPARC processor appearing as just another workstation on the LAN. Software modules include the hardware drivers, path planning, navigation, emergency stop, obstacle mapping and status monitoring. ARK-2 may also be controlled from a ROBCAD simulation. (author)

  8. A mobile system for treating low-salinity low-activity liquid wastes

    International Nuclear Information System (INIS)

    Sobolev, I.A.; Timofeev, E.M.; Panteleev, V.I.; Karlin Yu.V.; Kropotov, V.N.; Slastennikov, Yu.T.; Chuikov, V.Yu.; Demkin, V.I.; Rozhkov, V.T.

    1993-01-01

    Radioactive wastes are produced not only in radiochemical production and nuclear power stations but also in numerous research institutes and industrial organizations. The specific activities of these wastes are low, and the volumes do not exceed a few dozen cubic meters a year at each individual organization, but processing such territorially distributed wastes is complicated. This particularly applies to liquid wastes, whose transportation involves a high risk of contamination if the sealing fails. As a rule, liquid wastes are solidified before transportation to a storage site. In some cases, that simplified approach leads to an unduly large consumption of solidifying materials, and particularly to an increase in volume, while storage is an expensive technique. A considerable volume reduction in the wastes to be stored is provided by processing the liquid wastes to concentrate the radionuclides in a small volume, with the main volume of treated water discharged to the drains. Two styles are possible: a stationary plant for processing wastes at each institution or a mobile one with a centralized service base, e.g., at the storage site. Mobile systems have been reported in world practice, although there is no detailed information on them. From the economic viewpoint, the second approach is preferable because it enables one to conduct such operations with fewer plants and fewer staff. That a mobile concept that was used at the Moscow Radon Cooperative in 1985 in processing liquid wastes at regional storage locations is summarized in this article. Research and development led in 1989 to the manufacture of a prototype mobile system mounted on an MAZ articulated vehicle, which included three basic modules: ultrafiltration, electrodialysis, and filtration ones. Each module is located on a separate framework and is connected to the others by reinforced rubber hoses

  9. Research project RoboGas{sup Inspector}. Gas leak detection with autonomous mobile robots; Forschungsprojekt RoboGas{sup Inspector}. Gaslecksuche mit autonomen mobilen Robotern

    Energy Technology Data Exchange (ETDEWEB)

    Habib, Abdelkarim [BAM Bundesanstalt fuer Materialforschung und -pruefung, Berlin (Germany); Bonow, Gero; Kroll, Andreas [Fachgebiet Mess- und Regelungstechnik, Universitaet Kassel, Kassel (Germany); Hegenberg, Jens; Schmidt, Ludger [Fachgebiet Mensch-Maschine-Systemtechnik, Universitaet Kassel, Kassel (Germany); Barz, Thomas; Schulz, Dirk [Fraunhofer FKIE, Unbemannte Systeme, Wachtberg (Germany)

    2013-05-15

    As part of the promotional program AUTONOMIK of the Federal Ministry of Economics and Technology (Berlin, Federal Republic of Germany) a consortium of nine project partners developed a prototype of an autonomous mobile robot looking for gas leaks in extended industrial equipment. The autonomous mobility of the system for any systems was implemented using different types of sensors for self-localization and navigation. The tele-operation enables a manual intervention in the process. The robot performs inspection tasks in industrial plants by means of video technology and remote gas measurement technology without driving into the possible risk areas and without the presence of humans. The robot can be used for routine inspections of facilities or for the targeted inspection of specific plant components. Thanks to the remote sensing technique also plant components can be inspected which are difficult to be inspected due to their limited accessibility by conventional measurement techniques.

  10. Performance comparison of novel WNN approach with RBFNN in navigation of autonomous mobile robotic agent

    Directory of Open Access Journals (Sweden)

    Ghosh Saradindu

    2016-01-01

    Full Text Available This paper addresses the performance comparison of Radial Basis Function Neural Network (RBFNN with novel Wavelet Neural Network (WNN of designing intelligent controllers for path planning of mobile robot in an unknown environment. In the proposed WNN, different types of activation functions such as Mexican Hat, Gaussian and Morlet wavelet functions are used in the hidden nodes. The neural networks are trained by an intelligent supervised learning technique so that the robot makes a collision-free path in the unknown environment during navigation from different starting points to targets/goals. The efficiency of two algorithms is compared using some MATLAB simulations and experimental setup with Arduino Mega 2560 microcontroller in terms of path length and time taken to reach the target as an indicator for the accuracy of the network models.

  11. Behavioural domain knowledge transfer for autonomous agents

    CSIR Research Space (South Africa)

    Rosman, Benjamin S

    2014-11-01

    Full Text Available , and Behavior Transfer in Autonomous Robots, AAAI 2014 Fall Symposium Series, 13-15 November 2014 Behavioural Domain Knowledge Transfer for Autonomous Agents Benjamin Rosman Mobile Intelligent Autonomous Systems Modelling and Digital Science Council...

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

    Science.gov (United States)

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

    2012-06-01

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

  13. Geochemical processes to mobilization of radionuclides from radioactive waste

    International Nuclear Information System (INIS)

    Bragea, M.

    2005-01-01

    On time to alteration the waste by natural weather in isolated area of waste dumps we can notice chemical, biochemical and geochemical modification. Disposability and flow of water are two of the most important parameter which affect the waste chemistry and migration of contamination from wastes. The water behaves like a mechanism of transport for cationic and anionic components and influenced solubility and salt migration from dump. The salt migration towards residue surfaces is affected by short distance between water and surface. The salts are redissolving and moving through the capillary towards the surface when precipitate. The reactions inside of waste are influenced by geochemical point of view mainly by the amount of sulfated salts and chloride, by the disposability of water, pH and by the chemical mineral heterogeneous of waste. Obviously, if the process of alteration by atmospherically agents and those effects about waste can be minimized we could minimize even chemical modification in order to form the salts. This paper examines the mechanism by which 226 Ra and U nat can enter in groundwater and those, which control its concentration. (author)

  14. Waste to real energy: the first MFC powered mobile phone.

    Science.gov (United States)

    Ieropoulos, Ioannis A; Ledezma, Pablo; Stinchcombe, Andrew; Papaharalabos, George; Melhuish, Chris; Greenman, John

    2013-10-07

    This communication reports for the first time the charging of a commercially available mobile phone, using Microbial Fuel Cells (MFCs) fed with real neat urine. The membrane-less MFCs were made out of ceramic material and employed plain carbon based electrodes.

  15. Mobile Technology Applications for Manufacturing, Reduction of Muda (Waste and the Effect on Manufacturing Economy and Efficiency

    Directory of Open Access Journals (Sweden)

    Angela M Huenerfauth

    2014-10-01

    Full Text Available Mobile devices in the manufacturing setting offer mobility and information whenever and wherever it is needed; these advantages allow for a more efficient workflow and allow the user to make more informed decisions. Due to these advantages, companies are reducing muda (waste by using mobile devices (implementing Lean Manufacturing and therefore saving money. Some of the mobile applications discussed in this paper are the following: Augmented Reality for assembly training, pruefcubing, remotely-monitored shop floors, statistical process control (SPC, and change requests for construction, and the two types of muda (waste reduced by these mobile applications are “unnecessary / excess motion and defects.”

  16. Mobile hot cell transition design phase study for radioactive waste treatment on the Hanford reservation site

    International Nuclear Information System (INIS)

    Pons, Y.

    2010-01-01

    Full text of publication follows: At the US Department of Energy's Hanford Reservation site, 4 caissons in under ground storage contain approximately 23 cubic meters of Transuranic (TRU) waste, in over 5,000 small packages. The retrieval of these wastes presents a number of very difficult issues, including the configuration of the vaults, approximately 50,000 curies of activity, high dose rates, and damaged/degraded waste packages. The waste will require remote retrieval and processing sufficient to produce certifiable RH-TRU waste packages. This RH-TRU will be packaged for staging on site until certification by CCP is completed to authorize shipment to the Waste Isolation Pilot Plant (WIPP). The project has introduced AREVA' s innovative Hot Mobile Cell (HMC) technology to perform size reduction, sorting, characterization, and packaging of the RH waste stream at the point of generation, the retrieval site in the field. This approach minimizes dose and hazard exposure to workers that is usually associated with this operation. The HMC can also be used to provide employee protection, weather protection, and capacity improvements similar to those realized in general burial ground. AREVA TA and his partner AFS will provide this technology based on the existing HMCs developed and operated in France: - ERFB (Bituminized Waste Drum Retrieval Facility): ERFB was built specifically for retrieving the bituminized waste drums (approximately 6,000 stored in trenches in the North zone on the Marcoule site (in operation since 2001). - ERCF (Waste Drum Recovery and Packaging Facility): The ERCF was built specifically to retrieve bituminized waste drums stored in 35 pits located in the south area on Marcoule site (in operation) - FOSSEA (Legacy Waste Removal and Trench Cleanup): The FOSSEA project consists of the retrieval of waste stored on the Basic Nuclear Facility. Waste from the 56 trenches will be inspected, characterised, and if necessary processed or repackaged, and

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

    Science.gov (United States)

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

    2017-12-01

    Throughout the 2016-2017 academic year, a new partnership between Olin College of Engineering and Aerodyne Research, Inc. developed an affordable, self-contained air quality monitoring instrument called Modulair. The Modulair instrument is based on the same operating principles as Aerodyne's newly-developed ARISense integrated sensor system, employing electrochemical sensors for gas-phase measurements of CO, NO, NO2, and O3 and an off-the-shelf optical particle counter for particle concentration, number, and size distribution information (0.4 backend with a mobile, cloud-based data management system for real-time data posting and analysis. Open source tools and software were utilized in the development of the instrument. All initial work was completed by a team of undergraduate students as part of the Senior Capstone Program in Engineering (SCOPE) at Olin College. Deployment strategies for Modulair include distributed, mobile measurements and drone-based aerial sampling. Design goals for the drone integration include maximizing airborne sampling time and laying the foundation for software integration with the drone's autopilot system to allow for autonomous plume sampling across concentration gradients. Modulair and its flexible deployments enable real-time mapping of air quality data at exposure-relevant spatial scales, as well as regular, autonomous characterization of sources and dispersion of atmospheric pollutants. We will present an overview of the Modulair instrument and results from benchtop and field validation, including mobile and drone-based plume sampling in the Boston area.

  18. Arsenic mobility in brownfield soils amended with green waste compost or biochar and planted with Miscanthus

    International Nuclear Information System (INIS)

    Hartley, William; Dickinson, Nicholas M.; Riby, Philip; Lepp, Nicholas W.

    2009-01-01

    Degraded land that is historically contaminated from different sources of industrial waste provides an opportunity for conversion to bioenergy fuel production and also to increase sequestration of carbon in soil through organic amendments. In pot experiments, As mobility was investigated in three different brownfield soils amended with green waste compost (GWC, 30% v/v) or biochar (BC, 20% v/v), planted with Miscanthus. Using GWC improved crop yield but had little effect on foliar As uptake, although the proportion of As transferred from roots to foliage differed considerably between the three soils. It also increased dissolved carbon concentrations in soil pore water that influenced Fe and As mobility. Effects of BC were less pronounced, but the impacts of both amendments on SOC, Fe, P and pH are likely to be critical in the context of As leaching to ground water. Growing Miscanthus had no measurable effect on As mobility. - Green waste compost enhances water-soluble iron, phosphorus and carbon, increasing arsenic mobility in soil pore water.

  19. Arsenic stability and mobilization in soil at an amenity grassland overlying chemical waste (St. Helens, UK)

    Energy Technology Data Exchange (ETDEWEB)

    Hartley, William [School of Biological and Earth Sciences, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF (United Kingdom)], E-mail: w.hartley@ljmu.ac.uk; Dickinson, Nicholas M. [School of Biological and Earth Sciences, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF (United Kingdom); Clemente, Rafael [Department of Soil and Water Conservation and Organic Waste Management, Centro de Edafologia y Biologia Aplicada del Segura, CSIC, Apartado 4195, 30080 Murcia (Spain); French, Christopher [School of Biological and Earth Sciences, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF (United Kingdom); Piearce, Trevor G. [Biological Sciences Division, Lancaster Environment Centre, Lancaster University, Lancaster LA1 4YQ (United Kingdom); Sparke, Shaun; Lepp, Nicholas W. [School of Biological and Earth Sciences, Liverpool John Moores University, Byrom Street, Liverpool L3 3AF (United Kingdom)

    2009-03-15

    A 6.6 ha grassland, established on a former chemical waste site adjacent to a residential area, contains arsenic (As) in surface soil at concentrations 200 times higher than UK Soil Guideline Values. The site is not recognized as statutory contaminated land, partly on the assumption that mobility of the metalloid presents a negligible threat to human health, groundwater and ecological receptors. Evidence for this is evaluated, based on studies of the effect of organic (green waste compost) and inorganic (iron oxides, lime and phosphate) amendments on As fractionation, mobility, plant uptake and earthworm communities. Arsenic mobility in soil was low but significantly related to dissolved organic matter and phosphate, with immobilization associated with iron oxides. Plant uptake was low and there was little apparent impact on earthworms. The existing vegetation cover reduces re-entrainment of dust-blown particulates and pathways of As exposure via this route. Minimizing risks to receptors requires avoidance of soil exposure, and no compost or phosphate application. - Stabilization of alkali industry waste requires careful management to minimise soil arsenic mobilization and dispersal to the wider environment.

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

    Science.gov (United States)

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

    2015-11-01

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

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

    Science.gov (United States)

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

    2001-01-01

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

  2. Mobile intelligent autonomous systems

    National Research Council Canada - National Science Library

    Raol, J. R; Gopal, Ajith K

    2013-01-01

    ..., and includes examples and applications throughout. The organization of the book is based on fundamental concepts, with sections covering fundamental concepts, methods and approaches, block/flow diagrams, and numerical examples...

  3. Mobile intelligent autonomous systems

    National Research Council Canada - National Science Library

    Raol, J. R; Gopal, Ajith K

    2013-01-01

    "Written for systems, mechanical, aero, electrical, civil, industrial, and robotics engineers, this book covers robotics from a theoretical and systems point of view, with an emphasis on the sensor...

  4. Mobile intelligent autonomous systems

    National Research Council Canada - National Science Library

    Raol, J. R; Gopal, Ajith K

    2013-01-01

    ... modeling and data analysis aspects. With the novel infusion of NN-FL-GA paradigms for MIAS, this reference blends modeling, sensors, control, estimation, optimization, signal processing, and heuristic methods in MIAS/robotics...

  5. Abandoned Pb−Zn mining wastes and their mobility as proxy to toxicity: A review

    Energy Technology Data Exchange (ETDEWEB)

    Gutiérrez, Mélida, E-mail: mgutierrez@missouristate.edu [Department of Geography, Geology and Planning, Missouri State University, Springfield, MO 65897 (United States); Mickus, Kevin, E-mail: kevinmickus@missouristate.edu [Department of Geography, Geology and Planning, Missouri State University, Springfield, MO 65897 (United States); Camacho, Lucy Mar, E-mail: lucy.camacho@tamuk.edu [Department of Environmental Engineering, Texas & M University-Kingsville, Kingsville, TX 78363 (United States)

    2016-09-15

    Lead and zinc (Pb−Zn) mines are a common occurrence worldwide; and while approximately 240 mines are active, the vast majority have been abandoned for decades. Abandoned mining wastes represent a serious environmental hazard, as Pb, Zn and associated metals are continuously released into the environment, threatening the health of humans and affecting ecosystems. Iron sulfide minerals, when present, can form acid mine drainage and increase the toxicity by mobilizing the metals into more bioavailable forms. Remediation of the metal waste is costly and, in the case of abandoned wastes, the responsible party(ies) for the cleanup can be difficult to determine, which makes remediation a complex and lengthy process. In this review, we provide a common ground from a wide variety of investigations about concentrations, chemical associations, and potential mobility of Pb, Zn and cadmium (Cd) near abandoned Pb−Zn mines. Comparing mobility results is a challenging task, as instead of one standard methodology, there are 4–5 different methods reported. Results show that, as a general consensus, the metal content of soils and sediments vary roughly around 1000 mg/kg for Zn, 100 for Pb and 10 for Cd, and mobilities of Cd > Zn > Pb. Also, mobility is a function of pH, particle size, and formation of secondary minerals. New and novel remediation techniques continue to be developed in laboratories but have seldom been applied to the field. Remediation at most of the sites has consisted of neutralization (e.g. lime,) for acid mine discharge, and leveling followed by phytostabilization. In the latter, amendments (e.g. biochar, fertilizers) are added to boost the efficiency of the treatment. Any remediation method has to be tested before being implemented as the best treatment is site-specific. Potential treatments are described and compared. - Highlights: • Abandoned Pb−Zn mine wastes represent a hazard to the environment. • Cd is a toxic metal closely associated to Zn and

  6. Abandoned Pb−Zn mining wastes and their mobility as proxy to toxicity: A review

    International Nuclear Information System (INIS)

    Gutiérrez, Mélida; Mickus, Kevin; Camacho, Lucy Mar

    2016-01-01

    Lead and zinc (Pb−Zn) mines are a common occurrence worldwide; and while approximately 240 mines are active, the vast majority have been abandoned for decades. Abandoned mining wastes represent a serious environmental hazard, as Pb, Zn and associated metals are continuously released into the environment, threatening the health of humans and affecting ecosystems. Iron sulfide minerals, when present, can form acid mine drainage and increase the toxicity by mobilizing the metals into more bioavailable forms. Remediation of the metal waste is costly and, in the case of abandoned wastes, the responsible party(ies) for the cleanup can be difficult to determine, which makes remediation a complex and lengthy process. In this review, we provide a common ground from a wide variety of investigations about concentrations, chemical associations, and potential mobility of Pb, Zn and cadmium (Cd) near abandoned Pb−Zn mines. Comparing mobility results is a challenging task, as instead of one standard methodology, there are 4–5 different methods reported. Results show that, as a general consensus, the metal content of soils and sediments vary roughly around 1000 mg/kg for Zn, 100 for Pb and 10 for Cd, and mobilities of Cd > Zn > Pb. Also, mobility is a function of pH, particle size, and formation of secondary minerals. New and novel remediation techniques continue to be developed in laboratories but have seldom been applied to the field. Remediation at most of the sites has consisted of neutralization (e.g. lime,) for acid mine discharge, and leveling followed by phytostabilization. In the latter, amendments (e.g. biochar, fertilizers) are added to boost the efficiency of the treatment. Any remediation method has to be tested before being implemented as the best treatment is site-specific. Potential treatments are described and compared. - Highlights: • Abandoned Pb−Zn mine wastes represent a hazard to the environment. • Cd is a toxic metal closely associated to Zn and

  7. Mobile/Modular Deployment Project-Enhancing Efficiencies within the National Transuranic Waste Program

    International Nuclear Information System (INIS)

    Triay, I.R.; Basabilvazo, G.B.; Countiss, S.; Moody, D.C.; Behrens, R.G.; Lott, S.A.

    2002-01-01

    In 1999, the National Transuranic (TRU) Waste Program (NTP) achieved two significant milestones. First, the Waste Isolation Plant (WIPP) opened in March for the permanent disposal of TRU waste generated by, and temporarily stored at, various sites supporting the nation's defense programs. Second, the Hazardous Waste Facility Permit, issued by the New Mexico Environment Department, for WIPP became effective in November. While the opening of WIPP brought to closure a number of scientific, engineering, regulatory, and political challenges, achieving this major milestone led to a new set of challenges-how to achieve the Department of Energy's (DOE's) NTP end-state vision: All TRU waste from DOE sites scheduled for closure is removed All legacy TRU waste from DOE sites with an ongoing nuclear mission is disposed 0 All newly generated TRU waste is disposed as it is generated The goal is to operate the national TRU waste program safely, cost effectively, in compliance with applicable regulations and agreements, and at full capacity in a fully integrated mode. The existing schedule for TRU waste disposition would achieve the NTP vision in 2034 at an estimated life-cycle cost of $16B. The DOE's Carlsbad Field Office (CBFO) seeks to achieve this vision early-by at least 10 years- while saving the nation an estimated $48 to $6B. CBFO's approach is to optimize, or to make as functional as possible, TRU waste disposition. That is, to remove barriers that impede waste disposition, and increase the rate and cost efficiency of waste disposal at WIPP, while maintaining safety. The Mobile/Modular Deployment Project (MMDP) is the principal vehicle for implementing DOE's new commercial model of using best business practices of national authorization basis, standardization, and economies of scale to accelerate the completion of WIPP's mission. The MMDP is one of the cornerstones of the National TRU Waste System Optimization Project (1). The objective of the MMDP is to increase TRU

  8. Operating experience of a mobile waste shredding system

    International Nuclear Information System (INIS)

    McGrath, R.N.; Volodzko, M.; Naughton, M.D.

    1985-01-01

    The disposal of low-level radioactive waste (LLW) in the United States has become a significant problem challenging the commercial nuclear power industry. Over the past several years, there have been major changes in various aspects of LLW generation, shipment and disposal. These changes have been characterized by legislative uncertainty, more stringent regulations and increasing restrictions on shipments imposed by disposal sites and regulatory requirements. These effects have strongly impacted the current nationwide disposal system for LLW, and the industry is faced with higher shipping and disposal costs, on-site storage and soon, in some cases, no availability LLW disposal sites. The industry is responding to this problem by scrutinizing and improving the way in which LLW is managed on-site. Conventional and advanced volume reduction (VR) radwaste treatment systems are receiving more attention with both short- and long-term solutions being considered

  9. Development and status of the AL Mixed Waste Treatment Plan or I love that mobile unit of mine

    International Nuclear Information System (INIS)

    Bounini, L.; Williams, M.; Zygmunt, S.

    1995-01-01

    Nine Department of Energy (DOE) sites reporting to the Albuquerque Office (AL) have mixed waste that is chemically hazardous and radioactive. The hazardous waste regulations require the chemical portion of mixed waste to be to be treated to certain standards. The total volume of low-level mixed waste at the nine sites is equivalent to 7,000 drums, with individual site volumes ranging from 1 gallon of waste at the Pinellas Plant to 4,500 drums at Los Alamos National Laboratory. Nearly all the sites have a diversity of wastes requiring a diversity of treatment processes. Treatment capacity does not exist for much of this waste, and it would be expensive for each site to build the diversity of treatment processes needed to treat its own wastes. DOE-AL assembled a team that developed the AL Mixed Waste Treatment Plan that uses the resources of the nine sites to treat the waste at the sites. Work on the plan started in October 1993, and the plan was finalized in March 1994. The plan uses commercial treatment, treatability studies, and mobile treatment units. The plan specifies treatment technologies that will be built as mobile treatment units to be moved from site to site. Mobile units include bench-top units for very small volumes and treatability studies, drum-size units that treat one drum per day, and skid-size units that handle multiple drum volumes. After the tools needed to treat the wastes were determined, the sites were assigned to provide part of the treatment capacity using their own resources and expertise. The sites are making progress on treatability studies, commercial treatment, and mobile treatment design and fabrication. To date, this is the only plan for treating waste that brings the resources of several DOE sites together to treat mixed waste. It is the only program actively planning to use mobile treatment coordinated between DOE sites

  10. Mobile plant for encapsulating of solid high-level radioactive waste in metal matrix

    International Nuclear Information System (INIS)

    Sobolev, I.A.; Arustamov, A.Eh.; Shiryaev, V.V.; Ozhovan, M.I.; Semenov, K.N.; Kachalov, M.B.

    1993-01-01

    Technology for disposal of spent radionuclide sources of ionizing radiation into the standard well-type storage facilities is considered. Universal mobile facility, providing for incorporation of high-level solid wastes into metallic matrices, is proposed. The facility consists of separate moduli, assembled on a transport platform. Electrical meter, wherein the matrix metal (lead and its alloys) is melted and heated up to 600-800 C constitutes the basic modulus in the facility. 4 refs., 4 figs

  11. Mobility and attenuation of arsenic in sulfide-rich mining wastes from the Czech Republic

    Energy Technology Data Exchange (ETDEWEB)

    Drahota, Petr, E-mail: petr.drahota@natur.cuni.cz [Institute of Geochemistry, Mineralogy and Mineral Resources, Faculty of Science, Charles University, Albertov 6, 128 43 Prague 2 (Czech Republic); Knappová, Magdaléna; Kindlová, Helena; Culka, Adam [Institute of Geochemistry, Mineralogy and Mineral Resources, Faculty of Science, Charles University, Albertov 6, 128 43 Prague 2 (Czech Republic); Majzlan, Juraj [Institute of Geosciences, Friedrich-Schiller University, Burgweg 11, D-07749 Jena (Germany); Mihaljevič, Martin [Institute of Geochemistry, Mineralogy and Mineral Resources, Faculty of Science, Charles University, Albertov 6, 128 43 Prague 2 (Czech Republic); Rohovec, Jan [Institute of Geology, The Czech Academy of Sciences, v.v.i., Rozvojová 269, 165 00 Prague 6 (Czech Republic); Veselovský, František [Czech Geological Survey, Geologická 6, 152 00 Prague 5 (Czech Republic); Fridrichová, Michaela [Institute of Geology, The Czech Academy of Sciences, v.v.i., Rozvojová 269, 165 00 Prague 6 (Czech Republic); Jehlička, Jan [Institute of Geochemistry, Mineralogy and Mineral Resources, Faculty of Science, Charles University, Albertov 6, 128 43 Prague 2 (Czech Republic)

    2016-07-01

    The mineralogical composition of mining wastes deposited in countless dumps around the world is the key factor that controls retention and release of pollutants. Here we report a multi-method data set combining mineralogical (X-ray diffraction, electron microprobe and Raman microspectrometry) and geochemical (sequential extraction and pore water analysis) methods to resolve As mobility in two 50-years-old mining waste dumps. Originally, all of the As in the mining wastes selected for the study was present as arsenopyrite and with time it has been replaced by secondary As phases. At Jedová jáma mining area, the most of As precipitated as X-ray amorphous ferric arsenate (HFA). Arsenic is also accumulated in the scorodite and Fe (hydr)oxide (with up to 3.2 wt.% As{sub 2}O{sub 5}) that is particularly represented by hematite. Mining wastes at Dlouhá Ves contain only trace amount of scorodite. Arsenic is primarily bound to Pb-jarosite and Fe (hydr)oxides (especially goethite) with up to 1.6 and 1.8 wt.% As{sub 2}O{sub 5}, respectively. The pore water collected after rainfall events indicated high concentrations of As (~ 4600 μg·L{sup −1}) at Jedová jáma, whereas aqueous As at Dlouhá Ves was negligible (up to 1.5 μg·L{sup −1}). Highly mobile As at Jedová jáma is attributed to the dissolution of HFA and simultaneous precipitation of Fe (hydr)oxides under mildly acidic conditions (pH ~ 4.4); immobile As at Dlouhá Ves is due to the efficient adsorption on the Fe (hydr)oxides and hydroxosulfates under acidic pH of ~ 2.8. Taken together, As mobility in the ferric arsenates-containing mining wastes may significantly vary. These wastes must be kept under acidic conditions or with high aqueous Fe(III) concentrations to prevent the release of As from incongruent dissolution of ferric arsenates. - Highlights: • Two 50 years-old sulfide-rich mining waste dumps were studied. • Environmental stability of secondary arsenic mineral phases were assessed.

  12. Mobility and attenuation of arsenic in sulfide-rich mining wastes from the Czech Republic

    International Nuclear Information System (INIS)

    Drahota, Petr; Knappová, Magdaléna; Kindlová, Helena; Culka, Adam; Majzlan, Juraj; Mihaljevič, Martin; Rohovec, Jan; Veselovský, František; Fridrichová, Michaela; Jehlička, Jan

    2016-01-01

    The mineralogical composition of mining wastes deposited in countless dumps around the world is the key factor that controls retention and release of pollutants. Here we report a multi-method data set combining mineralogical (X-ray diffraction, electron microprobe and Raman microspectrometry) and geochemical (sequential extraction and pore water analysis) methods to resolve As mobility in two 50-years-old mining waste dumps. Originally, all of the As in the mining wastes selected for the study was present as arsenopyrite and with time it has been replaced by secondary As phases. At Jedová jáma mining area, the most of As precipitated as X-ray amorphous ferric arsenate (HFA). Arsenic is also accumulated in the scorodite and Fe (hydr)oxide (with up to 3.2 wt.% As_2O_5) that is particularly represented by hematite. Mining wastes at Dlouhá Ves contain only trace amount of scorodite. Arsenic is primarily bound to Pb-jarosite and Fe (hydr)oxides (especially goethite) with up to 1.6 and 1.8 wt.% As_2O_5, respectively. The pore water collected after rainfall events indicated high concentrations of As (~ 4600 μg·L"−"1) at Jedová jáma, whereas aqueous As at Dlouhá Ves was negligible (up to 1.5 μg·L"−"1). Highly mobile As at Jedová jáma is attributed to the dissolution of HFA and simultaneous precipitation of Fe (hydr)oxides under mildly acidic conditions (pH ~ 4.4); immobile As at Dlouhá Ves is due to the efficient adsorption on the Fe (hydr)oxides and hydroxosulfates under acidic pH of ~ 2.8. Taken together, As mobility in the ferric arsenates-containing mining wastes may significantly vary. These wastes must be kept under acidic conditions or with high aqueous Fe(III) concentrations to prevent the release of As from incongruent dissolution of ferric arsenates. - Highlights: • Two 50 years-old sulfide-rich mining waste dumps were studied. • Environmental stability of secondary arsenic mineral phases were assessed. • Different modes of As binding are

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

    Science.gov (United States)

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

    2017-12-01

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

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

    Science.gov (United States)

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

    2018-01-15

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

  15. Guideline on action plans and strategies to mobilize waste-to-energy production

    Energy Technology Data Exchange (ETDEWEB)

    Loonik, J.; Saarepera, R.; Kaeger, M. [and others

    2012-12-15

    This report presents some results of the REMOWE project and sets guidelines for regional policy makers, SME's and the general public as well for more deep realization of waste-to-energy policy principles in action. The overall objective of the project is, on regional levels, to contribute to a decreased negative effect on the environment by reduction of carbon dioxide emission by creating a balance between energy consumption and sustainable use of renewable energy sources (waste-to-energy cycle). Reduction of carbon dioxide emissions and use of renewable energy sources are broad areas and this project will focus on energy resources from waste and actions to facilitate implementation of energy efficient technology in the Baltic Sea region within the waste-to-energy area. The focus is to utilise waste from cities, farming and industry for energy purposes in an efficient way. The project seeks to facilitate the implementation of sustainable systems for waste-to-energy in the Baltic Sea region and specifically, in a first step, in the project partner regions. The project's duration is 12/2009-12/2012. This report is structured into 8 chapters, which are further divided into subchapters if needed. Relevant data about current situation about waste generation and management in partner regions of REMOWE project are described in Chapter 1. There are guidelines on action plan and strategies for regional policy makers, SME's and the general public to mobilize waste to energy production in Chapter 2. Beside guidelines, this report contains references to basic political acts of waste and energy management of EU and best practices of implementation them in regional level (Chapter 3). The focus of Chapters 4 and 5 is on energetic potential of waste and technologies for utilisation of waste for energy purposes. During the project period in each of partner region innovation processes were realised and innovation ides evaluated, basic results are collected into

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

    Energy Technology Data Exchange (ETDEWEB)

    PACQUET, E.A.

    2000-07-20

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

  17. A new semi-mobile plant for radiation processing of waste

    International Nuclear Information System (INIS)

    Tata, A.

    1998-04-01

    A new pilot/demonstrative semi-mobile irradiation plant, named TRIRIS (TRIsaia-RIfiuti-Sterilizzazione, namely 'Trisaia Res. Center - Wastes- Sterilization') has been designed and erected. The plant goal is recognized in proposing and exploring new technological opportunities, based on an 'in-situ' effective processing of solid or liquid waste, mainly with reference to emergency situations (e.g. need of a quick environmental restoring operation following an accidental groundwater pollution). The project, which was jointly carried out by ENEA and Hitesys Co. and Italian electrons accelerators manufacturer, foresees a LINAC type EB-machine (s band) having 4-6 M e V and till 1000 W as beam features. Scattered radiation shielding is performed by a water pool surrounding the EB-machine head, filled up before operations. The plant, that is to be located at ENEA-Trisaia Res. Center (Basilicata southern of Italy), allows a large operative flexibility: groundwater and wastewater decontamination (1800 to 70 kg/h in the 1 to 25 kGy does range), organic and chlorinated waste streams (25 kg/h at 75 kGy), solid hospital wastes (50 kg/h at 35 kGy) or hazardous wastes like polycyclic aromatic compounds (180 to 35 kg/h in the 10 to 50 kGy dose range) [it

  18. Sustainability of Self-Driving Mobility: An Analysis of Carbon Emissions Between Autonomous Vehicles and Conventional Modes of Transportation

    OpenAIRE

    Mccarthy, John Francis

    2017-01-01

    The primary contribution of this paper is to identify the potential variables through which vehicle automation may affect carbon emissions in the transportation sector, and compare modal shifts between conventional vehicles, public transportation, and pilot autonomous vehicles (AVs). AV programs that are rapidly emerging in cities, states, and nations across the globe mark the early stages of the next transportation revolution akin to the steam engine and assembly line. By safely allowing hum...

  19. ARIES: A mobile robot inspector

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports

  20. Autonomic Neuropathy

    Science.gov (United States)

    ... risk of autonomic neuropathy. Other diseases. Amyloidosis, porphyria, hypothyroidism and cancer (usually due to side effects from treatment) may also increase the risk of autonomic neuropathy. ...

  1. Reverse technological waste logistics: a study of the behavior of mobile devices consumers

    Directory of Open Access Journals (Sweden)

    Liliane de Souza Vieira da Silva

    2016-09-01

    Full Text Available The electronics industry is one of the fastest growing in the world. It is estimated that 41 million tons of electronic waste, such as computers and mobile phones, is produced worldwide each year. The indiscriminate disposal of these materials has caused a lot of damage to the environment, and indirectly to human health. RL stands out as a new field of study that seeks to reintroduce these products to the economic chain or lead them to the proper disposal. This study aimed to investigate the knowledge of the administrative staff of a public educational institution in relation to the RL of mobile devices, with a sample of 142 respondents. This research is characterized as a quantitative, descriptive, cross-sectional survey. The key results showed that 60% of the population surveyed acknowledge that the improper disposal of mobile devices creates environmental problems, however, only 35% acknowledge that their improper disposal also creates problems for human health. Most consumers still keep their old devices at home. The survey found that 44% of respondents do not know where to dispose of their mobile devices, highlighting the need to educate consumers about the risks, and to provide consumers with collection points for these devices.

  2. A new semi-mobile plant for radiation processing of waste

    International Nuclear Information System (INIS)

    Iacoboni, V.; Liccione, G.; Schwarz, M.; Tata, A.; Fantini, M.

    1998-01-01

    A new pilot/demonstrative semi-mobile irradiation plant, named TRIRIS (TRIsaia-RIfiuti-Sterilizzazione, namely ''Trisaia Res. Center - Wastes - Sterilization''), has been designed and erected in order to propose and explore new technological opportunities, based on in ''in-situ'' effective cleaning process. The main general goal is to face increased problems and concerns related to the treatment/disposal of different solid-liquid wastes, particularly with reference to emergency situation (e.g. need of quick environment restoring operation following an accident with groundwater pollution). The project, which was jointly carried out by ENEA and Hitesys Co., an Italian electron accelerators manufacturer, foresees a LINAC type EB-machine (s band) having 4-6 MeV and till 1000 W as beam features. A highly flexible automatic system allows materials (solid or liquid wastes) transporting and handling to be equipped with a belt conveyor and a piping net. Scattered radiation shielding is performed by a water pool surrounding the EB-machine head, filled up before operations. Auxiliary systems, control console and analytical chemical laboratories are hosted in suitable containers near the plant and are easily transportable. The whole plant and annexed systems disassembling and reassembling in a new site can be easily carried out in a short time (few days). The plant, located at ENEA-Trisaia Res. Center (Basilicata, southern Italy), allows a large operative flexibility: groundwater and wastewater decontamination (1800 to 70 kg/h in the 1 to 25 kGy dose range), organic and chlorinated waste streams (25 kg/h at 75 kGy), solid hospital wastes (50 kg/h at 35 kGy) or hazardous wastes like polycyclic aromatic compounds (180 to 35 kg/h in the 10 to 50 kGy dose range). The paper describes and illustrates the plant in details and presents the first available operating results so far performed by the installed plant

  3. High-level waste tank modifications, installation of mobilization equipment/check out

    International Nuclear Information System (INIS)

    Schiffhauer, M.A.; Thompson, S.C.

    1992-01-01

    PUREX high-level waste (HLW) is contained at the West Valley Demonstration Project (WVDP) in an underground carbon-steel storage tank. The HLW consists of a precipitated sludge and an alkaline supernate. This report describes the system that the WVDP has developed and implemented to resuspend and wash the HLW sludge from the tank. The report discusses Sludge Mobilization and Wash System (SMWS) equipment design, installation, and testing. The storage tank required modifications to accommodate the SMWS. These modifications are discussed as well

  4. Development of TRU waste mobile analysis methods for RCRA-regulated metals

    International Nuclear Information System (INIS)

    Mahan, C.A.; Villarreal, R.; Drake, L.; Figg, D.; Wayne, D.; Goldstein, S.

    1998-01-01

    This is the final report of a one-year, Laboratory Directed Research and Development (LDRD) project at Los Alamos National Laboratory (LANL). Glow-discharge mass spectrometry (GD-MS), laser-induced breakdown spectroscopy (LIBS), dc-arc atomic-emission spectroscopy (DC-ARC-AES), laser-ablation inductively-coupled-plasma mass spectrometry (LA-ICP-MS), and energy-dispersive x-ray fluorescence (EDXRF) were identified as potential solid-sample analytical techniques for mobile characterization of TRU waste. Each technology developers was provided with surrogate TRU waste samples in order to develop an analytical method. Following successful development of the analytical method, five performance evaluation samples were distributed to each of the researchers in a blind round-robin format. Results of the round robin were compared to known values and Transuranic Waste Characterization Program (TWCP) data quality objectives. Only two techniques, DC-ARC-AES and EDXRF, were able to complete the entire project. Methods development for GD-MS and LA-ICP-MS was halted due to the stand-down at the CMR facility. Results of the round-robin analysis are given for the EDXRF and DCARC-AES techniques. While DC-ARC-AES met several of the data quality objectives, the performance of the EDXRF technique by far surpassed the DC-ARC-AES technique. EDXRF is a simple, rugged, field portable instrument that appears to hold great promise for mobile characterization of TRU waste. The performance of this technique needs to be tested on real TRU samples in order to assess interferences from actinide constituents. In addition, mercury and beryllium analysis will require another analytical technique because the EDXRF method failed to meet the TWCP data quality objectives. Mercury analysis is easily accomplished on solid samples by cold vapor atomic fluorescence (CVAFS). Beryllium can be analyzed by any of a variety of emission techniques

  5. Waste degradation and mobilization in performance assessments for the Yucca Mountain disposal system for spent nuclear fuel and high-level radioactive waste

    International Nuclear Information System (INIS)

    Rechard, Rob P.; Stockman, Christine T.

    2014-01-01

    This paper summarizes modeling of waste degradation and mobilization in performance assessments (PAs) conducted between 1984 and 2008 to evaluate feasibility, viability, and assess compliance of a repository for spent nuclear fuel and high-level radioactive waste at Yucca Mountain in southern Nevada. As understanding of the Yucca Mountain disposal system increased, the waste degradation module, or succinctly called the source-term, evolved from initial assumptions in 1984 to results based on process modeling in 2008. In early PAs, waste degradation had significant influence on calculated behavior but as the robustness of the waste container was increased and modeling of the container degradation improved, waste degradation had much less influence in later PAs. The variation of dissolved concentrations of radionuclides progressed from simple probability distributions in early PAs to functions dependent upon water chemistry in later PAs. Also, transport modeling of radionuclides in the waste, container, and invert were added in 1995; and, colloid-facilitated transport of radionuclides was added in 1998. - Highlights: • Progression of modeling of waste degradation in performance assessments is discussed for the proposed repository at Yucca Mountain. • Progression of evaluating dissolved concentrations of radionuclides in the source-term is discussed. • Radionuclide transport modeling in the waste, container, and invert in 1995 and thereafter is discussed. • Colloid-facilitated transport in the waste, container, and invert in 1998 and thereafter is discussed

  6. Flow behavior and mobility of contaminated waste rock materials in the abandoned Imgi mine in Korea

    Science.gov (United States)

    Jeong, S. W.; Wu, Y.-H.; Cho, Y. C.; Ji, S. W.

    2018-01-01

    Incomplete mine reclamation can cause ecological and environmental impacts. This paper focuses on the geotechnical and rheological characteristics of waste rock materials, which are mainly composed of sand-size particles, potentially resulting in mass movement (e.g., slide or flow) and extensive acid mine drainage. To examine the potential for contaminant mobilization resulting from physicochemical processes in abandoned mines, a series of scenario-based debris flow simulations was conducted using Debris-2D to identify different hazard scenarios and volumes. The flow behavior of waste rock materials was examined using a ball-measuring rheometric apparatus, which can be adapted for large particle samples, such as debris flow. Bingham yield stresses determined in controlled shear rate mode were used as an input parameter in the debris flow modeling. The yield stresses ranged from 100 to 1000 Pa for shear rates ranging from 10- 5 to 102 s- 1. The results demonstrated that the lowest yield stress could result in high mobility of debris flow (e.g., runout distance > 700 m from the source area for 60 s); consequently, the material contaminants may easily reach the confluence of the Suyoung River through a mountain stream. When a fast slide or debris flow occurs at or near an abandoned mine area, it may result in extremely dynamic and destructive geomorphological changes. Even for the highest yield stress of debris flow simulation (i.e., τy = 2000 Pa), the released debris could flow into the mountain stream; therefore, people living near abandoned mines may become exposed to water pollution throughout the day. To maintain safety at and near abandoned mines, the physicochemical properties of waste materials should be monitored, and proper mitigation measures post-mining should be considered in terms of both their physical damage and chemical pollution potential.

  7. Mobile calcination and cementation unit for solidification of concentrated radioactive wastes

    International Nuclear Information System (INIS)

    Napravnik, J.; Sazavsky, P.; Skaba, V.; Skvarenina, R.; Ditl, P.

    1985-01-01

    Mobile experimental unit MESA-1 was developed and manufactured for processing radioactive concentrates by direct cementation. The unit is mainly designed for processing low-level liquid wastes from nuclear power plants and other nuclear installations, in which the level of radioactivity does not exceed 10 10 Bq/m 3 , the salt content of liquid solutions does not exceed 500 kg/m 3 and the maximum amount of boric acid is 130 kg/m 3 . The equipment is built into three modules which may be assembled and dismantled in a short time and transported separately. The unit without the calciner module was tested in non-radioactive mode and in operation with actual radioactive wastes from the V-1 nuclear power plant. The course and results of the tests are described in detail. All project design values were achieved, a total of 18 dm 3 model solutions were processed and 1 m 3 of actual wastes with a salt content of 450 kg/m 3 . The test showed that with regard to the radiation level reached it will be necessary in the process of calcination to increase the shielding of certain exposed points. The calciner module is being assembled for completion. (Z.M.)

  8. Applying Technology Management concepts in analyzing e Waste, sustainability and technology development in Mobile Industry: A conceptual perspective

    OpenAIRE

    Lasrado, Lester Allan; Agnihothri, Subodh; Lugmayr, Artur

    2013-01-01

    In the highly globalized, competitive and technocrat world, mobile industry is heavily focused on making itself sustainable. In order to achieve this focus should be on improving the e waste management in the industry. Currently the industry is advanced beyond market demand in delivery services to customers in terms of ICT and smart phones. This research paper is trying to conceptualize the aspect of technology management by comparing technology advancement of mobile phone technology and the ...

  9. Pengembangan OSD (On Screen Display dengan Penambahan Menu untuk Aplikasi pada Semi Autonomous Mobile Robot dengan Lengan untuk Mengambil Objek

    Directory of Open Access Journals (Sweden)

    Muhammad Saiful Hak

    2017-01-01

    Full Text Available Tugas Akhir ini membahas pengembangan OSD (On Screen Display dengan sistem FPV (First Person View yang bertujuan untuk mendukung kinerja sebuah RC (Remote Control atau mobile robot dengan cara mengambil data pada RC atau mobile robot tersebut. Penggunaan sensor pad a modul OSD ini terbatas, sehingga dilakukan sebuah pengembangan dengan penambahan pengkabelan dan pemrograman menggunakan kompiler Arduino. Dalam sistem ini, OSD yang dipakai adalah dua buah minimOSD yang telah dirancang dengan penambahan beberapa fitur menu sensor. Pada minimOSD yang pertama data GPS (Global Positioning System berupa posisi lintang dan bujur didapat dari APM (ArduPilot Mega yang diprogram menggunakan minimOSD extra. Pada minimOSD yang kedua didapat data sensor ultrasonik dan posisi lengan robot yang dikirim oleh Arduino Mega pada mobile robot menggunakan pengiriman serial. Sensor suhu, level baterai dan data waktu diperoleh dari penambahan pengkabelan pada pin-pin ATMega328. Hasil olah data sensor pada minimOSD pertama dan kedua yang berupa data visual digabung dan dikirim menuju layar monitor FPV menggunakan video transmiter. Animasi data yang ditampilkan mempunyai batas sebesar 256 data karakter, sehingga posisi lengan robot dan sensor ultrasonik hanya bisa digambarkan berupa perbandingan skala tingkatan dan data teks, sedangkan data sensor yang lain ditampilkan sesuai hasil olah data sebenarnya.

  10. An Autonomous Ultra-Wide Band-Based Attitude and Position Determination Technique for Indoor Mobile Laser Scanning

    Directory of Open Access Journals (Sweden)

    Lawrence Lau

    2018-04-01

    Full Text Available Mobile laser scanning (MLS has been widely used in three-dimensional (3D city modelling data collection, such as Google cars for Google Map/Earth. Building Information Modelling (BIM has recently emerged and become prominent. 3D models of buildings are essential for BIM. Static laser scanning is usually used to generate 3D models for BIM, but this method is inefficient if a building is very large, or it has many turns and narrow corridors. This paper proposes using MLS for BIM 3D data collection. The positions and attitudes of the mobile laser scanner are important for the correct georeferencing of the 3D models. This paper proposes using three high-precision ultra-wide band (UWB tags to determine the positions and attitudes of the mobile laser scanner. The accuracy of UWB-based MLS 3D models is assessed by comparing the coordinates of target points, as measured by static laser scanning and a total station survey.

  11. Modeling Cd and Cu mobility in soils amended by long-term urban waste compost applications

    Science.gov (United States)

    Filipović, Vilim; Cambier, Philippe; Matijević, Lana; Coquet, Yves; Pot, Valérie; Houot, Sabine; Benoit, Pierre

    2016-04-01

    Urban waste compost application to soil is an effective way for organic waste disposal and at the same time may have a positive effect on various soil rhizosphere processes. However, long term applications of organic waste amendments may lead to a noteworthy accumulation of micropollutants in soil. The long-term field experiment QualiAgro, an INRA-Veolia partnership (https://www6.inra.fr/qualiagro_eng/), has been conducted since 1998 with the objectives to characterize the agronomic value of urban composts and the environmental impacts of their application. Numerical modeling was performed using HYDRUS-2D to estimate the movement of Cd and Cu from compost incroporation in the tilled layer. Experimental plots regularly amended with co-compost of sewage sludge and green wastes (SGW), or a municipal solid waste compost (MSW) have been compared to control plot without any organic amendment (CONT). Field site was equipped with wicks lysimeters, TDR probes and tensiometers in order to determine water balance and trace metal concentrations during a 6 years' time period (2004-2010). In the tilled layer different structures (Δ - compacted clods, Γ - macroporous zone, IF - interfurrows, PP - plough pan) corresponding to the tillage and compost incorporation were delimited and reproduced in a 2-D model. The increase of Cd and Cu concentrations due to each compost addition was assumed to be located in IFs for further modeling. Four compost additions were performed during 2004-2010 period which increased the Cd and Cu concentrations in the IF zones considerably. After successful model description of water flow in highly heterogeneous soil profiles, Cd and Cu were added into the model and their fate was simulated during the same time period. Two approaches were followed to estimate plausible trace metals sorption coefficients (Kd), both while assuming equilibrium between dissolved and EDTA-extractable metals. The first approach was based on Kd estimated from ratios between

  12. Evaluation of scaling correlations for mobilization of double-shell tank waste

    Energy Technology Data Exchange (ETDEWEB)

    Shekarriz, A.; Hammad, K.J.; Powell, M.R.

    1997-09-01

    In this report, we have examined some of the fundamental mechanisms expected to be at work during mobilization of the waste within the double-shell tanks at Hanford. The motivation stems from the idea that in order to properly apply correlations derived from scaled tests, one would have to ensure that appropriate scaling laws are utilized. Further, in the process of delineating the controlling mechanisms during mobilization, the currently used computational codes are being validated and strengthened based on these findings. Experiments were performed at 1/50-scale, different from what had been performed in the previous fiscal years (i.e., 1/12- and 1/25-scale). It was anticipated that if the current empirical correlations are to work, they should be scale invariant. The current results showed that linear scaling between the 1/25-scale and 1/50-scale correlations do not work well. Several mechanisms were examined in the scaled tests which might have contributed to the discrepancies between the results at these two scales. No deficiencies in the experimental approach and the data were found. Cognizant of these results, it was concluded that the use of the current empirical correlations for ECR should be done cautiously taking into account the appropriate properties of the material for yielding.

  13. Evaluation of scaling correlations for mobilization of double-shell tank waste

    International Nuclear Information System (INIS)

    Shekarriz, A.; Hammad, K.J.; Powell, M.R.

    1997-09-01

    In this report, we have examined some of the fundamental mechanisms expected to be at work during mobilization of the waste within the double-shell tanks at Hanford. The motivation stems from the idea that in order to properly apply correlations derived from scaled tests, one would have to ensure that appropriate scaling laws are utilized. Further, in the process of delineating the controlling mechanisms during mobilization, the currently used computational codes are being validated and strengthened based on these findings. Experiments were performed at 1/50-scale, different from what had been performed in the previous fiscal years (i.e., 1/12- and 1/25-scale). It was anticipated that if the current empirical correlations are to work, they should be scale invariant. The current results showed that linear scaling between the 1/25-scale and 1/50-scale correlations do not work well. Several mechanisms were examined in the scaled tests which might have contributed to the discrepancies between the results at these two scales. No deficiencies in the experimental approach and the data were found. Cognizant of these results, it was concluded that the use of the current empirical correlations for ECR should be done cautiously taking into account the appropriate properties of the material for yielding

  14. Mobilities

    DEFF Research Database (Denmark)

    to social networks, personal identities, and our relationship to the built environment. The omnipresence of mobilities within everyday life, high politics, technology, and tourism (to mention but a few) all point to a key insight harnessed by the ‘mobilities turn’. Namely that mobilities is much more than......The world is on the move. This is a widespread understanding by many inhabitants of contemporary society across the Globe. But what does it actually mean? During over one decade the ‘mobilities turn’ within the social sciences have provided a new set of insights into the repercussions of mobilities...... and environmental degradation. The spaces and territories marked by mobilities as well as the sites marked by the bypassing of such are explored. Moreover, the architectural and technological dimensions to infrastructures and sites of mobilities will be included as well as the issues of power, social exclusion...

  15. An engineering and economic analysis: Inductively coupled plasma mobile treatment of hazardous waste

    International Nuclear Information System (INIS)

    Detering, B.A.; McLlwain, M.E.

    1997-10-01

    This analysis considers the engineering and economic viability of an rf-plasma, mobile treatment process for remediation of hazardous waste located at remote sites in Alaska. A simple engineering process flowsheet is used to define the elements associated with the process and to identify major pieces of equipment. The proposed flowsheet and equipment are used to estimate capital and operational costs for four separate processing cases. These cases explore various operational situations, including moving equipment to a remote site, transporting wastes to a base site, and varying operational periods. Some cases consider variations in fuel costs known to exist across Alaska. Operational costs, capital equipment costs, and revenues are used to calculate pro-forma income statements. These income statements are used to predict economic viability. Based on the economic viability, the analysis suggests that processing of hydrocarbon-contaminated soils is more profitable when performed at remote sites as compared to at a home base. Processing of poly-chloro-biphenyl (PCB)-contaminated oil at a stationary site is more profitable as compared to remote treatment due to the cost of transporting the equipment. Over the range of fuel prices considered, higher fuel costs increase the per unit treatment price by ten percent. Based on the results of this analysis, an rf-plasma based process appears to be economically viable for remote treatment of hydrocarbon-contaminated soil, but less viable for treatment of PCB-contaminated oil

  16. Mobile encapsulation and volume reduction system for wet low-level wastes

    International Nuclear Information System (INIS)

    Buelt, J.L.

    1985-08-01

    This report describes the results of the program entitled ''A Preconceptual Study for a Transportable Vitrification Process''. The objective of the study is to determine the feasibility of a Mobile Encapsulation and Volume Reduction System (MEVS). The report contains design criteria, a preconceptual design of the system, a comparison of disposal costs with other solidification technologies, and an assessment of utility interests in the transportable volume reduction service MEVS can provide. The MEVS design employs the use of a joule-heated glass melter to convert the wet low-level wastes into glass. The process is self-sufficient, requiring no direct facility services or reactor personnel. It is capable of servicing one waste type from a minimum of three reactors. The design was used to prepare capital and operating cost estimates. The capital cost for the MEVS is $4,680,000, which includes all labor necessary for design, engineering, inspection, and licensing. The operating cost of the system for servicing a minimum of three reactors is $1,530,000/y for resins or $2,280,000/y for concentrated liquids. The cost estimates compared favorably to the more common solidification process of cementation. Total MEVS operating costs which include processing, transportation and burial, are $191 to $218/ft 3 waste, whereas quoted costs for cementation and disposal from reactor operators range from $155 to $350/ft 3 . The report concludes with the requirements for additional development, which can be accomplished for less than one sixth of the capital costs. The report also presents the results of an assessment conducted with utility representatives to obtain their expressions of interest in a service of this type

  17. Robotic inspection of nuclear waste storage facilities

    International Nuclear Information System (INIS)

    Fulbright, R.; Stephens, L.M.

    1995-01-01

    The University of South Carolina and the Westinghouse Savannah River Company have developed a prototype mobile robot designed to perform autonomous inspection of nuclear waste storage facilities. The Stored Waste Autonomous Mobile Inspector (SWAMI) navigates and inspects rows of nuclear waste storage drums, in isles as narrow as 34 inches with drums stacked three high on each side. SWAMI reads drum barcodes, captures drum images, and monitors floor-level radiation levels. The topics covered in this article reporting on SWAMI include the following: overall system design; typical mission scenario; barcode reader subsystem; video subsystem; radiation monitoring subsystem; position determination subsystem; onboard control system hardware; software development environment; GENISAS, a C++ library; MOSAS, an automatic code generating tool. 10 figs

  18. Mobile robot for hazardous environments

    International Nuclear Information System (INIS)

    Bains, N.

    1995-01-01

    This paper describes the architecture and potential applications of the autonomous robot for a known environment (ARK). The ARK project has developed an autonomous mobile robot that can move around by itself in a complicated nuclear environment utilizing a number of sensors for navigation. The primary sensor system is computer vision. The ARK has the intelligence to determine its position utilizing open-quotes natural landmarks,close quotes such as ordinary building features at any point along its path. It is this feature that gives ARK its uniqueness to operate in an industrial type of environment. The prime motivation to develop ARK was the potential application of mobile robots in radioactive areas within nuclear generating stations and for nuclear waste sites. The project budget is $9 million over 4 yr and will be completed in October 1995

  19. Dynamic Fuzzy Logic Parameter Tuning for ACO and Its Application in the Fuzzy Logic Control of an Autonomous Mobile Robot

    Directory of Open Access Journals (Sweden)

    Oscar Castillo

    2013-01-01

    Full Text Available Ant Colony Optimization (ACO is a population-based constructive meta-heuristic that exploits a form of past performance memory inspired by the foraging behaviour of real ants. The behaviour of the ACO algorithm is highly dependent on the values defined for its parameters. Adaptation and parameter control are recurring themes in the field of bio-inspired algorithms. The present paper explores a new approach to diversity control in ACO. The central idea is to avoid or slow down full convergence through the dynamic variation of certain parameters. The performance of different variants of the ACO algorithm was observed to choose one as the basis for the proposed approach. A convergence fuzzy logic controller with the objective of maintaining diversity at some level to avoid premature convergence was created. Encouraging results have been obtained on its application to the design of fuzzy controllers. In particular, the optimization of membership functions for a unicycle mobile robot trajectory control is presented with the proposed method.

  20. Chemical associations and mobilization of heavy metals in fly ash from municipal solid waste incineration.

    Science.gov (United States)

    Weibel, Gisela; Eggenberger, Urs; Schlumberger, Stefan; Mäder, Urs K

    2017-04-01

    This study focusses on chemical and mineralogical characterization of fly ash and leached filter cake and on the determination of parameters influencing metal mobilization by leaching. Three different leaching processes of fly ash from municipal solid waste incineration (MSWI) plants in Switzerland comprise neutral, acidic and optimized acidic (+ oxidizing agent) fly ash leaching have been investigated. Fly ash is characterized by refractory particles (Al-foil, unburnt carbon, quartz, feldspar) and newly formed high-temperature phases (glass, gehlenite, wollastonite) surrounded by characteristic dust rims. Metals are carried along with the flue gas (Fe-oxides, brass) and are enriched in mineral aggregates (quartz, feldspar, wollastonite, glass) or vaporized and condensed as chlorides or sulphates. Parameters controlling the mobilization of neutral and acidic fly ash leaching are pH and redox conditions, liquid to solid ratio, extraction time and temperature. Almost no depletion for Zn, Pb, Cu and Cd is achieved by performing neutral leaching. Acidic fly ash leaching results in depletion factors of 40% for Zn, 53% for Cd, 8% for Pb and 6% for Cu. The extraction of Pb and Cu are mainly limited due to a cementation process and the formation of a PbCu 0 -alloy-phase and to a minor degree due to secondary precipitation (PbCl 2 ). The addition of hydrogen peroxide during acidic fly ash leaching (optimized acidic leaching) prevents this reduction through oxidation of metallic components and thus significantly higher depletion factors for Pb (57%), Cu (30%) and Cd (92%) are achieved. The elevated metal depletion using acidic leaching in combination with hydrogen peroxide justifies the extra effort not only by reduced metal loads to the environment but also by reduced deposition costs. Copyright © 2016 Elsevier Ltd. All rights reserved.

  1. Mobile/portable transuranic waste characterization systems at Los Alamos National Laboratory and a model for their use complex-wide

    International Nuclear Information System (INIS)

    Derr, E.D.; Harper, J.R.; Zygmunt, S.J.; Taggart, D.P.; Betts, S.E.

    1997-01-01

    Los Alamos National Laboratory has implemented mobile and portable characterization and repackaging systems to characterize TRU waste in storage for ultimate shipment and disposal at the Waste Isolation Pilot Plant (WIPP) near Carlsbad, NM. These mobile systems are being used to characterize and repackage waste to meet the full requirements of the WIPP Waste Acceptance Criteria (WAC) and the WIPP Characterization Quality Assurance Program Plan (QAPP). Mobile and portable characterization and repackaging systems are being used to supplement the capabilities and throughputs of existing facilities. Utilization of mobile systems is a key factor that is enabling LANL to: (1) reduce its TRU waste work-off schedule from 36 years to 8.5 years; (2) eliminate the need to construct a $70M+ TRU waste characterization facility; (3) have waste certified for shipment to WIPP when WIPP opens; (4) continue to ship TRU waste to WIPP at the rate of 5000 drums per year; and, (5) reduce overall costs by more than $200M. Aggressive implementation of mobile and portable systems throughout the DOE complex through a centralized-distributed services model will result in similar advantages complex-wide

  2. Mobile/portable transuranic waste characterization systems at Los Alamos National Laboratory and a model for their use complex-wide

    International Nuclear Information System (INIS)

    Derr, E.D.; Harper, J.R.; Zygmunt, S.J.; Taggart, D.P.; Betts, S.E.

    1997-01-01

    Los Alamos National Laboratory (LANL) has implemented mobile and portable characterization and repackaging systems to characterize transuranic (TRU) waste in storage for ultimate shipment and disposal at the Waste Isolation Pilot Plant (WIPP) near Carlsbad, NM. These mobile systems are being used to characterize and repackage waste to meet the full requirements of the WIPP Waste Acceptance Criteria (WAC) and the WIPP Characterization Quality Assurance Program Plan (QAPP). Mobile and portable characterization and repackaging systems are being used to supplement the capabilities and throughputs of existing facilities. Utilization of mobile systems is a key factor that is enabling LANL to (1) reduce its TRU waste work-off schedule from 36 years to 8.5 years; (2) eliminate the need to construct a $70M+ TRU waste characterization facility; (3) have waste certified for shipment to WIPP when WIPP opens; (4) continue to ship TRU waste to WIPP at the rate of 5000 drums per year; and (5) reduce overall costs by more than $200M. Aggressive implementation of mobile and portable systems throughout the Department of Energy complex through a centralized-distributed services model will result in similar advantages complex-wide

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

    Science.gov (United States)

    Yu, Ming; Zhang, Jian; Tian, Yu

    2018-05-01

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

  4. Autonomous houses. Autonomous house

    Energy Technology Data Exchange (ETDEWEB)

    Tanaka, S. (Tokai University, Tokyo (Japan). Faculty of Engineering)

    1991-09-30

    Self-sufficiency type houses are outlined. On condition that people gain a certain amount of income in relation with the society, they self-suffice under the given environment, allowing themselves to accept a minimum of industrial products with small environmental load. Ordinary supply from outside of fossil energy and materials which depend on it is minimized. Types are classified into three: energy, energy materials and perfect self-sufficiency. A study project for environment symbiotic houses is progressing which is planned by the Ministry of Construction and Institute of Building Energy Conservation and is invested by a private company. Its target is making a house for halving an environmental load by CO{sub 2}, for the purpose of creating the environment symbiotic house which is nice to and in harmony with the global environment and human beings. As a part of the studies on energy-saving and resource conservation on houses, introduced is a plan of an autonomous house at Izu-Atagawa. The passive method and high thermal-insulation are used for air conditioning, and hot spring water for hot water supply. Electric power is generated by hydroelectric power generation using mountain streams and by solar cells. Staple food is purchased, while subsidiary food is sufficed. 17 refs., 4 figs., 1 tab.

  5. Arsenic mobility and speciation in a contaminated urban soil are affected by different methods of green waste compost application

    Energy Technology Data Exchange (ETDEWEB)

    Hartley, William, E-mail: w.hartley@ljmu.ac.u [Liverpool John Moores University, Faculty of Science, Byrom Street, Liverpool L3 3AF (United Kingdom); Dickinson, Nicholas M.; Riby, Philip [Liverpool John Moores University, Faculty of Science, Byrom Street, Liverpool L3 3AF (United Kingdom); Leese, Elizabeth; Morton, Jackie [Health and Safety Laboratory, Harpur Hill, Buxton, Derbyshire SK17 9JN (United Kingdom); Lepp, Nicholas W., E-mail: nickandeileenlepp@hotmail.co [35 Victoria Road, Formby L37 7DH (United Kingdom)

    2010-12-15

    Application of green waste compost (GWC) to brownfield land is now common practice in soil restoration. However, previous studies have demonstrated both beneficial and detrimental effects on arsenic and metal mobility. In this paper, trace element behaviour was investigated following GWC application, either as surface mulch to, or mixed into soil from a previously described brownfield site in the U.K. Significant differences in arsenic mobility were observed between treatments. Mulching caused most disturbance, significantly increasing soil pore water As, together with Fe, P, Cr, Ni and dissolved organic carbon, the latter was a critical factor enhancing As mobilization. Arsenate was the main inorganic As species in soil pore water, increasing in concentration over time. An initial flush of potentially more toxic arsenite decreased 4 weeks after compost application. Biological processes appeared to play an important role in influencing As mobility. The results point to the necessity for careful management of As-contaminated soils. - A comparison of mulching and mixing of green waste compost to an urban soil results in differences in arsenic and metal leaching.

  6. Arsenic mobility and speciation in a contaminated urban soil are affected by different methods of green waste compost application

    International Nuclear Information System (INIS)

    Hartley, William; Dickinson, Nicholas M.; Riby, Philip; Leese, Elizabeth; Morton, Jackie; Lepp, Nicholas W.

    2010-01-01

    Application of green waste compost (GWC) to brownfield land is now common practice in soil restoration. However, previous studies have demonstrated both beneficial and detrimental effects on arsenic and metal mobility. In this paper, trace element behaviour was investigated following GWC application, either as surface mulch to, or mixed into soil from a previously described brownfield site in the U.K. Significant differences in arsenic mobility were observed between treatments. Mulching caused most disturbance, significantly increasing soil pore water As, together with Fe, P, Cr, Ni and dissolved organic carbon, the latter was a critical factor enhancing As mobilization. Arsenate was the main inorganic As species in soil pore water, increasing in concentration over time. An initial flush of potentially more toxic arsenite decreased 4 weeks after compost application. Biological processes appeared to play an important role in influencing As mobility. The results point to the necessity for careful management of As-contaminated soils. - A comparison of mulching and mixing of green waste compost to an urban soil results in differences in arsenic and metal leaching.

  7. Evaluation of Flygt Propeller Mixers for Double-Shell Tank (DST) High Level Waste Auxiliary Solids Mobilization

    International Nuclear Information System (INIS)

    PACQUET, E.A.

    2000-01-01

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

  8. Ambler - An autonomous rover for planetary exploration

    Science.gov (United States)

    Bares, John; Hebert, Martial; Kanade, Takeo; Krotkov, Eric; Mitchell, Tom

    1989-01-01

    The authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.

  9. Performance validation of commercially available mobile waste-assay systems: Preliminary report

    Energy Technology Data Exchange (ETDEWEB)

    Schanfein, M.; Bonner, C.; Maez, R. [Los Alamos National Lab., NM (United States)] [and others

    1997-11-01

    Prior to disposal, nuclear waste must be accurately characterized to identify and quantify the radioactive content to reduce the radioactive hazard to the public. Validation of the waste-assay systems` performance is critical for establishing the credibility of the assay results for storage and disposal purposes. Canberra Nuclear has evaluated regulations worldwide and identified standard, modular, neutron- and gamma-waste-assay systems that can be used to characterize a large portion of existing and newly generated transuranic (TRU) and low-level waste. Before making claims of guaranteeing any system`s performance for specific waste types, the standardized systems` performance be evaluated. 7 figs., 11 tabs.

  10. Performance validation of commercially available mobile waste-assay systems: Preliminary report

    International Nuclear Information System (INIS)

    Schanfein, M.; Bonner, C.; Maez, R.

    1997-01-01

    Prior to disposal, nuclear waste must be accurately characterized to identify and quantify the radioactive content to reduce the radioactive hazard to the public. Validation of the waste-assay systems' performance is critical for establishing the credibility of the assay results for storage and disposal purposes. Canberra Nuclear has evaluated regulations worldwide and identified standard, modular, neutron- and gamma-waste-assay systems that can be used to characterize a large portion of existing and newly generated transuranic (TRU) and low-level waste. Before making claims of guaranteeing any system's performance for specific waste types, the standardized systems' performance be evaluated. 7 figs., 11 tabs

  11. Autonomous search

    CERN Document Server

    Hamadi, Youssef; Saubion, Frédéric

    2012-01-01

    Autonomous combinatorial search (AS) represents a new field in combinatorial problem solving. Its major standpoint and originality is that it considers that problem solvers must be capable of self-improvement operations. This is the first book dedicated to AS.

  12. Earthquake-induced response and potential for gas mobilization in Hanford waste tanks

    International Nuclear Information System (INIS)

    Reid, H.C.; Deibler, J.E.

    1997-09-01

    Seismic events postulated to occur at Hanford are predicted to cause yielding of the various waste materials in double- and single-shell tanks such that some or most of the waste is driven to completely plastic behavior. The seismic analyses documented in this report evaluated waste response to a 1,000-year design basis earthquake (DBE) event. The three-dimensional finite element computational structural analysis models were used with an assumed nonlinear elastic-plastic material definition

  13. Community mobilization and household level waste management for dengue vector control in Gampaha district of Sri Lanka; an intervention study.

    Science.gov (United States)

    Abeyewickreme, W; Wickremasinghe, A R; Karunatilake, K; Sommerfeld, J; Axel, Kroeger

    2012-12-01

    Waste management through community mobilization to reduce breeding places at household level could be an effective and sustainable dengue vector control strategy in areas where vector breeding takes place in small discarded water containers. The objective of this study was to assess the validity of this assumption. An intervention study was conducted from February 2009 to February 2010 in the populous Gampaha District of Sri Lanka. Eight neighborhoods (clusters) with roughly 200 houses each were selected randomly from high and low dengue endemic areas; 4 of them were allocated to the intervention arm (2 in the high and 2 in the low endemicity areas) and in the same way 4 clusters to the control arm. A baseline household survey was conducted and entomological and sociological surveys were carried out simultaneously at baseline, at 3 months, at 9 months and at 15 months after the start of the intervention. The intervention programme in the treatment clusters consisted of building partnerships of local stakeholders, waste management at household level, the promotion of composting biodegradable household waste, raising awareness on the importance of solid waste management in dengue control and improving garbage collection with the assistance of local government authorities. The intervention and control clusters were very similar and there were no significant differences in pupal and larval indices of Aedes mosquitoes. The establishment of partnerships among local authorities was well accepted and sustainable; the involvement of communities and households was successful. Waste management with the elimination of the most productive water container types (bowls, tins, bottles) led to a significant reduction of pupal indices as a proxy for adult vector densities. The coordination of local authorities along with increased household responsibility for targeted vector interventions (in our case solid waste management due to the type of preferred vector breeding places) is

  14. Selenium and Other Trace Element Mobility in Waste Products and Weathered Sediments at Parys Mountain Copper Mine, Anglesey, UK

    Directory of Open Access Journals (Sweden)

    Liam A. Bullock

    2017-11-01

    Full Text Available The Parys Mountain copper mining district (Anglesey, North Wales hosts exposed pyritic bedrock, solid mine waste spoil heaps, and acid drainage (ochre sediment deposits. Both natural and waste deposits show elevated trace element concentrations, including selenium (Se, at abundances of both economic and environmental consideration. Elevated concentrations of semi-metals such as Se in waste smelts highlight the potential for economic reserves in this and similar base metal mining sites. Selenium is sourced from the pyritic bedrock and concentrations are retained in red weathering smelt soils, but lost in bedrock-weathered soils and clays. Selenium correlates with Te, Au, Bi, Cd, Hg, Pb, S, and Sb across bedrock and weathered deposits. Man-made mine waste deposits show enrichment of As, Bi, Cu, Sb, and Te, with Fe oxide-rich smelt materials containing high Pb, up to 1.5 wt %, and Au contents, up to 1.2 ppm. The trace elements As, Co, Cu, and Pb are retained from bedrock to all sediments, including high Cu content in Fe oxide-rich ochre sediments. The high abundance and mobility of trace elements in sediments and waters should be considered as potential pollutants to the area, and also as a source for economic reserves of previously extracted and new strategic commodities.

  15. Design of mobile receiving and treatment equipment for radioactive liquid waste

    International Nuclear Information System (INIS)

    Kong Jinsong; Guo Weiqun; Lu Jingbin

    2012-01-01

    The advantage and disadvantage of radioactive liquid waste treatment technology are analyzed in this paper. The experimental disposal equipment for radioactive liquid waste with complicated sources is designed by combining the far infrared calcification technology with evaporation technology. It has advantages of low energy consuming and high decontamination efficiency. The frothy and dirt appear rarely in this equipment. (authors)

  16. Comparison of three-stage sequential extraction and toxicity characteristic leaching tests to evaluate metal mobility in mining wastes

    International Nuclear Information System (INIS)

    Margui, E.; Salvado, V.; Queralt, I.; Hidalgo, M.

    2004-01-01

    Abandoned mining sites contain residues from ore processing operations that are characterised by high concentrations of heavy metals. The form in which a metal exists strongly influences its mobility and, thus, the effects on the environment. Operational methods of speciation analysis, such as the use of sequential extraction procedures, are commonly applied. In this work, the modified three-stage sequential extraction procedure proposed by the BCR (now the Standards, Measurements and Testing Programme) was applied for the fractionation of Ni, Zn, Pb and Cd in mining wastes from old Pb-Zn mining areas located in the Val d'Aran (NE Spain) and Cartagena (SE Spain). Analyses of the extracts were performed by inductively coupled plasma atomic emission spectrometry and electrothermal atomic absorption spectrometry. The procedure was evaluated by using a certified reference material, BCR-701. The results of the partitioning study indicate that more easily mobilised forms (acid exchangeable) were predominant for Cd and Zn, particularly in the sample from Cartagena. In contrast, the largest amount of lead was associated with the iron and manganese oxide fractions. On the other hand, the applicability of lixiviation tests commonly used to evaluate the leaching of toxic species from landfill disposal (US-EPA Toxicity Characteristic Leaching Procedure and DIN 38414-S4) to mining wastes was also investigated and the obtained results compared with the information on metal mobility derivable from the application of the three-stage sequential extraction procedure

  17. Thermal decomposition of electronic wastes: Mobile phone case and other parts

    International Nuclear Information System (INIS)

    Molto, Julia; Egea, Silvia; Conesa, Juan Antonio; Font, Rafael

    2011-01-01

    Highlights: → Pyrolysis and combustion of different parts of mobile phones produce important quantities of CO and CO 2 . → Naphthalene is the most abundant PAH obtained in the thermal treatment of mobile phones. → Higher combustion temperature increases the chlorinated species evolved. - Abstract: Pyrolysis and combustion runs at 850 o C in a horizontal laboratory furnace were carried out on different parts of a mobile phone (printed circuit board, mobile case and a mixture of both materials). The analyses of the carbon oxides, light hydrocarbons, polycyclic aromatic hydrocarbons (PAHs), polychlorodibenzo-p-dioxin, polychlorodibenzofurans (PCDD/Fs), and dioxin-like PCBs are shown. Regarding semivolatile compounds, phenol, styrene, and its derivatives had the highest yields. In nearly all the runs the same PAHs were identified, naphthalene being the most common component obtained. Combustion of the printed circuit board produced the highest emission factor of PCDD/Fs, possibly due to the high copper content.

  18. Carbon abatement via treating the solid waste from the Australian olive industry in mobile pyrolysis units: LCA with uncertainty analysis.

    Science.gov (United States)

    El Hanandeh, Ali

    2013-04-01

    The olive oil industry in Australia has been growing at a rapid rate over the past decade. It is forecast to continue growing due to the steady increase in demand for olive oil and olive products in the local and regional market. However, the olive oil extraction process generates large amounts of solid waste called olive husk which is currently underutilized. This paper uses life-cycle methodology to analyse the carbon emission reduction potential of utilizing olive husk as a feedstock in a mobile pyrolysis unit. Four scenarios, based on different combinations of pyrolysis technologies (slow versus fast) and end-use of products (land application versus energy utilization), are constructed. The performance of each scenario under conditions of uncertainty was also investigated. The results show that all scenarios result in significant carbon emission abatement. Processing olive husk in mobile fast pyrolysis units and the utilization of bio-oil and biochar as substitutes for heavy fuel oil and coal is likely to realize a carbon offset greater than 32.3 Gg CO2-eq annually in 90% of the time. Likewise, more than 3.2 Gg-C (11.8 Gg CO2-eq) per year could be sequestered in the soil in the form of fixed carbon if slow mobile pyrolysis units were used to produce biochar.

  19. Mobility of potentially harmful metals in latosols impacted by the municipal solid waste deposit of Londrina, Brazil

    International Nuclear Information System (INIS)

    Souza Teixeira, Raquel; Cambier, Philippe; Davison Dias, Regina; Peccinini Pinese, Jose Paulo; Jaulin-Soubelet, Anne

    2010-01-01

    The contamination of soils by metals issuing from municipal solid waste (MSW) disposal in tropical environments has hardly been studied with regard to the particular problems associated with them, i.e., generally a high permeability of soils despite the abundance of clay, and the role of reactive Fe compounds. From a previous geotechnical and chemical survey, three latosol profiles differently affected by MSW leachates in the region of Londrina (Parana, Brazil) were selected. The aims were to evaluate the extent of their contamination, to better understand the fate of potentially harmful metals in tropical soils and rank the determining factors. Samples between 0.5 and 7 m depth were analyzed for their physical, mineralogical and chemical properties, and their micro-morphology was described by optical and transmission electron microscopy. Two steps of a sequential extraction procedure helped to assess the mobility of elements and to better discriminate between metals originating from pedogenesis and issued from MSW. These combined approaches showed that exposed soil profiles have been impacted at various depths, down to 7 m, through increased metal content, especially enhanced mobility of Zn, Co, Mn, Cu and Fe, and through increased salinity and organic matter. The mobility of potentially harmful metals should decrease with pH, which significantly increased in some impacted horizons, but other factors can reverse this trend.

  20. Selectivity assessment of an arsenic sequential extraction procedure for evaluating mobility in mine wastes

    International Nuclear Information System (INIS)

    Drahota, Petr; Grösslová, Zuzana; Kindlová, Helena

    2014-01-01

    Highlights: • Extraction efficiency and selectivity of phosphate and oxalate were tested. • Pure As-bearing mineral phases and mine wastes were used. • The reagents were found to be specific and selective for most major forms of As. • An optimized sequential extraction scheme for mine wastes has been developed. • It has been tested over a model mineral mixtures and natural mine waste materials. - Abstract: An optimized sequential extraction (SE) scheme for mine waste materials has been developed and tested for As partitioning over a range of pure As-bearing mineral phases, their model mixtures, and natural mine waste materials. This optimized SE procedure employs five extraction steps: (1) nitrogen-purged deionized water, 10 h; (2) 0.01 M NH 4 H 2 PO 4 , 16 h; (3) 0.2 M NH 4 -oxalate in the dark, pH3, 2 h; (4) 0.2 M NH 4 -oxalate, pH3/80 °C, 4 h; (5) KClO 3 /HCl/HNO 3 digestion. Selectivity and specificity tests on natural mine wastes and major pure As-bearing mineral phases showed that these As fractions appear to be primarily associated with: (1) readily soluble; (2) adsorbed; (3) amorphous and poorly-crystalline arsenates, oxides and hydroxosulfates of Fe; (4) well-crystalline arsenates, oxides, and hydroxosulfates of Fe; as well as (5) sulfides and arsenides. The specificity and selectivity of extractants, and the reproducibility of the optimized SE procedure were further verified by artificial model mineral mixtures and different natural mine waste materials. Partitioning data for extraction steps 3, 4, and 5 showed good agreement with those calculated in the model mineral mixtures (<15% difference), as well as that expected in different natural mine waste materials. The sum of the As recovered in the different extractant pools was not significantly different (89–112%) than the results for acid digestion. This suggests that the optimized SE scheme can reliably be employed for As partitioning in mine waste materials

  1. EM-31 Retrieval Knowledge Center Meeting Report: Mobilize And Dislodge Tank Waste Heels

    International Nuclear Information System (INIS)

    Fellinger, A.

    2010-01-01

    The Retrieval Knowledge Center sponsored a meeting in June 2009 to review challenges and gaps to retrieval of tank waste heels. The facilitated meeting was held at the Savannah River Research Campus with personnel broadly representing tank waste retrieval knowledge at Hanford, Savannah River, Idaho, and Oak Ridge. This document captures the results of this meeting. In summary, it was agreed that the challenges to retrieval of tank waste heels fell into two broad categories: (1) mechanical heel waste retrieval methodologies and equipment and (2) understanding and manipulating the heel waste (physical, radiological, and chemical characteristics) to support retrieval options and subsequent processing. Recent successes and lessons from deployments of the Sand and Salt Mantis vehicles as well as retrieval of C-Area tanks at Hanford were reviewed. Suggestions to address existing retrieval approaches that utilize a limited set of tools and techniques are included in this report. The meeting found that there had been very little effort to improve or integrate the multiple proven or new techniques and tools available into a menu of available methods for rapid insertion into baselines. It is recommended that focused developmental efforts continue in the two areas underway (low-level mixing evaluation and pumping slurries with large solid materials) and that projects to demonstrate new/improved tools be launched to outfit tank farm operators with the needed tools to complete tank heel retrievals effectively and efficiently. This document describes the results of a meeting held on June 3, 2009 at the Savannah River Site in South Carolina to identify technology gaps and potential technology solutions to retrieving high-level waste (HLW) heels from waste tanks within the complex of sites run by the U. S. Department of Energy (DOE). The meeting brought together personnel with extensive tank waste retrieval knowledge from DOE's four major waste sites - Hanford, Savannah River

  2. Autonomic Regulation of Splanchnic Circulation

    Directory of Open Access Journals (Sweden)

    Kathleen A Fraser

    1991-01-01

    Full Text Available The role of the autonomic nervous system in circulatory regulation of the splanchnic organs (stomach, small intestine, colon, liver, pancreas and spleen is reviewed. In general, the sympathetic nervous system is primarily involved in vasoconstriction, while the parasympathetic contributes to vasodilation. Vasoconstriction in the splanchnic circulation appears to be mediated by alpha-2 receptors and vasodilation by activation of primary afferent nerves with subsequent release of vasodilatory peptides, or by stimulation of beta-adrenergic receptors. As well, an important function of the autonomic nervous system is to provide a mechanism by which splanchnic vascular reserve can be mobilized during stress to maintain overall cardiovascular homeostasis.

  3. Speciation and mobility of potentially toxic elements in municipal solid waste incineration bottom ash

    NARCIS (Netherlands)

    Schollbach, K.; Alam, Q.; Florea, M.V.A.; Brouwers, H.J.H.

    2017-01-01

    Bottom ash (BA) is the main residue from municipal solid waste incineration (MSWI), which can have some applications in construction materials, but is mostly landfilled in many countries. The main problem is the high concentration of potentially toxic elements (PTEs), particularly in the fine

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

    Science.gov (United States)

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

  5. Towards autonomous vehicular clouds

    Directory of Open Access Journals (Sweden)

    Stephan Olariu

    2011-09-01

    Full Text Available The dawn of the 21st century has seen a growing interest in vehicular networking and its myriad potential applications. The initial view of practitioners and researchers was that radio-equipped vehicles could keep the drivers informed about potential safety risks and increase their awareness of road conditions. The view then expanded to include access to the Internet and associated services. This position paper proposes and promotes a novel and more comprehensive vision namely, that advances in vehicular networks, embedded devices and cloud computing will enable the formation of autonomous clouds of vehicular computing, communication, sensing, power and physical resources. Hence, we coin the term, autonomous vehicular clouds (AVCs. A key feature distinguishing AVCs from conventional cloud computing is that mobile AVC resources can be pooled dynamically to serve authorized users and to enable autonomy in real-time service sharing and management on terrestrial, aerial, or aquatic pathways or theaters of operations. In addition to general-purpose AVCs, we also envision the emergence of specialized AVCs such as mobile analytics laboratories. Furthermore, we envision that the integration of AVCs with ubiquitous smart infrastructures including intelligent transportation systems, smart cities and smart electric power grids will have an enormous societal impact enabling ubiquitous utility cyber-physical services at the right place, right time and with right-sized resources.

  6. Arsenic mineralogy and mobility in the arsenic-rich historical mine waste dump

    International Nuclear Information System (INIS)

    Filippi, Michal; Drahota, Petr; Machovič, Vladimír; Böhmová, Vlasta; Mihaljevič, Martin

    2015-01-01

    A more than 250 year-old mine dump was studied to document the products of long-term arsenopyrite oxidation under natural conditions in a coarse-grained mine waste dump and to evaluate the environmental hazards associated with this material. Using complementary mineralogical and chemical approaches (SEM/EDS/WDS, XRD, micro-Raman spectroscopy, pore water analysis, chemical extraction techniques and thermodynamic PHREEQC-2 modeling), we documented the mineralogical/geochemical characteristics of the dumped arsenopyrite-rich material and environmental stability of the newly formed secondary minerals. A distinct mineralogical zonation was found (listed based on the distance from the decomposed arsenopyrite): scorodite (locally associated with native sulfur pseudomorphs) plus amorphous ferric arsenate (AFA/pitticite), kaňkite, As-bearing ferric (hydr)oxides and jarosite. Ferric arsenates and ferric (hydr)oxides were found to dissolve and again precipitate from downward migrating As-rich solutions cementing rock fragments. Acidic pore water (pH 3.8) has elevated concentrations of As with an average value of about 2.9 mg L −1 . Aqueous As is highly correlated with pH (R 2 = 0.97, p < 0.001) indicating that incongruent dissolution of ferric arsenates controls dissolved As well as the pH of the percolating waste solution. Arsenic released from the dissolution of ferric arsenates into the pore water is, however, trapped by latter and lower-down precipitating jarosite and especially ferric (hydr)oxides. The efficiency of As sequestration by ferric (hydr)oxides in the waste dump and underlying soil has been found to be very effective, suggesting limited environmental impact of the mine waste dump on the surrounding soil ecosystems. - Highlights: • More than 250 year-old arsenopyrite-rich mine waste dump was studied. • Mineral transformation and the environmental stability of different secondary arsenic mineral phases were assessed. • High efficiency of As

  7. Grand Junction projects office mixed-waste treatment program, VAC*TRAX mobile treatment unit process hazards analysis

    Energy Technology Data Exchange (ETDEWEB)

    Bloom, R.R.

    1996-04-01

    The objective of this report is to demonstrate that a thorough assessment of the risks associated with the operation of the Rust Geotech patented VAC*TRAX mobile treatment unit (MTU) has been performed and documented. The MTU was developed to treat mixed wastes at the US Department of Energy (DOE) Albuquerque Operations Office sites. The MTU uses an indirectly heated, batch vacuum dryer to thermally desorb organic compounds from mixed wastes. This process hazards analysis evaluated 102 potential hazards. The three significant hazards identified involved the inclusion of oxygen in a process that also included an ignition source and fuel. Changes to the design of the MTU were made concurrent with the hazard identification and analysis; all hazards with initial risk rankings of 1 or 2 were reduced to acceptable risk rankings of 3 or 4. The overall risk to any population group from operation of the MTU was determined to be very low; the MTU is classified as a Radiological Facility with low hazards.

  8. Grand Junction projects office mixed-waste treatment program, VAC*TRAX mobile treatment unit process hazards analysis

    International Nuclear Information System (INIS)

    Bloom, R.R.

    1996-04-01

    The objective of this report is to demonstrate that a thorough assessment of the risks associated with the operation of the Rust Geotech patented VAC*TRAX mobile treatment unit (MTU) has been performed and documented. The MTU was developed to treat mixed wastes at the US Department of Energy (DOE) Albuquerque Operations Office sites. The MTU uses an indirectly heated, batch vacuum dryer to thermally desorb organic compounds from mixed wastes. This process hazards analysis evaluated 102 potential hazards. The three significant hazards identified involved the inclusion of oxygen in a process that also included an ignition source and fuel. Changes to the design of the MTU were made concurrent with the hazard identification and analysis; all hazards with initial risk rankings of 1 or 2 were reduced to acceptable risk rankings of 3 or 4. The overall risk to any population group from operation of the MTU was determined to be very low; the MTU is classified as a Radiological Facility with low hazards

  9. Effect of organic complexants on the mobility of low-level-waste radionuclides in soils

    International Nuclear Information System (INIS)

    Swanson, J.L.

    1982-02-01

    The effect of certain organic complexants on the distribution of some radionuclides between solution and soil has been measured. The complexants and radionuclides examined are some of those most likely to be present in low-level waste disposal sites; Cs, Sr, Ni, Co, and Eu radionuclides, and EDTA, DTPA, oxalate, and citrate complexants. The effect of complexants was found to vary widely; in some systems there was no effect and in other systems there were large effects. In some cases slow rates of reaction have not allowed equilibrium measurements to be made

  10. Tracked robot controllers for climbing obstacles autonomously

    Science.gov (United States)

    Vincent, Isabelle

    2009-05-01

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

  11. A method to attenuate U(VI) mobility in acidic waste plumes using humic acids

    Energy Technology Data Exchange (ETDEWEB)

    Wan, J.; Dong, W.; Tokunaga, T.K.

    2011-02-01

    Acidic uranium (U) contaminated plumes have resulted from acid-extraction of plutonium during the Cold War and from U mining and milling operations. A sustainable method for in-situ immobilization of U under acidic conditions is not yet available. Here, we propose to use humic acids (HAs) for in-situ U immobilization in acidic waste plumes. Our laboratory batch experiments show that HA can adsorb onto aquifer sediments rapidly, strongly and practically irreversibly. Adding HA greatly enhanced U adsorption capacity to sediments at pH below 5.0. Our column experiments using historically contaminated sediments from the Savannah River Site under slow flow rates (120 and 12 m/y) show that desorption of U and HA were non-detectable over 100 pore-volumes of leaching with simulated acidic groundwaters. Upon HA-treatment, 99% of the contaminant [U] was immobilized at pH < 4.5, compared to 5% and 58% immobilized in the control columns at pH 3.5 and 4.5, respectively. These results demonstrated that HA-treatment is a promising in-situ remediation method for acidic U waste plumes. As a remediation reagent, HAs are resistant to biodegradation, cost effective, nontoxic, and easily introducible to the subsurface.

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

    Science.gov (United States)

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

    2015-07-01

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

  13. Urban planning for autonomous vehicles

    OpenAIRE

    Fourie, Pieter J.; Ordoñez Medina, Sergio A.; Maheshwari, Tanvi; Wang, Biyu; Erath, Alexander; Cairns, Stephen; Axhausen, Kay W.

    2018-01-01

    In land-scarce Singapore, population growth and increasingly dense development are running up against limited remaining space for mobility infrastructure expansion. Autonomous Vehicles (AV) promise to relieve some of this pressure, through more efficient use of road space through platooning and intersection coordination, reducing the need for parking space, and reducing overall reliance on privately owned cars, realising Singapore’s vision of a “car-lite” future. In a collaborative resear...

  14. Selective recovery of gold from waste mobile phone PCBs by hydrometallurgical process

    International Nuclear Information System (INIS)

    Kim, Eun-young; Kim, Min-seuk; Lee, Jae-chun; Pandey, B.D.

    2011-01-01

    Highlights: ► Selective leaching of Au from scrap mobile phone PCBs by two stage electro-generated chlorine and recovery by ion exchange. ► Copper leaching (97%) by 1st stage electro-generated leaching (ORP value Ag/AgCl ) with a minor gold (5%). ► Gold leaching (93%, ∼67 mg/L) by 2nd leaching (ORP value >1100 mV Ag/AgCl ) in 0.1 mol/L HCl at 25 °C. ► A concentrated gold solution, 6034 mg/L with 99.9% purity was obtained by ion exchange process. - Abstract: The leaching of gold from the scrap mobile phone PCBs by electro-generated chlorine as an oxidant and its recovery by ion exchange process was investigated. The leaching experiments were carried out by employing separate leaching reactor connected with the anode compartment of a Cl 2 gas generator. The leaching of gold increased with increase in temperature and initial concentration of chlorine, and was favorable even at low concentration of acid, whereas copper leaching increased with increase in concentration of acid and decrease in temperature. In a two-stage leaching process, copper was mostly dissolved (97%) in 165 min at 25 °C during the 1st stage leaching in 2.0 mol/L HCl by electro-generated chlorine at a current density of 714 A/m 2 along with a minor recovery of gold (5%). In the 2nd stage gold was mostly leached out (93% recovery, ∼67 mg/L) from the residue of the 1st stage by the electro-generated chlorine in 0.1 mol/L HCl. Gold recovery from the leach liquor by ion exchange using Amberlite XAD-7HP resin was found to be 95% with the maximum amount of gold adsorbed as 46.03 mg/g resin. A concentrated gold solution, 6034 mg/L with 99.9% purity was obtained in the ion exchange process.

  15. Selective recovery of gold from waste mobile phone PCBs by hydrometallurgical process

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Eun-young [Department of Material Science and Engineering, Penn State, University Park, PA 16802 (United States); Kim, Min-seuk [Mineral Resources Research Division, Korea Institute of Geoscience and Mineral Resources (KIGAM), Daejeon 305-350 (Korea, Republic of); Lee, Jae-chun, E-mail: jclee@kigam.re.kr [Mineral Resources Research Division, Korea Institute of Geoscience and Mineral Resources (KIGAM), Daejeon 305-350 (Korea, Republic of); Pandey, B.D. [Metal Extraction and Forming Division, National Metallurgical Laboratory (NML), Jamshedpur 831007 (India)

    2011-12-30

    Highlights: Black-Right-Pointing-Pointer Selective leaching of Au from scrap mobile phone PCBs by two stage electro-generated chlorine and recovery by ion exchange. Black-Right-Pointing-Pointer Copper leaching (97%) by 1st stage electro-generated leaching (ORP value <350 mV{sub Ag/AgCl}) with a minor gold (5%). Black-Right-Pointing-Pointer Gold leaching (93%, {approx}67 mg/L) by 2nd leaching (ORP value >1100 mV{sub Ag/AgCl}) in 0.1 mol/L HCl at 25 Degree-Sign C. Black-Right-Pointing-Pointer A concentrated gold solution, 6034 mg/L with 99.9% purity was obtained by ion exchange process. - Abstract: The leaching of gold from the scrap mobile phone PCBs by electro-generated chlorine as an oxidant and its recovery by ion exchange process was investigated. The leaching experiments were carried out by employing separate leaching reactor connected with the anode compartment of a Cl{sub 2} gas generator. The leaching of gold increased with increase in temperature and initial concentration of chlorine, and was favorable even at low concentration of acid, whereas copper leaching increased with increase in concentration of acid and decrease in temperature. In a two-stage leaching process, copper was mostly dissolved (97%) in 165 min at 25 Degree-Sign C during the 1st stage leaching in 2.0 mol/L HCl by electro-generated chlorine at a current density of 714 A/m{sup 2} along with a minor recovery of gold (5%). In the 2nd stage gold was mostly leached out (93% recovery, {approx}67 mg/L) from the residue of the 1st stage by the electro-generated chlorine in 0.1 mol/L HCl. Gold recovery from the leach liquor by ion exchange using Amberlite XAD-7HP resin was found to be 95% with the maximum amount of gold adsorbed as 46.03 mg/g resin. A concentrated gold solution, 6034 mg/L with 99.9% purity was obtained in the ion exchange process.

  16. Recovery of lithium and cobalt from waste lithium ion batteries of mobile phone

    Energy Technology Data Exchange (ETDEWEB)

    Jha, Manis Kumar, E-mail: mkjha@nmlindia.org; Kumari, Anjan; Jha, Amrita Kumari; Kumar, Vinay; Hait, Jhumki; Pandey, Banshi Dhar

    2013-09-15

    Graphical abstract: Recovery of valuable metals from scrap batteries of mobile phone. - Highlights: • Recovery of Co and Li from spent LIBs was performed by hydrometallurgical route. • Under the optimum condition, 99.1% of lithium and 70.0% of cobalt were leached. • The mechanism of the dissolution of lithium and cobalt was studied. • Activation energy for lithium and cobalt were found to be 32.4 kJ/mol and 59.81 kJ/mol, respectively. • After metal recovery, residue was washed before disposal to the environment. - Abstract: In view of the stringent environmental regulations, availability of limited natural resources and ever increasing need of alternative energy critical elements, an environmental eco-friendly leaching process is reported for the recovery of lithium and cobalt from the cathode active materials of spent lithium-ion batteries of mobile phones. The experiments were carried out to optimize the process parameters for the recovery of lithium and cobalt by varying the concentration of leachant, pulp density, reductant volume and temperature. Leaching with 2 M sulfuric acid with the addition of 5% H{sub 2}O{sub 2} (v/v) at a pulp density of 100 g/L and 75 °C resulted in the recovery of 99.1% lithium and 70.0% cobalt in 60 min. H{sub 2}O{sub 2} in sulfuric acid solution acts as an effective reducing agent, which enhance the percentage leaching of metals. Leaching kinetics of lithium in sulfuric acid fitted well to the chemical controlled reaction model i.e. 1 − (1 − X){sup 1/3} = k{sub c}t. Leaching kinetics of cobalt fitted well to the model ‘ash diffusion control dense constant sizes spherical particles’ i.e. 1 − 3(1 − X){sup 2/3} + 2(1 − X) = k{sub c}t. Metals could subsequently be separated selectively from the leach liquor by solvent extraction process to produce their salts by crystallization process from the purified solution.

  17. Recovery of lithium and cobalt from waste lithium ion batteries of mobile phone.

    Science.gov (United States)

    Jha, Manis Kumar; Kumari, Anjan; Jha, Amrita Kumari; Kumar, Vinay; Hait, Jhumki; Pandey, Banshi Dhar

    2013-09-01

    In view of the stringent environmental regulations, availability of limited natural resources and ever increasing need of alternative energy critical elements, an environmental eco-friendly leaching process is reported for the recovery of lithium and cobalt from the cathode active materials of spent lithium-ion batteries of mobile phones. The experiments were carried out to optimize the process parameters for the recovery of lithium and cobalt by varying the concentration of leachant, pulp density, reductant volume and temperature. Leaching with 2M sulfuric acid with the addition of 5% H(2)O(2) (v/v) at a pulp density of 100 g/L and 75°C resulted in the recovery of 99.1% lithium and 70.0% cobalt in 60 min. H(2)O(2) in sulfuric acid solution acts as an effective reducing agent, which enhance the percentage leaching of metals. Leaching kinetics of lithium in sulfuric acid fitted well to the chemical controlled reaction model i.e. 1-(1-X)(1/3)=k(c)t. Leaching kinetics of cobalt fitted well to the model 'ash diffusion control dense constant sizes spherical particles' i.e. 1-3(1-X)(2/3)+2(1-X)=k(c)t. Metals could subsequently be separated selectively from the leach liquor by solvent extraction process to produce their salts by crystallization process from the purified solution. Copyright © 2013 Elsevier Ltd. All rights reserved.

  18. Mobile unit for enclosing hot solid waste in a metal matrix

    International Nuclear Information System (INIS)

    Sobolev, I.A.; Arustamov, A.E.; Shiryaev, V.V.; Ozhovan, M.I.; Semenov, K.N.; Kachalov, M.B.

    1993-01-01

    After termination of their service life, the sources of ionizing radiation are transported to special burial points of radioactive waste in pitlike repositories near the surface. The repositories are cylindrical 200-litter cavities of stainless steel and are situated at a depth of 6 m in a concrete pit. The pit is concrete enveloped. The spent sources enter the cavity via a curve loading a tube. Water was observed in repositories of this type; in a powerful radiation field (with up to 10 4 R/sec), water accelerates the corrosion of the shells of the sources and liberates radiolytic hydrogen. In order to obtain reliable isolation of the sources, a new technique of enclosing the sources in a metal matrix of low-melting metals (layer-by-layer and directly in the repository) has been used since 1986 in the Moscow Scientific Planning Department 'Radon'. This makes it possible to preserve the traditional burial of spent sources and, in addition, to use the radiation shielding of the repository proper. Investigations have shown that this technique is very reliable: There are no radiolytic gases, the radiation field and the temperature field in the repository are substantially reduced, and therefore the volume of the repositories is increased by a factor of 5-6. The total activity of the spent sources enclosed in a metal matrix in accordance with this technique amounted to about 500,000 Ci in test units and semi-industrial units

  19. Wastes

    International Nuclear Information System (INIS)

    Bovard, Pierre

    The origin of the wastes (power stations, reprocessing, fission products) is determined and the control ensuring the innocuity with respect to man, public acceptance, availability, economics and cost are examined [fr

  20. nanos-Driven expression of piggyBac transposase induces mobilization of a synthetic autonomous transposon in the malaria vector mosquito, Anopheles stephensi.

    Science.gov (United States)

    Macias, Vanessa M; Jimenez, Alyssa J; Burini-Kojin, Bianca; Pledger, David; Jasinskiene, Nijole; Phong, Celine Hien; Chu, Karen; Fazekas, Aniko; Martin, Kelcie; Marinotti, Osvaldo; James, Anthony A

    2017-08-01

    Transposons are a class of selfish DNA elements that can mobilize within a genome. If mobilization is accompanied by an increase in copy number (replicative transposition), the transposon may sweep through a population until it is fixed in all of its interbreeding members. This introgression has been proposed as the basis for drive systems to move genes with desirable phenotypes into target species. One such application would be to use them to move a gene conferring resistance to malaria parasites throughout a population of vector mosquitos. We assessed the feasibility of using the piggyBac transposon as a gene-drive mechanism to distribute anti-malarial transgenes in populations of the malaria vector, Anopheles stephensi. We designed synthetic gene constructs that express the piggyBac transposase in the female germline using the control DNA of the An. stephensi nanos orthologous gene linked to marker genes to monitor inheritance. Two remobilization events were observed with a frequency of one every 23 generations, a rate far below what would be useful to drive anti-pathogen transgenes into wild mosquito populations. We discuss the possibility of optimizing this system and the impetus to do so. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

    Xiu, Fu-Rong, E-mail: xiu_chem@hotmail.com [College of Ecological Environment and Urban Construction, Fujian University of Technology, Fuzhou 350108 (China); Qi, Yingying [College of Ecological Environment and Urban Construction, Fujian University of Technology, Fuzhou 350108 (China); Zhang, Fu-Shen [Research Center for Eco-Environmental Sciences, Chinese Academy of Sciences, Beijing 100085 (China)

    2015-07-15

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

  3. Effect of dissolved organic matter derived from waste amendments on the mobility of inorganic arsenic (III) in the Egyptian alluvial soil

    Energy Technology Data Exchange (ETDEWEB)

    Rashad, Mohamed [Land and Water Technologies Department, Arid Lands Cultivation Research Institute, City of Scientific Research and Technological Applications (SRTA-City), New Borg El-Arab, 21934 Alexandria (Egypt); Assaad, Faiz F. [Soils and Water Use Department, National Research Centre, Dokki, Cairo (Egypt); Shalaby, Elsayed A. [Environmental Studies Department, Institute of Graduate Studies and Research, Alexandria University (Egypt)

    2013-07-01

    Dissolved organic matter (DOM) is one of the decisive factors affecting pollutants mobility in soils receiving waste amendments. The aim of this study was to investigate the effects of DOM1 derived from agricultural solid waste (ASW) and DOM2 derived from municipal solid waste (MSW) on the mobility of inorganic arsenic (As) in two alluvial soils from the Nile River Delta. In column experiments, addition of DOM solutions significantly increased As concentration in the effluents. There was no significant difference between the two soils, the obtained results from soil2 columns revealed that DOM2 has stronger capability than DOM1 to facilitate As mobility. The pH of the studied soils is alkaline (8.1) which promoted the dissociation as well as deprotonation of DOM and as a consequence, humic substances in DOM become negatively charged organic anions, leading to their substantial competition with As for the adsorption sites on both soil surfaces. The results emphasized that in alkaline soils there is a risk of groundwater pollution in the long run by arsenic either naturally found in soil or originated at high soil pH when dissolved organic carbon (DOC) released from various organic amendments ASW and/or MSW and leached through soil profile.

  4. Efficient and compact mobile equipment based on the new RADEON-NWM technology to process liquid radioactive wastes resulted from the accidents of the nuclear installations

    International Nuclear Information System (INIS)

    Martoyan, Gagik; Nalbandyan, Garik; Gagiyan, Lavrenti; Karamyan, Gagik; Brutyan, Gagik

    2013-01-01

    During the operation of nuclear reactors important volume of liquid and solid radioactive wastes are generated, which, in normal conditions, becomes processed by stationary equipment by different methods to minimize their volume and then sent to specially constructed storages. The cases of accidents of Chernobyl and Fukushima showed that the localization of rejected big quantity of radioactive wastes is a prior problem for their further processing by stationary equipment. In this regard it is very important the processing of radioactive wastes on the contaminated areas to localize them by mobile equipment based on the efficient technologies. RADEONNWM new technology allows resolving this problem. This technology is compact, completely automated, which makes possible to assemble it on a standard 40-ft by 7-ft trailer driven by heavy-duty truck. The new technology is fully elaborated, the necessary tests are conducted. (authors)

  5. Eficiencia de la estrategia de gestión y localización de los residuos de la Comunidad de Madrid / Efficiency of management strategy and location of Madrid Autonomous Region waste

    Directory of Open Access Journals (Sweden)

    Clara Martínez Miguel

    2012-09-01

    Full Text Available ResumenUno de los principales problemas asociado a nuestro modelo de desarrollo y a nuestras pautas de consumo es la generación de grandes cantidades de residuos. Éstos se están convirtiendo en un grave problema por ser uno de los factores principales que condiciona y determina la calidad ambiental de nuestras ciudades y su entorno. Además, el consumo de suelo que genera su eliminación es un hecho constante cuyo mantenimiento resulta complicado en territorios densamente poblados como la Comunidad de Madrid. La ausencia de una preocupación real y activa por parte de los instrumentos urbanísticos es el hecho que fomenta el desarrollo de esta investigación. El almacenamiento en vertedero como método de gestión de los residuos domésticos y similares debe ser cuestionado y estudiado. En este texto se muestran los problemas económicos, ambientales y de gestión que puede provocar una red de infraestructuras de residuos domésticos poco eficiente. La heterogeneidad entre las distintas áreas de gestión y sus vertederos es la clave de la presente investigación. Palabras claveVertederos, residuos domésticos, gestión y localización, carga de un vertedero, movimientos de residuos, Plan General de Ordenación Urbana.AbstractOne of the major problems associated with our development and consumption model is to generate lots of waste. These ones are becoming a serious problem as one of the main factors that influences and determines the environmental quality of our cities and their surroundings. In addition, thisdispose of waste generates a big consumption of land which its keeping up is very difficult in densely populated areas as the Madrid Autonomous Region. The absence of a real and active concern by planning instruments is the fact that encourages the development of this research. The domestic waste storage in dumps must be questioned and studied. This text tries to show the economic, environmental and management problems that can be

  6. Simple autonomous Mars walker

    Science.gov (United States)

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

    1989-01-01

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

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

    Science.gov (United States)

    Hanc, Ales; Szakova, Jirina; Ochecova, Pavla

    2014-09-01

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

  8. Robotics for waste storage inspection: A user's perspective

    International Nuclear Information System (INIS)

    Hazen, F.B.

    1994-01-01

    Self-navigating robotic vehicles are now commercially available, and the technology supporting other important system components has also matured. Higher reliability and the obtainability of system support now make it practical to consider robotics as a way of addressing the growing operational requirement for the periodic inspection and maintenance of radioactive, hazardous, and mixed waste inventories. This paper describes preparations for the first field deployment of an autonomous container inspection robot at a Department of Energy (DOE) site. The Stored Waste Autonomous Mobile Inspector (SWAMI) is presently being completed by engineers at the Savannah River Technology Center (SRTC). It is a modified version of a commercially available robot. It has been outfitted with sensor suites and cognition that allow it to perform inspections of drum inventories and their storage facilities

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

    Science.gov (United States)

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

    2018-02-20

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

  10. Mobilities Mobilities

    Directory of Open Access Journals (Sweden)

    César Pompeyo

    2011-12-01

    Full Text Available Urry, John (2007 Mobilities.Oxford: Polity Press.Urry, John (2007 Mobilities.Oxford: Polity Press.John Urry (1946-, profesor en la Universidad de Lancaster, es un sociólogo de sobra conocido y altamente reputado en el panorama internacional de las ciencias sociales. Su dilatada carrera, aparentemente dispersa y diversificada, ha seguido senderos bastante bien definidos dejando tras de sí un catálogo extenso de obras sociológicas de primer nivel. Sus primeros trabajos se centraban en el campo de la teoría social y la filosofía de las ciencias sociales o de la sociología del poder [...

  11. Autonomic Nervous System Disorders

    Science.gov (United States)

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  12. Metal mobility assessment for the application of an urban organic waste amendment in two degraded semiarid soils

    NARCIS (Netherlands)

    Párraga-Aguado, Isabel; Álvarez-Rogel, José; González-Alcaraz, María Nazaret; Conesa, Héctor M.

    2017-01-01

    Urban organic waste materials may find a potential use as amendments in agricultural or environmental fields. However, before being applied in field practices, urban organic wastes must meet some environmental and legal requirements. The objective of this work was to assess the metal (Cd, Cu, Mn, Pb

  13. Structured control for autonomous robots

    International Nuclear Information System (INIS)

    Simmons, R.G.

    1994-01-01

    To operate in rich, dynamic environments, autonomous robots must be able to effectively utilize and coordinate their limited physical and occupational resources. As complexity increases, it becomes necessary to impose explicit constraints on the control of planning, perception, and action to ensure that unwanted interactions between behaviors do not occur. This paper advocates developing complex robot systems by layering reactive behaviors onto deliberative components. In this structured control approach, the deliberative components handle normal situations and the reactive behaviors, which are explicitly constrained as to when and how they are activated, handle exceptional situations. The Task Control Architecture (TCA) has been developed to support this approach. TCA provides an integrated set of control constructs useful for implementing deliberative and reactive behaviors. The control constructs facilitate modular and evolutionary system development: they are used to integrate and coordinate planning, perception, and execution, and to incrementally improve the efficiency and robustness of the robot systems. To date, TCA has been used in implementing a half-dozen mobile robot systems, including an autonomous six-legged rover and indoor mobile manipulator

  14. Robots Social Embodiment in Autonomous Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Brian Duffy

    2008-11-01

    Full Text Available This work aims at demonstrating the inherent advantages of embracing a strong notion of social embodiment in designing a real-world robot control architecture with explicit ?intelligent? social behaviour between a collective of robots. It develops the current thinking on embodiment beyond the physical by demonstrating the importance of social embodiment. A social framework develops the fundamental social attributes found when more than one robot co-inhabit a physical space. The social metaphors of identity, character, stereotypes and roles are presented and implemented within a real-world social robot paradigm in order to facilitate the realisation of explicit social goals.

  15. JOMAR: Joint Operations with Mobile Autonomous Robots

    Science.gov (United States)

    2015-12-21

    computation time. Run times were computed using the Java -based april.graph library, which is slower than g2o, but exhibits the same scaling behavior as other...Kannala and Brandt [10], which also includes tangential distortion. The details of this angular polynomial model are shown in Equations 3-8, where X...the linear model in Eqn. 12. IV. IMPLEMENTATION AprilCal is implemented in Java and runs at 25 FPS with 640 × 480 images on a quad-core Intel i7

  16. Autonomous Learning in Mobile Cognitive Machines

    Science.gov (United States)

    2017-11-25

    services to the customers in dynamic environments such as houses, restaurants , hotels and even airports has been a challenging goal for researchers in...Social Standard Platform League (SSPL) Test 2 Result Team Stage 1 Open Challenge Tour Guide Restaurant EE-GPSR Total Rank AUPAIR 245.00 178.47 95

  17. Autonomous Visual Control of a Mobile Robot

    National Research Council Canada - National Science Library

    Blackburn, Michael

    1994-01-01

    .... We propose that efficient and extensible solutions to the target acquisition and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed...

  18. Vision-based autonomous grasping of unknown piled objects

    International Nuclear Information System (INIS)

    Johnson, R.K.

    1994-01-01

    Computer vision techniques have been used to develop a vision-based grasping capability for autonomously picking and placing unknown piled objects. This work is currently being applied to the problem of hazardous waste sorting in support of the Department of Energy's Mixed Waste Operations Program

  19. Testing for autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1984-01-01

    Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course of the di......Autonomic neuropathy is a common complication in long-term diabetes, about 30% of the patients showing measurable signs of autonomic dysfunction after 10 years duration of disease. The diagnosis is often difficult to establish because clinical symptoms generally occur late in the course...

  20. Autonomous driving technical, legal and social aspects

    CERN Document Server

    Gerdes, J; Lenz, Barbara; Winner, Hermann

    2016-01-01

    This book takes a look at fully automated, autonomous vehicles and discusses many open questions: How can autonomous vehicles be integrated into the current transportation system with diverse users and human drivers? Where do automated vehicles fall under current legal frameworks? What risks are associated with automation and how will society respond to these risks? How will the marketplace react to automated vehicles and what changes may be necessary for companies? Experts from Germany and the United States define key societal, engineering, and mobility issues related to the automation of vehicles. They discuss the decisions programmers of automated vehicles must make to enable vehicles to perceive their environment, interact with other road users, and choose actions that may have ethical consequences. The authors further identify expectations and concerns that will form the basis for individual and societal acceptance of autonomous driving. While the safety benefits of such vehicles are tremendous, the auth...

  1. Control of autonomous robot using neural networks

    Science.gov (United States)

    Barton, Adam; Volna, Eva

    2017-07-01

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

  2. MicroMAIS : executing and orchestrating Web services on constrained mobile devices

    NARCIS (Netherlands)

    Plebani, P.; Cappiello, C.; Comuzzi, M.; Pernici, B.; Yadav, S.

    2012-01-01

    Mobile devices with their more and more powerful resources allow the development of mobile information systems in which services are not only provided by traditional systems but also autonomously executed and controlled in the mobile devices themselves. Services distributed on autonomous mobile

  3. Semi-Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — VisionThe Semi-Autonomous Systems Lab focuses on developing a comprehensive framework for semi-autonomous coordination of networked robotic systems. Semi-autonomous...

  4. Genetic autonomic disorders.

    Science.gov (United States)

    Axelrod, Felicia B

    2013-03-01

    Genetic disorders affecting the autonomic nervous system can result in abnormal development of the nervous system or they can be caused by neurotransmitter imbalance, an ion-channel disturbance or by storage of deleterious material. The symptoms indicating autonomic dysfunction, however, will depend upon whether the genetic lesion has disrupted peripheral or central autonomic centers or both. Because the autonomic nervous system is pervasive and affects every organ system in the body, autonomic dysfunction will result in impaired homeostasis and symptoms will vary. The possibility of genetic confirmation by molecular testing for specific diagnosis is increasing but treatments tend to remain only supportive and directed toward particular symptoms. Copyright © 2013 Elsevier Inc. All rights reserved.

  5. An architecture for an autonomous learning robot

    Science.gov (United States)

    Tillotson, Brian

    1988-01-01

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

  6. Crowdsourced Quantification and Visualization of Urban Mobility Space Inequality

    Directory of Open Access Journals (Sweden)

    Michael Szell

    2018-03-01

    Full Text Available Most cities are car-centric, allocating a privileged amount of urban space to cars at the expense of sustainable mobility like cycling. Simultaneously, privately owned vehicles are vastly underused, wasting valuable opportunities for accommodating more people in a livable urban environment by occupying spacious parking areas. Since a data-driven quantification and visualization of such urban mobility space inequality is lacking, here we explore how crowdsourced data can help to advance its understanding. In particular, we describe how the open-source online platform What the Street!? uses massive user-generated data from OpenStreetMap for the interactive exploration of city-wide mobility spaces. Using polygon packing and graph algorithms, the platform rearranges all parking and mobility spaces of cars, rails, and bicycles of a city to be directly comparable, making mobility space inequality accessible to a broad public. This crowdsourced method confirms a prevalent imbalance between modal share and space allocation in 23 cities worldwide, typically discriminating bicycles. Analyzing the guesses of the platform’s visitors about mobility space distributions, we find that this discrimination is consistently underestimated in the public opinion. Finally, we discuss a visualized scenario in which extensive parking areas are regained through fleets of shared, autonomous vehicles. We outline how such accessible visualization platforms can facilitate urban planners and policy makers to reclaim road and parking space for pushing forward sustainable transport solutions.

  7. 12th International Conference on Intelligent Autonomous Systems (IAS-12)

    CERN Document Server

    Yoon, Kwang-Joon; Lee, Jangmyung; Frontiers of Intelligent Autonomous Systems

    2013-01-01

    This carefully edited volume aims at providing readers with the most recent progress on intelligent autonomous systems, with its particular emphasis on intelligent autonomous ground, aerial and underwater vehicles as well as service robots for home and healthcare under the context of the aforementioned convergence. “Frontiers of Intelligent Autonomous Systems” includes thoroughly revised and extended papers selected from the 12th International Conference on Intelligent Autonomous Systems (IAS-12), held in Jeju, Korea, June 26-29, 2012. The editors chose 35 papers out of the 202 papers presented at IAS-12 which are organized into three chapters: Chapter 1 is dedicated to autonomous navigation and mobile manipulation, Chapter 2 to unmanned aerial and underwater vehicles and Chapter 3 to service robots for home and healthcare. To help the readers to easily access this volume, each chapter starts with a chapter summary introduced by one of the editors: Chapter 1 by Sukhan Lee, Chapter 2 by Kwang Joon Yoon and...

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

    Science.gov (United States)

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

  9. From Autonomous Robots to Artificial Ecosystems

    Science.gov (United States)

    Mastrogiovanni, Fulvio; Sgorbissa, Antonio; Zaccaria, Renato

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

  10. ELABORATION OF NOT LARGE MOBILE MODULAR INSTALLATION ''AQUA - EXPRESS'' (300 L/H) FOR LRW CLEANING

    International Nuclear Information System (INIS)

    Karlin, Yurii; Dmitriev, Sergey; Iljin, Vadim; Ojovan, Mihail; Burcl, Rudolf

    2003-01-01

    Mobile modular installation ''Aqua-Express'' is a liquid low level and intermediate level radioactive waste (LL and ILRW) treatment facility, intended for not large research centers and other organizations, which activity causes the formation of a few quantity (up to 500 m3/year) of low and intermediate level radioactive waste water. Mobile modular installation ''Aqua-Express'' has the following features: (1) filtration, sorption and ultrafiltration units are used for LL and ILRW purification; (2) installation ''Aqua-Express'' consists of a cascade of three autonomous aqueous liquid waste-purifying installations; (3) installation ''Aqua-Express'' is a mobile installation; the installation can be transported by car, train, ship, or plane, as well as placed in a standard transport (sea or railway) container; (4) installation ''Aqua-Express'' does not includes any technological equipment for conditioning the secondary radioactive waste. Productivity of the installation ''Aqua-Express'' by purified water depends on composition of the initial liquid waste and makes up to 300 l/h. In present report is described the design of installation ''Aqua-Express'', theory of LRW purification in the installation ''Aqua-Express'' and some results of its use at cleaning real radioactive waters at State unitary enterprise - MosNPO ''Radon''

  11. Security Infrastructure and Applicationsfor Mobile Agents

    OpenAIRE

    Shibli, Awais

    2010-01-01

    Research areas of this dissertation are security for mobile agents, for applications based on mobile agents, and for distributed network environments in which mobile agents execute. Mobile agents paradigm has captured researchers’ and industry’s interests long time ago because of its innovative capabilities and attractive applications. The ability of mobile agents to autonomously migrate from host to host, transferring their code and internal state, enables them to accomplish tasks in network...

  12. Mobile systems capability plan

    International Nuclear Information System (INIS)

    1996-09-01

    This plan was prepared to initiate contracting for and deployment of these mobile system services. 102,000 cubic meters of retrievable, contact-handled TRU waste are stored at many sites around the country. Also, an estimated 38,000 cubic meters of TRU waste will be generated in the course of waste inventory workoff and continuing DOE operations. All the defense TRU waste is destined for disposal in WIPP near Carlsbad NM. To ship TRU waste there, sites must first certify that the waste meets WIPP waste acceptance criteria. The waste must be characterized, and if not acceptable, subjected to additional processing, including repackaging. Most sites plan to use existing fixed facilities or open new ones between FY1997-2006 to perform these functions; small-quantity sites lack this capability. An alternative to fixed facilities is the use of mobile systems mounted in trailers or skids, and transported to sites. Mobile systems will be used for all characterization and certification at small sites; large sites can also use them. The Carlsbad Area Office plans to pursue a strategy of privatization of mobile system services, since this offers a number of advantages. To indicate the possible magnitude of the costs of deploying mobile systems, preliminary estimates of equipment, maintenance, and operating costs over a 10-year period were prepared and options for purchase, lease, and privatization through fixed-price contracts considered

  13. Mobile Agents in Networking and Distributed Computing

    CERN Document Server

    Cao, Jiannong

    2012-01-01

    The book focuses on mobile agents, which are computer programs that can autonomously migrate between network sites. This text introduces the concepts and principles of mobile agents, provides an overview of mobile agent technology, and focuses on applications in networking and distributed computing.

  14. Research Program to Determine Redox Reactions and Their Effects on Speciation and Mobility of Plutonium in DOE Wastes

    Energy Technology Data Exchange (ETDEWEB)

    Choppin, G.R.; Rai, D.

    2000-10-01

    Plutonium in geologic matrices undergoes a variety of complex reactions which complicate its environmental behavior. These complexities in plutonium chemistry whereby a large variety of precipitation, dissolution, adsorption/desorption, and redox reactions control plutonium speciation and concentrations, result in the need for a rather large amount of reliable, fundamental data to predict Pu behavior in geologic media. These data are also needed for evaluation of remediation strategies that involve removing most of the contaminants by selective methods, followed by in situ immobilization of residual contaminants. Two areas were studied during this project: (1) thermodynamic data for Th(IV) and Pu(IV) complexes of EDTA and for Pu(V) interactions with chloride; (2) kinetic data for redox reactions of Pu in the presence of common redox agents (e.g., H{sub 2}O{sub 2}, MnO{sub 2}, and NaOCl) encountered under waste disposal conditions. These studies are relevant to understanding Pu behavior in wastes disposed of in diverse geologic conditions (e.g., at the WIPP and YUCCA Mountain repositories and in contaminated sediments at many different DOE sites) and also for developing effective remediation strategies (e.g., processing of high level waste tanks). These studies have yielded data to address redox reactions of plutonium in the presence of environmentally important agents (e.g. organic and inorganic oxidants/reductants).

  15. Research Program to Determine Redox Reactions and Their Effects on Speciation and Mobility of Plutonium in DOE Wastes

    International Nuclear Information System (INIS)

    Choppin, G.R.; Rai, D.

    2000-01-01

    Plutonium in geologic matrices undergoes a variety of complex reactions which complicate its environmental behavior. These complexities in plutonium chemistry whereby a large variety of precipitation, dissolution, adsorption/desorption, and redox reactions control plutonium speciation and concentrations, result in the need for a rather large amount of reliable, fundamental data to predict Pu behavior in geologic media. These data are also needed for evaluation of remediation strategies that involve removing most of the contaminants by selective methods, followed by in situ immobilization of residual contaminants. Two areas were studied during this project: (1) thermodynamic data for Th(IV) and Pu(IV) complexes of EDTA and for Pu(V) interactions with chloride; (2) kinetic data for redox reactions of Pu in the presence of common redox agents (e.g., H 2 O 2 , MnO 2 , and NaOCl) encountered under waste disposal conditions. These studies are relevant to understanding Pu behavior in wastes disposed of in diverse geologic conditions (e.g., at the WIPP and YUCCA Mountain repositories and in contaminated sediments at many different DOE sites) and also for developing effective remediation strategies (e.g., processing of high level waste tanks). These studies have yielded data to address redox reactions of plutonium in the presence of environmentally important agents (e.g. organic and inorganic oxidants/reductants)

  16. Autonomous Propellant Loading Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Propellant Loading (APL) project consists of three activities. The first is to develop software that will automatically control loading of...

  17. Autonomous Systems and Operations

    Data.gov (United States)

    National Aeronautics and Space Administration — The AES Autonomous Systems and Operations (ASO) project will develop an understanding of the impacts of increasing communication time delays on mission operations,...

  18. Autonomous Star Tracker Algorithms

    DEFF Research Database (Denmark)

    Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren

    1998-01-01

    Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

  19. Mobile inspection and repackaging unit

    International Nuclear Information System (INIS)

    Whitney, G.A.; Roberts, R.J.

    1992-12-01

    Storage of large volumes of radioactive mixed waste (RMW) and transuranic waste generated over the past 20 years at the Hanford Site has resulted in various waste management challenges. Presently disposal capacity for this waste type does not exist. The waste wail be stored until processing facilities can be completed to provide treatment and final disposed. Because of the complexity of these wastes, special projects have been initiated to properly manage them. This paper addresses one such project. The goal of this project is to develop a mobile solid waste inspection and repackaging facility for solid RMW and transuranic waste

  20. Waste management: products and services

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    A number of products and services related to radioactive waste management are described. These include: a portable cement solidification system for waste immobilization; spent fuel storage racks; storage and transport flasks; an on-site low-level waste storage facility; supercompactors; a mobile waste retrieval and encapsulation plant; underwater crushers; fuel assembly disposal; gaseous waste management; environmental restoration and waste management services; a waste treatment consultancy. (UK)

  1. Assessment of Collective Production of Biomethane from Livestock Waste for Urban Transportation Mobility in Brazil and the United States

    Directory of Open Access Journals (Sweden)

    Janaina Camile Pasqual

    2018-04-01

    Full Text Available Water, energy, and food are essential elements for human life, but face constant pressure resulting from economic development, climate change, and other global processes. Predictions of rapid economic growth, increasing population, and urbanization in the coming decades point to rapidly increasing demand for all three. In this context, improved management of the interactions among water, energy, and food requires an integrated “nexus” approach. This paper focuses on a specific nexus case: biogas generated from organic waste, a renewable source of energy created in livestock production, which can have water-quality impacts if waste enters water bodies. An innovative model is presented to make biogas and biomethane systems feasible, termed “biogas condominiums” (based on collective action given that small- and medium-scale farms on their own cannot afford the necessary investments. Based on the “farm to fuel” concept, animal waste and manure are converted into electrical and thermal energy, biofuel for transportation, and high-quality biofertilizer. This nexus approach provides multiple economic, environmental, and social benefits in both rural and urban areas, including reduction of ground and surface water pollution, decrease of fossil fuels dependence, and mitigation of greenhouse gases emissions, among others. The research finds that biogas condominiums create benefits for the whole biogas supply chain, which includes farmers, agroindustry, input providers, and local communities. The study estimated that biomethane potential in Brazil could substitute the country’s entire diesel and gasoline imports as well as 44% of the total diesel demand. In the United States, biomethane potential can meet 16% of diesel demand and significantly diversify the energy matrix.

  2. Autonomic cardiac innervation

    Science.gov (United States)

    Hasan, Wohaib

    2013-01-01

    Autonomic cardiac neurons have a common origin in the neural crest but undergo distinct developmental differentiation as they mature toward their adult phenotype. Progenitor cells respond to repulsive cues during migration, followed by differentiation cues from paracrine sources that promote neurochemistry and differentiation. When autonomic axons start to innervate cardiac tissue, neurotrophic factors from vascular tissue are essential for maintenance of neurons before they reach their targets, upon which target-derived trophic factors take over final maturation, synaptic strength and postnatal survival. Although target-derived neurotrophins have a central role to play in development, alternative sources of neurotrophins may also modulate innervation. Both developing and adult sympathetic neurons express proNGF, and adult parasympathetic cardiac ganglion neurons also synthesize and release NGF. The physiological function of these “non-classical” cardiac sources of neurotrophins remains to be determined, especially in relation to autocrine/paracrine sustenance during development.   Cardiac autonomic nerves are closely spatially associated in cardiac plexuses, ganglia and pacemaker regions and so are sensitive to release of neurotransmitter, neuropeptides and trophic factors from adjacent nerves. As such, in many cardiac pathologies, it is an imbalance within the two arms of the autonomic system that is critical for disease progression. Although this crosstalk between sympathetic and parasympathetic nerves has been well established for adult nerves, it is unclear whether a degree of paracrine regulation occurs across the autonomic limbs during development. Aberrant nerve remodeling is a common occurrence in many adult cardiovascular pathologies, and the mechanisms regulating outgrowth or denervation are disparate. However, autonomic neurons display considerable plasticity in this regard with neurotrophins and inflammatory cytokines having a central regulatory

  3. Adaptive Behavior for Mobile Robots

    Science.gov (United States)

    Huntsberger, Terrance

    2009-01-01

    The term "System for Mobility and Access to Rough Terrain" (SMART) denotes a theoretical framework, a control architecture, and an algorithm that implements the framework and architecture, for enabling a land-mobile robot to adapt to changing conditions. SMART is intended to enable the robot to recognize adverse terrain conditions beyond its optimal operational envelope, and, in response, to intelligently reconfigure itself (e.g., adjust suspension heights or baseline distances between suspension points) or adapt its driving techniques (e.g., engage in a crabbing motion as a switchback technique for ascending steep terrain). Conceived for original application aboard Mars rovers and similar autonomous or semi-autonomous mobile robots used in exploration of remote planets, SMART could also be applied to autonomous terrestrial vehicles to be used for search, rescue, and/or exploration on rough terrain.

  4. Autonomous biomorphic robots as platforms for sensors

    Energy Technology Data Exchange (ETDEWEB)

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

    1996-10-01

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

  5. Autonomous biomorphic robots as platforms for sensors

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  6. Mobile agents basic concepts, mobility models, and the tracy toolkit

    CERN Document Server

    Braun, Peter

    2005-01-01

    Mobile agents are software nomads that act as your personal representative, working autonomously through networks. They are able to visit network nodes directly using available computing power and are not limited by platform. This emerging field is now poised to become a cornerstone for new Web-based ubiquitous computing environments. Mobile Agents provides a practical introduction to mobile agent technology and surveys the state of the art in mobile agent research. Students and researchers can use the book as an introduction to the concepts and possibilities of this field and as an overview of ongoing research. Developers can use it to identify the capabilities of the technology to decide if mobile agents are the right solution for them. Practioners can also gain hands-on experience in programming mobile agents through exploration of the source code for a complete mobile agent environment available through the companion website.*Summarizes the state of the art in mobile agent research*Identifies the benefits...

  7. Distributed Hardware-in-the-loop simulator for autonomous continuous dynamical systems with spatially constrained interactions

    NARCIS (Netherlands)

    Verburg, D.J.; Papp, Z.; Dorrepaal, M.

    2003-01-01

    The state-of-the-art intelligent vehicle, autonomous guided vehicle and mobile robotics application domains can be described as collection of interacting highly autonomous complex dynamical systems. Extensive formal analysis of these systems – except special cases – is not feasible, consequently the

  8. Effect of organic complexants on the mobility of low-level waste radionuclides in soils: status report

    International Nuclear Information System (INIS)

    Swanson, J.L.

    1981-09-01

    The effects of some organic complexants on the sorption by soil of some elements typical of those present in low-level wastes are being evaluated and procedures are being developed to efficiently obtain valid sorption data. Data have been obtained with Hanford soil and the elements europium, nickel, cobalt, cesium, and strontium. Complexants studied to date include ethylenediaminetetraacetic acid (EDTA), diethylenetriaminepentaacetic acid (DTPA), and humic acid. The sorption of cesium and strontium has been found to be affected very little by EDTA or DTPA, as expected. However, these complexants have been found to greatly reduce the sorption of europium, nickel, or cobalt by the soil. The Eu/EDTA system was found to be well behaved, and the effect of the complexant on the sorption by soil was quantified. With nickel and cobalt, however, kinetic problems have been encountered, and the effects of complexants on the sorption by soil have not yet been quantified. The problems encountered in the nickel and cobalt systems have further emphasized the need for the development of methods to assure the general validity of the data obtained in the experiments. Series of experimental results that looked very good within themselves were found by additional procedures to be artifacts of the conditions used. One procedure that has been of great value in identifying invalid data is that of contacting the equilibrated solution from a soil contact with a second batch of soil. Unless the sorption coefficient in the second contact is equivalent to that in the first contact, the data are likely invalid. Efforts are continuing to develop procedures that will allow generally valid data to be obtained in an efficient manner and to employ such procedures to obtain data in a variety of systems pertinent to low-level waste disposal

  9. Characterization of Halomonas sp. ZM3 isolated from the Zelazny Most post-flotation waste reservoir, with a special focus on its mobile DNA.

    Science.gov (United States)

    Dziewit, Lukasz; Pyzik, Adam; Matlakowska, Renata; Baj, Jadwiga; Szuplewska, Magdalena; Bartosik, Dariusz

    2013-03-14

    Halomonas sp. ZM3 was isolated from Zelazny Most post-flotation mineral waste repository (Poland), which is highly contaminated with heavy metals and various organic compounds. Mobile DNA of the strain (i.e. plasmids and transposons) were analyzed in order to identify genetic information enabling adaptation of the bacterium to the harsh environmental conditions. The analysis revealed that ZM3 carries plasmid pZM3H1 (31,370 bp), whose replication system may be considered as an archetype of a novel subgroup of IncU-like replicons. pZM3H1 is a narrow host range, mobilizable plasmid (encodes a relaxase of the MOBV family) containing mercury resistance operon (mer) and czcD genes (mediate resistance to zinc and cobalt), which are part of a large truncated Tn3 family transposon. Further analysis demonstrated that the phenotypes determined by the pZM3H1 resistance cassette are highly dependent on the host strain. In another strand of the study, the trap plasmid pMAT1 was employed to identify functional transposable elements of Halomonas sp. ZM3. Using the sacB positive selection strategy two insertion sequences were identified: ISHsp1 - representing IS5 group of IS5 family and ISHsp2 - a distinct member of the IS630 family. This study provides the first detailed description of mobile DNA in a member of the family Halomonadaceae. The identified IncU plasmid pZM3H1 confers resistance phenotypes enabling adaptation of the host strain to the Zelazny Most environment. The extended comparative analysis has shed light on the distribution of related IncU plasmids among bacteria, which, in many cases, reflects the frequency and direction of horizontal gene transfer events. Our results also identify plasmid-encoded modules, which may form the basis of novel shuttle vectors, specific for this group of halophilic bacteria.

  10. Effect of citric acid on metals mobility in pruning wastes and biosolids compost and metals uptake in Atriplex halimus and Rosmarinus officinalis.

    Science.gov (United States)

    Tapia, Y; Eymar, E; Gárate, A; Masaguer, A

    2013-05-01

    To assess metal mobility in pruning waste and biosolids compost (pH 6.9 and total concentration of metals in milligram per kilogram of Cd 1.9, Cu 132, Fe 8,513, Mn 192, Pb 81, and Zn 313), shrubs species Atriplex halimus and Rosmarinus officinalis were transplanted in this substrate and irrigated with citric acid (4 g L(-1), pH 2.9) and nutrient solution daily for 60 days. Citric acid significantly increased the concentrations of soluble Mn and Fe in the nutrient substrate solution measured by suction probes, while other metals did not vary in concentration (Cu and Zn) or were not observed at detectable levels (Cd and Pb). In plants, citric acid significantly increased the concentrations of Cu (2.7 ± 0.1-3.3 ± 0.1 mg kg(-1)), Fe (49.2 ± 5.2-76.8 ± 6.8 mg kg(-1)), and Mn (7.2 ± 1.1-11.4 ± 0.7 mg kg(-1)) in leaves of R. officinalis, whereas the concentration of only Mn (25.4 ± 0.3-42.2 ± 2.9 mg kg(-1)) was increased in A. halimus. Increasing Fe and Mn solubility by citric acid addition indicates the possibility of using it to improve plant nutrition. The mobility of metals in this substrate was influenced for the concentration of the metal, the degree of humification of organic matter and its high Fe content.

  11. 13th International Conference Intelligent Autonomous Systems

    CERN Document Server

    Michael, Nathan; Berns, Karsten; Yamaguchi, Hiroaki

    2016-01-01

    This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences ...

  12. Wavefront Propagation and Fuzzy Based Autonomous Navigation

    Directory of Open Access Journals (Sweden)

    Adel Al-Jumaily

    2005-06-01

    Full Text Available Path planning and obstacle avoidance are the two major issues in any navigation system. Wavefront propagation algorithm, as a good path planner, can be used to determine an optimal path. Obstacle avoidance can be achieved using possibility theory. Combining these two functions enable a robot to autonomously navigate to its destination. This paper presents the approach and results in implementing an autonomous navigation system for an indoor mobile robot. The system developed is based on a laser sensor used to retrieve data to update a two dimensional world model of therobot environment. Waypoints in the path are incorporated into the obstacle avoidance. Features such as ageing of objects and smooth motion planning are implemented to enhance efficiency and also to cater for dynamic environments.

  13. Efforts toward an autonomous wheelchair - biomed 2011.

    Science.gov (United States)

    Barrett, Steven; Streeter, Robert

    2011-01-01

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

  14. Occurrence of antibiotic resistance genes and mobile genetic elements in enterococci and genomic DNA during anaerobic digestion of pharmaceutical waste sludge with different pretreatments.

    Science.gov (United States)

    Tong, Juan; Lu, XueTing; Zhang, JunYa; Sui, Qianwen; Wang, Rui; Chen, Meixue; Wei, Yuansong

    2017-07-01

    Pharmaceutical waste sludge harbors large amounts of antibiotic resistance genes (ARGs) and mobile genetic elements (MGEs), and it is necessary to study the reduction of ARGs and MGEs during sludge treatment. Therefore, the antibiotic resistance phenotypes and genotypes of enterococci, and the ARGs and MGEs in genomic DNA were investigated during anaerobic digestion (AD) with microwave (MW), thermal hydrolysis (TH) and ozone pretreatment. Results showed that sludge pretreatment increased the occurrence of the resistance phenotypes and genotypes of enterococci. During AD, the resistance of enterococci to macrolides decreased, except for in the MW-pretreated sludge. Horizontal gene transfer and co-occurrence of ermB and tetM in enterococci resulted in increased tetracycline resistance of enterococci throughout the sludge treatment. MGEs such as intI1, ISCR1 and Tn916/1545 had a significant effect on the distribution of ARGs. AD with pretreatment, especially TH pretreatment, resulted in greater ARGs and MGEs reduction and improved methane production. Copyright © 2017. Published by Elsevier Ltd.

  15. Navigation Method for Autonomous Robots in a Dynamic Indoor Environment

    Czech Academy of Sciences Publication Activity Database

    Věchet, Stanislav; Chen, K.-S.; Krejsa, Jiří

    2013-01-01

    Roč. 3, č. 4 (2013), s. 273-277 ISSN 2223-9766 Institutional support: RVO:61388998 Keywords : particle filters * autonomous mobile robots * mixed potential fields Subject RIV: JD - Computer Applications, Robotics http://www.ausmt.org/index.php/AUSMT/article/view/214/239

  16. Insect-Based Vision for Autonomous Vehicles: A Feasibility Study

    Science.gov (United States)

    Srinivasan, Mandyam V.

    1999-01-01

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

  17. Creation of a mobile plant for hardening low volumes of liquid radioactive waste with low specific activity at the sport of their formation.; Sozdanie peredvizhnoj ustanovki dlya otverzhdeniya malykh ob`emov zhidkikh radioaktivnykh otkhodov nizkoj udel`noj aktivnosti v mestakh ikh obrazovaniya.

    Energy Technology Data Exchange (ETDEWEB)

    Kovalenko, V N; Petrichenko, V S [Naukovo-Tekhnyichnij Tsentr z dezaktivatsyiyi ta kompleksnogo povodzhennya z radyioaktivnimi vyidkhodami, Zhovtyi Vodi (Ukraine)

    1994-12-31

    A device and a principle of work of an experimental prototype of a mobile plant intended for immediate hardening of low volumes (to 10 l) of liquid radioactive waste with low level of activity at the enterprises have been described.

  18. Overview of the Autonomic Nervous System

    Science.gov (United States)

    ... be reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... organs they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

  19. Mobile systems development

    DEFF Research Database (Denmark)

    Pedersen, Ole; Kristiansen, Martin Lund; Kammersgaard, Marc N.

    2007-01-01

    in XP. In general, we find XP well-suited for mobile systems development projects. However, based on our experiences and an analytical comparison we propose the following modifications to XP: Make an essential design to avoid the worst time waste during refactoring. For faster development, reuse code......Development of mobile software is Surrounded by much uncertainty. Immature software platforms on mobile clients, a highly competitive market calling for innovation, efficiency and effectiveness in the development life cycle, and lacking end-user adoption are just some of the realities facing...... development teams in the mobile software industry. By taking a process view on development of mobile systems we seek to explore the strengths and limitations of eXtreme Programming (XP) in the context of mobile software development. Following an experimental approach a mobile systems development project...

  20. A 3-D Miniature LIDAR System for Mobile Robot Navigation, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — Future lunar site operations will benefit from mobile robots, both autonomous and tele-operated, that complement or replace human extravehicular activity....

  1. Autonomous Forest Fire Detection

    NARCIS (Netherlands)

    Breejen, E. den; Breuers, M.; Cremer, F.; Kemp, R.A.W.; Roos, M.; Schutte, K.; Vries, J.S. de

    1998-01-01

    Forest fire detection is a very important issue in the pre-suppression process. Timely detection allows the suppression units to reach the fire in its initial stages and this will reduce the suppression costs considerably. The autonomous forest fire detection principle is based on temporal contrast

  2. Experimental Autonomous Vehicle Systems

    DEFF Research Database (Denmark)

    Ravn, Ole; Andersen, Nils Axel

    1998-01-01

    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple...

  3. Towards autonomous vehicles.

    Science.gov (United States)

    2013-11-01

    We are moving towards an age of autonomous vehicles. Cycles of innovation initiated in the public and private sectors : have led one into another since the 1990s; and out of these efforts have sprung a variety of Advanced Driver Assistance : Systems ...

  4. ADAM: ADaptive Autonomous Machine

    NARCIS (Netherlands)

    van Oosten, Daan C.; Nijenhuis, Lucas F.J.; Bakkers, André; Vervoort, Wiek

    1996-01-01

    This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is

  5. Integrated mobile robot control

    Science.gov (United States)

    Amidi, Omead; Thorpe, Chuck E.

    1991-03-01

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

  6. ROBERT autonomous navigation robot with artificial vision

    International Nuclear Information System (INIS)

    Cipollini, A.; Meo, G.B.; Nanni, V.; Rossi, L.; Taraglio, S.; Ferjancic, C.

    1993-01-01

    This work, a joint research between ENEA (the Italian National Agency for Energy, New Technologies and the Environment) and DIGlTAL, presents the layout of the ROBERT project, ROBot with Environmental Recognizing Tools, under development in ENEA laboratories. This project aims at the development of an autonomous mobile vehicle able to navigate in a known indoor environment through the use of artificial vision. The general architecture of the robot is shown together with the data and control flow among the various subsystems. Also the inner structure of the latter complete with the functionalities are given in detail

  7. Best Sale Mobile Application

    OpenAIRE

    Chittugnanamoorthy, Balakumar

    2014-01-01

    The aim of this thesis was to find a best way to advertise short-term sales and reduce paper waste. Another aim was to help the seller to identify a potential customer for a specific product, by means of providing a number of people accessing an advertisement. A mobile phone is one of the widely used electronic devices by many people. Modern mobile phones support a good internet connection. Also, people carry their mobile devices with them even outside their homes. So a mobile application ...

  8. The importance of mobile fission products for long-term safety in the case of disposal of vitrified high-level waste and spent fuel in a clay formation

    International Nuclear Information System (INIS)

    Marivoet, J.; Weetjens, E.

    2009-01-01

    In Belgium, the possibility to dispose of high-level radioactive waste in clay formations is studied since 1976. In the PAGIS report, which was the first performance assessment of the disposal of vitrified high-level waste in a clay formation and which was published in 1988, the most important contributors to the total dose via a water well pathway were 237 Np, 135 Cs and 99 Tc. Since 1988, several elements that strongly influence the calculated doses have evolved:?the inventory of long-lived mobile fission and activation products in vitrified high-level waste has been improved; the half-life of 79 Se has been re-estimated; substantial progress has been made in the determination of migration parameters of the main fission and activation products and actinides. In recent performance assessments, the actinides and 135 Cs do not significantly contribute to the total dose, as they remain confined in the host clay formation during several millions of years due to sorption on clay minerals. Consequently, the total dose resulting from the disposal of vitrified high-level waste or spent fuel is essentially due to releases of mobile fission and activation products. On the basis of recent waste inventory data and parameter values, the most important contributors to the total dose via a water well are: in the case of disposal of spent fuel: 79 Se, 129 I, 126 Sn, 36 Cl, and 99 Tc; in the case of disposal of vitrified HLW: 79 Se, 126 Sn, 36 Cl, 129 I, and 99 Tc. Important remaining uncertainties are the transfer factors of volatile fission and activation products into the vitrified waste during reprocessing and migration parameters of Se. (author)

  9. Catecholamines and diabetic autonomic neuropathy

    DEFF Research Database (Denmark)

    Hilsted, J

    1995-01-01

    In diabetic patients with autonomic neuropathy plasma noradrenaline concentration, used as an index of sympathetic nervous activity, is low. This decrease is, however, only found in patients with a long duration of diabetes with clinically severe autonomic neuropathy. This apparent insensitivity...... of plasma catecholamine measurements is not due to changes in the clearance of catecholamines in diabetic autonomic neuropathy. The physiological responses to infused adrenaline and to noradrenaline are enhanced, for noradrenaline mainly cardiovascular responses. Adrenoceptors (alpha and beta adrenoceptors......) are not altered in circulating blood cells in diabetic autonomic neuropathy. Thus, a generalized up-regulation of adrenoceptors does not occur in diabetic autonomic neuropathy....

  10. The potential impact of microbial Fe(III) reduction on subsurface U(VI) mobility at a low level radioactive waste storage site

    International Nuclear Information System (INIS)

    Wilkins, M.J.; Livens, F.R.; Vaughan, D.J.; Lloyd, J.R.; Beadle, I.; Small, J.S.

    2005-01-01

    Full text of publication follows: Fe(III) oxy-hydroxides have the potential to be utilised as terminal electron acceptors by indigenous microbial communities in the British Nuclear Fuels (BNFL) low level radioactive waste storage site at Drigg (Cumbria, UK) and these organisms may have a critical control on the biogeochemical cycling of several environmentally important radionuclides. In terms of radiological impact at Drigg, uranium is the most significant contributor to radiological impact and it is strongly influenced by biogeochemical processes. In terms of mass (moles) it is also the most abundant radionuclide in the Drigg inventory. Thus, the potential biotic and abiotic effects of Fe(III) reduction on U(VI) mobility in the Drigg subsurface are of interest. Culture-dependent and molecular techniques showed that the sediments in and around the Drigg site contained a diversity of Fe(III)-reducing bacteria. A series of microcosm experiments were utilised to create environmentally relevant experimental conditions. Microcosms set up using Drigg sediment and synthetic ground water were spiked with 100 μM U(VI) and acetate as an electron donor. U(VI) concentrations in groundwater were measured using a chemical assay while total U levels were determined using ICP-MS. Fe(II) levels were determined using the ferrozine method. Sediment surface areas were measured using BET analysis. The low surface area of the sediments resulted in only a small proportion of the 100 μM U(VI) spike sorbing onto mineral surfaces. The addition of ferri-hydrite to some microcosms resulted in an immediate lowering of soluble U(VI) concentrations, suggesting that the formation of soluble U(VI) complexes were not responsible for the minimal adsorption. The presence of biogenic Fe(II) in the microcosms did not affect the soluble U(VI) concentration. Similarly, soluble U(VI) levels remained unchanged when sediments were spiked with U(VI) post-microbial Fe(III) reduction. However, a lowering in

  11. Mobile marketing for mobile games

    OpenAIRE

    Vu, Giang

    2016-01-01

    Highly developed mobile technology and devices enable the rise of mobile game industry and mobile marketing. Hence mobile marketing for mobile game is an essential key for a mobile game success. Even though there are many articles on marketing for mobile games, there is a need of highly understanding mobile marketing strategies, how to launch a mobile campaign for a mobile game. Besides that, it is essential to understand the relationship between mobile advertising and users behaviours. There...

  12. Infrared Beacons based Localization of Mobile Robot

    Czech Academy of Sciences Publication Activity Database

    Krejsa, Jiří; Věchet, Stanislav

    2012-01-01

    Roč. 117, č. 1 (2012), s. 17-22 ISSN 1392-1215 Institutional research plan: CEZ:AV0Z20760514 Keywords : mobile robot localization * extended Kalman filter * autonomous mobile robot Subject RIV: JD - Computer Applications, Robotics Impact factor: 0.411, year: 2012 http://www.eejournal.ktu.lt/index.php/elt/article/view/1046

  13. Simultaneous scheduling of machines and mobile robots

    DEFF Research Database (Denmark)

    Dang, Vinh Quang; Nielsen, Izabela Ewa

    2013-01-01

    This paper deals with the problem of simultaneously scheduling machines and a number of autonomous mobile robots in a flexible manufacturing system (FMS). Besides capability of transporting materials between machines, the considered mobile robots are different from other material handling devices...

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

    Science.gov (United States)

    Regalado Reyes, Bjorn Constant

    2015-01-01

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

  15. Autonomous Intersection Management

    Science.gov (United States)

    2009-12-01

    detects that the driver is not slowing sufficiently fast. Jaguar, Honda, and BMW offer similar systems. Nissan and Toyota have recently begun offering...that the driver is not braking hard enough. Both Toyota and BMW are currently selling vehicles that can parallel park completely autonomously, even...other vehicles. The system was tested both in simulation and with a robotic vehicle. This work is sponsored by Toyota , who have also currently have an

  16. Autonomía

    OpenAIRE

    Martínez Muñoz, Juan Antonio

    2007-01-01

    En este ensayo la noción de autonomía es estudiada de un modo diferente al sentido habitual; sus implicaciones y las contradicciones que encierra, específicamente como sucedáneo de la genuina libertad. El artículo describe el modelo de hombre presupuesto en su uso. Concluye con su inviabilidad para resolver problemas morales y sociales.

  17. Highly Skilled Autonomous Vehicles

    OpenAIRE

    Manuel Acosta Reche; Stratis Kanarachos; Mike V Blundell

    2017-01-01

    Recent research suggests that collision mitigation on low grip surfaces might require autonomous vehicles to execute maneuvers such as drift, trail braking or Scandinavian flick. In order to achieve this it is necessary to perceive the vehicle states and their interaction with the environment, and use this information to determine the chassis limits. A first look at the virtual automotive sensing problem is provided, followed by a description of Rally driving modeling approaches. Finally, a c...

  18. 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...

  19. Nature's Autonomous Oscillators

    Science.gov (United States)

    Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.

    2012-01-01

    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  20. GPScheDVS: A New Paradigm of the Autonomous CPU Speed Control for Commodity-OS-based General-Purpose Mobile Computers with a DVS-friendly Task Scheduling

    OpenAIRE

    Kim, Sookyoung

    2008-01-01

    This dissertation studies the problem of increasing battery life-time and reducing CPU heat dissipation without degrading system performance in commodity-OS-based general-purpose (GP) mobile computers using the dynamic voltage scaling (DVS) function of modern CPUs. The dissertation especially focuses on the impact of task scheduling on the effectiveness of DVS in achieving this goal. The task scheduling mechanism used in most contemporary general-purpose operating systems (GPOS) prioritizes t...

  1. Autonomous Car Parking System through a Cooperative Vehicular Positioning Network.

    Science.gov (United States)

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

    2017-04-13

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

  2. Autonomous Car Parking System through a Cooperative Vehicular Positioning Network

    Science.gov (United States)

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

    2017-01-01

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

  3. Mobilities, Futures & the City

    DEFF Research Database (Denmark)

    Freudendal-Pedersen, Malene; Kesselring, Sven

    2016-01-01

    significant attention to these shifts in societies’ discursive patterns and structures. For making up powerful and strong visions and policies for sustainable cities, ‘collaborative storytelling’ plays a key role. The theoretical outset for the research project ‘Mobilities, Futures & the City’, which grounds......The future of cities and regions will be strongly shaped by the mobilities of people, goods, modes of transport, waste and information. In many ways, the ‘why and ‘for what’ often get lost in discourses on planning and designing mobilities. The predominant planning paradigm still conceptualizes...... the future of cities and mobilities as a matter of rather more efficient technologies than of social cohesion, integration and connectivity. Sustainable mobility needs the mobilities of ideas and concepts and the reflexivity of policies. Communicative planning theory and the ‘argumentative turn’ have given...

  4. An Effective Method for Protecting the Integrity of Mobile Agent

    OpenAIRE

    YARAHMADI, H.; KAMANKESH, M.

    2015-01-01

    Abstract. A mobile agent is software which performs an action autonomously and independently as a person or organizations assistance. Mobile agents are used for searching information, retrieval information, filtering, intruder recognition in networks, and so on. One of the important issues of mobile agent is their security. It must consider different security issues in effective and secured usage of mobile agent. One of those issues is the integrity’s protection of mobile agents.In this paper...

  5. MicroMAIS: executing and orchestrating Web services on constrained mobile devices

    OpenAIRE

    Plebani, Pierluigi; Cappiello, Cinzia; Comuzzi, Marco; Pernici, Barbara; Yadav, Sandeep

    2012-01-01

    Mobile devices with their more and more powerful resources allow the development of mobile information systems in which services are not only provided by traditional systems but also autonomously executed and controlled in the mobile devices themselves. Services distributed on autonomous mobile devices allow both the development of cooperative applications without a back-end infrastructure and the development of applications blending distributed and centralized services. In this paper, we pro...

  6. Autonomic Neuropathy in Diabetes Mellitus

    OpenAIRE

    Verrotti, Alberto; Prezioso, Giovanni; Scattoni, Raffaella; Chiarelli, Francesco

    2014-01-01

    Diabetic autonomic neuropathy (DAN) is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent ...

  7. Robotics and Autonomous Systems Laboratory

    Data.gov (United States)

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  8. Autonomic Fuselet Specification and Composition

    National Research Council Canada - National Science Library

    Mills, Peter H

    2006-01-01

    A framework for autonomic fuselet business logic development was developed, using semantic web services and workflow technologies to specify fuselet information needs, to define an executable workflow...

  9. Autonomous component carrier selection

    DEFF Research Database (Denmark)

    Garcia, Luis Guilherme Uzeda; Pedersen, Klaus; Mogensen, Preben

    2009-01-01

    management and efficient system operation. Due to the expected large number of user-deployed cells, centralized network planning becomes unpractical and new scalable alternatives must be sought. In this article, we propose a fully distributed and scalable solution to the interference management problem...... in local areas, basing our study case on LTE-Advanced. We present extensive network simulation results to demonstrate that a simple and robust interference management scheme, called autonomous component carrier selection allows each cell to select the most attractive frequency configuration; improving...... the experience of all users and not just the few best ones; while overall cell capacity is not compromised....

  10. Toward autonomous spacecraft

    Science.gov (United States)

    Fogel, L. J.; Calabrese, P. G.; Walsh, M. J.; Owens, A. J.

    1982-01-01

    Ways in which autonomous behavior of spacecraft can be extended to treat situations wherein a closed loop control by a human may not be appropriate or even possible are explored. Predictive models that minimize mean least squared error and arbitrary cost functions are discussed. A methodology for extracting cyclic components for an arbitrary environment with respect to usual and arbitrary criteria is developed. An approach to prediction and control based on evolutionary programming is outlined. A computer program capable of predicting time series is presented. A design of a control system for a robotic dense with partially unknown physical properties is presented.

  11. Developing Policy for Urban Autonomous Vehicles: Impact on Congestion

    Directory of Open Access Journals (Sweden)

    David Metz

    2018-04-01

    Full Text Available An important problem for surface transport is road traffic congestion, which is ubiquitous and difficult to mitigate. Accordingly, a question for policymakers is the possible impact on congestion of autonomous vehicles. It seems likely that the main impact of vehicle automation will not be seen until driverless vehicles are sufficiently safe for use amid general traffic on urban streets. Shared use driverless vehicles could reduce the cost of taxis and a wider range of public transport vehicles could be economic. Individually owned autonomous vehicles would have the ability to travel unoccupied and may need to be regulated where this might add to congestion. It is possible that autonomous vehicles could provide mobility services at lower cost and wider scope, such that private car use in urban areas could decline and congestion reduce. City authorities should be alert to these possibilities in developing transport policy.

  12. Mobile sociology. 2000.

    Science.gov (United States)

    Urry, John

    2010-01-01

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

  13. Autonomic headache with autonomic seizures: a case report.

    Science.gov (United States)

    Ozge, Aynur; Kaleagasi, Hakan; Yalçin Tasmertek, Fazilet

    2006-10-01

    The aim of the report is to present a case of an autonomic headache associated with autonomic seizures. A 19-year-old male who had had complex partial seizures for 15 years was admitted with autonomic complaints and left hemicranial headache, independent from seizures, that he had had for 2 years and were provoked by watching television. Brain magnetic resonance imaging showed right hippocampal sclerosis and electroencephalography revealed epileptic activity in right hemispheric areas. Treatment with valproic acid decreased the complaints. The headache did not fulfil the criteria for the diagnosis of trigeminal autonomic cephalalgias, and was different from epileptic headache, which was defined as a pressing type pain felt over the forehead for several minutes to a few hours. Although epileptic headache responds to anti-epileptics and the complaints of the present case decreased with antiepileptics, it has been suggested that the headache could be a non-trigeminal autonomic headache instead of an epileptic headache.

  14. Learning for Autonomous Navigation

    Science.gov (United States)

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

    2005-01-01

    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  15. Management of reactor waste

    International Nuclear Information System (INIS)

    Baatz, H.

    1976-01-01

    The author discusses the type, production and amount of radioactive waste produced in a nuclear power station (LWR) as well as its conditioning and disposal. The mobile system developed by STEAG for the solidification of medium-activity waste and sludge is referred to in this connection. (HR) [de

  16. Effect of Mobile Phone Radiofrequency Electromagnetic Fields on ...

    African Journals Online (AJOL)

    olayemitoyin

    Summary: Since cell phones emit radiofrequency electromagnetic fields (EMFs), this study tested the hypothesis that cell phones placed ... mobile phones on autonomic modulation of the heart. ..... Electrocardiogram and Its Technology. J. Am.

  17. From cooperative to autonomous vehicles

    NARCIS (Netherlands)

    van der Sande, T.P.J.; Nijmeijer, H.; Fossen, T.I.; Pettersen, K.Y.; Nijmeijer, H.

    2017-01-01

    What defines an autonomous vehicle? In this chapter the authors will try to answer this question and formulate the limitations of driver assistance systems as well as for—conditionally—autonomous vehicles . First a short summary of the levels of automation as provided by the society of automotive

  18. Autonomous Learner Model Resource Book

    Science.gov (United States)

    Betts, George T.; Carey, Robin J.; Kapushion, Blanche M.

    2016-01-01

    "Autonomous Learner Model Resource Book" includes activities and strategies to support the development of autonomous learners. More than 40 activities are included, all geared to the emotional, social, cognitive, and physical development of students. Teachers may use these activities and strategies with the entire class, small groups, or…

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

    Energy Technology Data Exchange (ETDEWEB)

    Maiden, Wendy M. [Washington State Univ., Pullman, WA (United States)

    2010-05-01

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

  20. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

    ... vehicles, cooperative flight of autonomous aerial vehicles using GPS and vision information, cooperative and sharing of information in search missions involving multiple autonomous agents, multi-scale...

  1. Introduction to autonomous manipulation case study with an underwater robot, SAUVIM

    CERN Document Server

    Marani, Giacomo

    2014-01-01

    Autonomous manipulation” is a challenge in robotic technologies. It refers to the capability of a mobile robot system with one or more manipulators that performs intervention tasks requiring physical contacts in unstructured environments and without continuous human supervision. Achieving autonomous manipulation capability is a quantum leap in robotic technologies as it is currently beyond the state of the art in robotics. This book addresses issues with the complexity of the problems encountered in autonomous manipulation including representation and modeling of robotic structures, kinematic and dynamic robotic control, kinematic and algorithmic singularity avoidance, dynamic task priority, workspace optimization and environment perception. Further development in autonomous manipulation should be able to provide robust improvements of the solutions for all of the above issues. The book provides an extensive tract on sensory-based autonomous manipulation for intervention tasks in unstructured environment...

  2. Autonomous vehicles: from paradigms to technology

    Science.gov (United States)

    Ionita, Silviu

    2017-10-01

    Mobility is a basic necessity of contemporary society and it is a key factor in global economic development. The basic requirements for the transport of people and goods are: safety and duration of travel, but also a number of additional criteria are very important: energy saving, pollution, passenger comfort. Due to advances in hardware and software, automation has penetrated massively in transport systems both on infrastructure and on vehicles, but man is still the key element in vehicle driving. However, the classic concept of ‘human-in-the-loop’ in terms of ‘hands on’ in driving the cars is competing aside from the self-driving startups working towards so-called ‘Level 4 autonomy’, which is defined as “a self-driving system that does not requires human intervention in most scenarios”. In this paper, a conceptual synthesis of the autonomous vehicle issue is made in connection with the artificial intelligence paradigm. It presents a classification of the tasks that take place during the driving of the vehicle and its modeling from the perspective of traditional control engineering and artificial intelligence. The issue of autonomous vehicle management is addressed on three levels: navigation, movement in traffic, respectively effective maneuver and vehicle dynamics control. Each level is then described in terms of specific tasks, such as: route selection, planning and reconfiguration, recognition of traffic signs and reaction to signaling and traffic events, as well as control of effective speed, distance and direction. The approach will lead to a better understanding of the way technology is moving when talking about autonomous cars, smart/intelligent cars or intelligent transport systems. Keywords: self-driving vehicle, artificial intelligence, deep learning, intelligent transport systems.

  3. Enabling Autonomous Navigation for Affordable Scooters

    Directory of Open Access Journals (Sweden)

    Kaikai Liu

    2018-06-01

    Full Text Available Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.

  4. Enabling Autonomous Navigation for Affordable Scooters.

    Science.gov (United States)

    Liu, Kaikai; Mulky, Rajathswaroop

    2018-06-05

    Despite the technical success of existing assistive technologies, for example, electric wheelchairs and scooters, they are still far from effective enough in helping those in need navigate to their destinations in a hassle-free manner. In this paper, we propose to improve the safety and autonomy of navigation by designing a cutting-edge autonomous scooter, thus allowing people with mobility challenges to ambulate independently and safely in possibly unfamiliar surroundings. We focus on indoor navigation scenarios for the autonomous scooter where the current location, maps, and nearby obstacles are unknown. To achieve semi-LiDAR functionality, we leverage the gyros-based pose data to compensate the laser motion in real time and create synthetic mapping of simple environments with regular shapes and deep hallways. Laser range finders are suitable for long ranges with limited resolution. Stereo vision, on the other hand, provides 3D structural data of nearby complex objects. To achieve simultaneous fine-grained resolution and long range coverage in the mapping of cluttered and complex environments, we dynamically fuse the measurements from the stereo vision camera system, the synthetic laser scanner, and the LiDAR. We propose solutions to self-correct errors in data fusion and create a hybrid map to assist the scooter in achieving collision-free navigation in an indoor environment.

  5. Safety analysis of autonomous excavator functionality

    International Nuclear Information System (INIS)

    Seward, D.; Pace, C.; Morrey, R.; Sommerville, I.

    2000-01-01

    This paper presents an account of carrying out a hazard analysis to define the safety requirements for an autonomous robotic excavator. The work is also relevant to the growing generic class of heavy automated mobile machinery. An overview of the excavator design is provided and the concept of a safety manager is introduced. The safety manager is an autonomous module responsible for all aspects of system operational safety, and is central to the control system's architecture. Each stage of the hazard analysis is described, i.e. system model creation, hazard definition and hazard analysis. Analysis at an early stage of the design process, and on a system that interfaces directly to an unstructured environment, exposes certain issues relevant to the application of current hazard analysis methods. The approach taken in the analysis is described. Finally, it is explained how the results of the hazard analysis have influenced system design, in particular, safety manager specifications. Conclusions are then drawn about the applicability of hazard analysis of requirements in general, and suggestions are made as to how the approach can be taken further

  6. An Experimental Platform for Autonomous Bus Development

    Directory of Open Access Journals (Sweden)

    Héctor Montes

    2017-11-01

    Full Text Available Nowadays, with highly developed instrumentation, sensing and actuation technologies, it is possible to foresee an important advance in the field of autonomous and/or semi-autonomous transportation systems. Intelligent Transport Systems (ITS have been subjected to very active research for many years, and Bus Rapid Transit (BRT is one area of major interest. Among the most promising transport infrastructures, the articulated bus is an interesting, low cost, high occupancy capacity and friendly option. In this paper, an experimental platform for research on the automatic control of an articulated bus is presented. The aim of the platform is to allow full experimentation in real conditions for testing technological developments and control algorithms. The experimental platform consists of a mobile component (a commercial articulated bus fully instrumented and a ground test area composed of asphalt roads inside the Consejo Superior de Investigaciones Científicas (CSIC premises. This paper focuses also on the development of a human machine interface to ease progress in control system evaluation. Some experimental results are presented in order to show the potential of the proposed platform.

  7. Kinodynamic Motion Planning for Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Jiwung Choi

    2014-06-01

    Full Text Available This article proposes a computationally effective motion planning algorithm for autonomous ground vehicles operating in a semi-structured environment with a mission specified by waypoints, corridor widths and obstacles. The algorithm switches between two kinds of planners, (i static planners and (ii moving obstacle avoidance manoeuvre planners, depending on the mobility of any detected obstacles. While the first is broken down into a path planner and a controller, the second generates a sequence of controls without global path planning. Each subsystem is implemented as follows. The path planner produces an optimal piecewise linear path by applying a variant of cell decomposition and dynamic programming. The piecewise linear path is smoothed by Bézier curves such that the maximum curvatures of the curves are minimized. The controller calculates the highest allowable velocity profile along the path, consistent with the limits on both tangential and radial acceleration and the steering command for the vehicle to track the trajectory using a pure pursuit method. The moving obstacle avoidance manoeuvre produces a sequence of time-optimal local velocities, by minimizing the cost as determined by the safety of the current velocity against obstacles in the velocity obstacle paradigm and the deviation of the current velocity relative to the desired velocity, to satisfy the waypoint constraint. The algorithms are shown to be robust and computationally efficient, and to demonstrate a viable methodology for autonomous vehicle control in the presence of unknown obstacles.

  8. Autonomous booster device of a safety valve

    International Nuclear Information System (INIS)

    Namand, H.

    1983-01-01

    The invention concerns an autonomous booster device of a protection safety valve of a pressure vessel. The valve comprises a hollow structure, a seat connected with a mobile flap forming one piece with a stem and a calibration spring bearing on the stem and on the valve structure to maintain the flap bearing on the seat. The stem of the flap is prolongated in a box forming one piece with the valve structure and receives an added push of a spring. The box acts as a pressure device of which the piston can exercise on the stem a push opposite to and larger than the spring one. The feeding device of the pressure box is finally described in detail [fr

  9. Section 10: Ground Water - Waste Characteristics & Targets

    Science.gov (United States)

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

  10. Design characteristics of the Sludge Mobilization System

    International Nuclear Information System (INIS)

    McMahon, C.L.

    1990-01-01

    Radioactive waste stored in underground tanks at the West Valley Demonstration Project is being processed into low-level waste and solidified in cement. High-level waste also stored underground will be vitrified and solidified into canistered glass logs. To move the waste from where it resides at the Waste Tank Farm to the Vitrification Facility requires equipment to prepare the storage tanks for low-level and high-level waste processing, equipment to mobilize and mix the radioactive sludge into a homogeneous slurry, and equipment to transfer the slurry for vitrification. The design of the Sludge Mobilization System has incorporated the necessary components to effect the preparation and transfer of waste in five operational phases. The first phase of the Sludge Mobilization System, which began in 1987, prepared the waste tanks to process radioactive liquid for delivery to the Cement Solidification System and to support the mobilization equipment. The second phase, beginning in 1991, will wash the sludge that remains after the liquid supernatant is decanted to prepare it for mobilization operations. The third phase will combine the contents of various waste tanks into one tank. The fourth phase will resuspend and mix the contents of the high-level waste tank. The fifth and final phase of the Sludge Mobilization System will entail transferring the waste mixture to the Vitrification Facility for processing into glass logs. Provisions for recycling the waste streams or slurries within the tank farm or for returning process streams to the Waste Tank Farm from the Vitrification Facility are also included in the final phase. This document addresses the Sludge Mobilization System equipment design characteristics in terms of its use in each of the five operational phases listed above

  11. Cybersecurity for aerospace autonomous systems

    Science.gov (United States)

    Straub, Jeremy

    2015-05-01

    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  12. Decentralized Control of Autonomous Vehicles

    Science.gov (United States)

    2003-01-01

    Autonomous Vehicles by John S. Baras, Xiaobo Tan, Pedram Hovareshti CSHCN TR 2003-8 (ISR TR 2003-14) Report Documentation Page Form ApprovedOMB No. 0704...AND SUBTITLE Decentralized Control of Autonomous Vehicles 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT...Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 Decentralized Control of Autonomous Vehicles ∗ John S. Baras, Xiaobo Tan, and Pedram

  13. Nuclear waste management. Quarterly progress report, January-March 1980

    Energy Technology Data Exchange (ETDEWEB)

    Platt, A.M.; Powell, J.A. (comps.)

    1980-06-01

    Reported are: high-level waste immobilization, alternative waste forms, nuclear waste materials characterization, TRU waste immobilization, TRU waste decontamination, krypton solidification, thermal outgassing, iodine-129 fixation, unsaturated zone transport, well-logging instrumentation development, mobile organic complexes of fission products, waste management system and safety studies, assessment of effectiveness of geologic isolation systems, waste/rock interactions, engineered barriers, criteria for defining waste isolation, and spent fuel and pool component integrity. (DLC)

  14. The Autonomous Student: A Footnote.

    Science.gov (United States)

    Long, Jancis

    1987-01-01

    An argument that rationality is a learned behavior, rather than a natural facility, is developed vis-a-vis certain educational theories. The difficulties students face in maintaining a rational stance in an autonomous classroom are also discussed. (JL)

  15. Structural Discrimination and Autonomous Vehicles

    DEFF Research Database (Denmark)

    Liu, Hin-Yan

    2016-01-01

    This paper examines the potential for structural discrimination to be woven into the fabric of autonomous vehicle developments, which remain underexplored and undiscussed. The prospect for structural discrimination arises as a result of the coordinated modes of autonomous vehicle behaviour...... individual identity, and potentially relative worth, to autonomous vehicles engaging in a crash damage calculus. At the risk of introducing these ideas into the development of autonomous vehicles, this paper hopes to spark a debate to foreclose these eventualities....... that is prescribed by its code. This leads to the potential for individuated outcomes to be networked and thereby multiplied consistently to any number of vehicles implementing such a code. The aggregated effects of such algorithmic policy preferences will thus cumulate in the reallocation of benefits and burdens...

  16. Mobile Learning Using Mobile Phones

    Science.gov (United States)

    Vicente, Paula

    2013-01-01

    The participation in mobile learning programs is conditioned by having/using mobile communication technology. Those who do not have or use such technology cannot participate in mobile learning programs. This study evaluates who are the most likely participants of mobile learning programs by examining the demographic profile and mobile phone usage…

  17. Is paramecium swimming autonomic?

    Science.gov (United States)

    Bandyopadhyay, Promode R.; Toplosky, Norman; Hansen, Joshua

    2010-11-01

    We seek to explore if the swimming of paramecium has an underlying autonomic mechanism. Such robotic elements may be useful in capturing the disturbance field in an environment in real time. Experimental evidence is emerging that motion control neurons of other animals may be present in paramecium as well. The limit cycle determined using analog simulation of the coupled nonlinear oscillators of olivo-cerebellar dynamics (ieee joe 33, 563-578, 2008) agrees with the tracks of the cilium of a biological paramecium. A 4-motor apparatus has been built that reproduces the kinematics of the cilium motion. The motion of the biological cilium has been analyzed and compared with the results of the finite element modeling of forces on a cilium. The modeling equates applied torque at the base of the cilium with drag, the cilium stiffness being phase dependent. A low friction pendulum apparatus with a multiplicity of electromagnetic actuators is being built for verifying the maps of the attractor basin computed using the olivo-cerebellar dynamics for different initial conditions. Sponsored by ONR 33.

  18. Autonomous Energy Grids: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Kroposki, Benjamin D [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Dall-Anese, Emiliano [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Bernstein, Andrey [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Zhang, Yingchen [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Hodge, Brian S [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

    2017-10-04

    With much higher levels of distributed energy resources - variable generation, energy storage, and controllable loads just to mention a few - being deployed into power systems, the data deluge from pervasive metering of energy grids, and the shaping of multi-level ancillary-service markets, current frameworks to monitoring, controlling, and optimizing large-scale energy systems are becoming increasingly inadequate. This position paper outlines the concept of 'Autonomous Energy Grids' (AEGs) - systems that are supported by a scalable, reconfigurable, and self-organizing information and control infrastructure, can be extremely secure and resilient (self-healing), and self-optimize themselves in real-time for economic and reliable performance while systematically integrating energy in all forms. AEGs rely on scalable, self-configuring cellular building blocks that ensure that each 'cell' can self-optimize when isolated from a larger grid as well as partaking in the optimal operation of a larger grid when interconnected. To realize this vision, this paper describes the concepts and key research directions in the broad domains of optimization theory, control theory, big-data analytics, and complex system modeling that will be necessary to realize the AEG vision.

  19. AUTONOMOUS GAUSSIAN DECOMPOSITION

    Energy Technology Data Exchange (ETDEWEB)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, Snežana; Babler, Brian [Department of Astronomy, University of Wisconsin, 475 North Charter Street, Madison, WI 53706 (United States); Heiles, Carl [Radio Astronomy Lab, UC Berkeley, 601 Campbell Hall, Berkeley, CA 94720 (United States); Hennebelle, Patrick [Laboratoire AIM, Paris-Saclay, CEA/IRFU/SAp-CNRS-Université Paris Diderot, F-91191 Gif-sur Yvette Cedex (France); Goss, W. M. [National Radio Astronomy Observatory, P.O. Box O, 1003 Lopezville, Socorro, NM 87801 (United States); Dickey, John, E-mail: rlindner@astro.wisc.edu [University of Tasmania, School of Maths and Physics, Private Bag 37, Hobart, TAS 7001 (Australia)

    2015-04-15

    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes.

  20. AUTONOMOUS GAUSSIAN DECOMPOSITION

    International Nuclear Information System (INIS)

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, Snežana; Babler, Brian; Heiles, Carl; Hennebelle, Patrick; Goss, W. M.; Dickey, John

    2015-01-01

    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes

  1. Design of Autonomous Gel Actuators

    Directory of Open Access Journals (Sweden)

    Shuji Hashimoto

    2011-01-01

    Full Text Available In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the chemical robot.

  2. Autonomous Mission Operations for Sensor Webs

    Science.gov (United States)

    Underbrink, A.; Witt, K.; Stanley, J.; Mandl, D.

    2008-12-01

    We present interim results of a 2005 ROSES AIST project entitled, "Using Intelligent Agents to Form a Sensor Web for Autonomous Mission Operations", or SWAMO. The goal of the SWAMO project is to shift the control of spacecraft missions from a ground-based, centrally controlled architecture to a collaborative, distributed set of intelligent agents. The network of intelligent agents intends to reduce management requirements by utilizing model-based system prediction and autonomic model/agent collaboration. SWAMO agents are distributed throughout the Sensor Web environment, which may include multiple spacecraft, aircraft, ground systems, and ocean systems, as well as manned operations centers. The agents monitor and manage sensor platforms, Earth sensing systems, and Earth sensing models and processes. The SWAMO agents form a Sensor Web of agents via peer-to-peer coordination. Some of the intelligent agents are mobile and able to traverse between on-orbit and ground-based systems. Other agents in the network are responsible for encapsulating system models to perform prediction of future behavior of the modeled subsystems and components to which they are assigned. The software agents use semantic web technologies to enable improved information sharing among the operational entities of the Sensor Web. The semantics include ontological conceptualizations of the Sensor Web environment, plus conceptualizations of the SWAMO agents themselves. By conceptualizations of the agents, we mean knowledge of their state, operational capabilities, current operational capacities, Web Service search and discovery results, agent collaboration rules, etc. The need for ontological conceptualizations over the agents is to enable autonomous and autonomic operations of the Sensor Web. The SWAMO ontology enables automated decision making and responses to the dynamic Sensor Web environment and to end user science requests. The current ontology is compatible with Open Geospatial Consortium (OGC

  3. Visual guidance of mobile platforms

    Science.gov (United States)

    Blissett, Rodney J.

    1993-12-01

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

  4. Staging Mobilities / Designing Mobilities

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    2015-01-01

    , and systems 'hosting' these multiple and complex mobilities are designed and how they are staging these in terms of their physical layout. By analysing specific cases of ‘mobilities design’ related to the four modes of moving; Walk, Bike, Train, and Car, the book uncover important and until now neglected...... is more than movement between point A and B. It explores how the movement of people, goods, information, and signs influences human understandings of self, other and the built environment. Moving towards a new understanding of the relationship between movement, interaction and environments, the project...

  5. Autonomous Byte Stream Randomizer

    Science.gov (United States)

    Paloulian, George K.; Woo, Simon S.; Chow, Edward T.

    2013-01-01

    Net-centric networking environments are often faced with limited resources and must utilize bandwidth as efficiently as possible. In networking environments that span wide areas, the data transmission has to be efficient without any redundant or exuberant metadata. The Autonomous Byte Stream Randomizer software provides an extra level of security on top of existing data encryption methods. Randomizing the data s byte stream adds an extra layer to existing data protection methods, thus making it harder for an attacker to decrypt protected data. Based on a generated crypto-graphically secure random seed, a random sequence of numbers is used to intelligently and efficiently swap the organization of bytes in data using the unbiased and memory-efficient in-place Fisher-Yates shuffle method. Swapping bytes and reorganizing the crucial structure of the byte data renders the data file unreadable and leaves the data in a deconstructed state. This deconstruction adds an extra level of security requiring the byte stream to be reconstructed with the random seed in order to be readable. Once the data byte stream has been randomized, the software enables the data to be distributed to N nodes in an environment. Each piece of the data in randomized and distributed form is a separate entity unreadable on its own right, but when combined with all N pieces, is able to be reconstructed back to one. Reconstruction requires possession of the key used for randomizing the bytes, leading to the generation of the same cryptographically secure random sequence of numbers used to randomize the data. This software is a cornerstone capability possessing the ability to generate the same cryptographically secure sequence on different machines and time intervals, thus allowing this software to be used more heavily in net-centric environments where data transfer bandwidth is limited.

  6. Mobility management in mobile IP

    Science.gov (United States)

    Medidi, Sirisha; Golshani, Forouzan

    2002-07-01

    There is an emerging interest in integrating mobile wireless communication with the Internet based on the Ipv6 technology. Many issues introduced by the mobility of users arise when such an integration is attempted. This paper addresses the problem of mobility management, i.e., that of tracking the current IP addresses of mobile terminals and sustaining active IP connections as mobiles move. The paper presents some architectural and mobility management options for integrating wireless access to the Internet. We then present performance results for Mobile IPv4, route optimization and Mobile IPv6.

  7. Compact autonomous navigation system (CANS)

    Science.gov (United States)

    Hao, Y. C.; Ying, L.; Xiong, K.; Cheng, H. Y.; Qiao, G. D.

    2017-11-01

    Autonomous navigation of Satellite and constellation has series of benefits, such as to reduce operation cost and ground station workload, to avoid the event of crises of war and natural disaster, to increase spacecraft autonomy, and so on. Autonomous navigation satellite is independent of ground station support. Many systems are developed for autonomous navigation of satellite in the past 20 years. Along them American MANS (Microcosm Autonomous Navigation System) [1] of Microcosm Inc. and ERADS [2] [3] (Earth Reference Attitude Determination System) of Honeywell Inc. are well known. The systems anticipate a series of good features of autonomous navigation and aim low cost, integrated structure, low power consumption and compact layout. The ERADS is an integrated small 3-axis attitude sensor system with low cost and small volume. It has the Earth center measurement accuracy higher than the common IR sensor because the detected ultraviolet radiation zone of the atmosphere has a brightness gradient larger than that of the IR zone. But the ERADS is still a complex system because it has to eliminate many problems such as making of the sapphire sphere lens, birefringence effect of sapphire, high precision image transfer optical fiber flattener, ultraviolet intensifier noise, and so on. The marginal sphere FOV of the sphere lens of the ERADS is used to star imaging that may be bring some disadvantages., i.e. , the image energy and attitude measurements accuracy may be reduced due to the tilt image acceptance end of the fiber flattener in the FOV. Besides Japan, Germany and Russia developed visible earth sensor for GEO [4] [5]. Do we have a way to develop a cheaper/easier and more accurate autonomous navigation system that can be used to all LEO spacecraft, especially, to LEO small and micro satellites? To return this problem we provide a new type of the system—CANS (Compact Autonomous Navigation System) [6].

  8. Waste Inspection Tomography (WIT)

    International Nuclear Information System (INIS)

    Bernardi, R.T.

    1995-01-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU. The mobile feature of WIT allows inspection technologies to be brought to the nuclear waste drum storage site without the need to relocate drums for safe, rapid, and cost-effective characterization of regulated nuclear waste. The combination of these WIT characterization modalities provides the inspector with an unprecedented ability to non-invasively characterize the regulated contents of waste drums as large as 110 gallons, weighing up to 1,600 pounds. Any objects that fit within these size and weight restrictions can also be inspected on WIT, such as smaller waste bags and drums that are five and thirty-five gallons

  9. Estimation and Control for Autonomous Coring from a Rover Manipulator

    Science.gov (United States)

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

    2010-01-01

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

  10. Mobile Election

    OpenAIRE

    Long, Elena; Lovitskii, Vladimir; Thrasher, Michael; Traynor, David

    2009-01-01

    Mobile phones have the potential of fostering political mobilisation. There is a significant political power in mobile technology. Like the Internet, mobile phones facilitate communication and rapid access to information. Compared to the Internet, however, mobile phone diffusion has reached a larger proportion of the population in most countries, and thus the impact of this new medium is conceivably greater. There are now more mobile phones in the UK than there are people (ave...

  11. Mobile Advertising

    OpenAIRE

    Alamuri, Lavanya

    2009-01-01

    The aim of this project was to get an understanding of how companies adopt mobile as an advertising medium. The literature review aided in framing a draft of the factors that affect mobile advertising adoption and possible forms of mobile advertising. Considering the scope of the thesis work, branding strategy, service costs, personalization and privacy and platform were considered to be the factors that could affect the mobile advertising adoption. A few possible forms on mobile device we...

  12. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-08-01

    This thesis investigates autonomous landing of a micro air vehicle (MAV) on a nonstationary ground platform. Unmanned aerial vehicles (UAVs) and micro air vehicles (MAVs) are becoming every day more ubiquitous. Nonetheless, many applications still require specialized human pilots or supervisors. Current research is focusing on augmenting the scope of tasks that these vehicles are able to accomplish autonomously. Precise autonomous landing on moving platforms is essential for self-deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures robust stability for systems with bounded disturbances under system state reconstruction. This thesis proposes a MAV control strategy based on this variant of MPC to perform rapid and precise autonomous landing on moving targets whose nominal (uncommitted) trajectory and velocity are slowly varying. The proposed approach is demonstrated on an experimental setup.

  13. Multisensor Data Fusion and Integration for Mobile Robots: A Review

    Directory of Open Access Journals (Sweden)

    KS Nagla

    2013-09-01

    Full Text Available One of the most important and useful feature of autonomous mobile robots is their ability to adopt themselves to operate in unstructured environment. Today robots are performing autonomously in industrial floor, office environments, as well as in crowded public places where the robots need to maintain their localization and mapping parameters.The basic requirement of an intelligent mobile robot is to develop and maintain localization and mapping parameters to complete the complex missions. In such situations, several difficulties arise in due to the inaccuracies and uncertainties in sensor measurements. Various techniques are there to handle such noises where the multisensor data fusion is not the exceptional one.From the last two decades, multisensor data fusions in mobile robots become a dominant paradigm  due to its potential advantages like reduction in uncertainty, increase in accuracy and reliability and reduction of cost.This paper presents the reviews of autonomous mobile robots and role of multisenosr data fusion.

  14. Ultra(high)-pressure liquid chromatography-electrospray ionization-time-of-flight-ion mobility-high definition mass spectrometry for the rapid identification and structural characterization of flavonoid glycosides from cauliflower waste.

    Science.gov (United States)

    Gonzales, Gerard Bryan; Raes, Katleen; Coelus, Sofie; Struijs, Karin; Smagghe, Guy; Van Camp, John

    2014-01-03

    In this paper, a strategy for the detection and structural elucidation of flavonoid glycosides from a complex matrix in a single chromatographic run using U(H)PLC-ESI-IMS-HDMS/MS(E) is presented. This system operates using alternative low and high energy voltages that is able to perform the task of conventional MS/MS in a data-independent way without re-injection of the sample, which saves analytical time. Also, ion mobility separation (IMS) was employed as an additional separation technique for compounds that are co-eluting after U(H)PLC separation. First, the fragmentation of flavonoid standards were analyzed and criteria was set for structural elucidation of flavonoids in a plant extract. Based on retention times, UV spectra, exact mass, and MS fragment characteristics, such as abundances of daughter ions and the presence of radical ions ([Y0-H](-)), a total 19 flavonoid glycosides, of which 8 non-acylated and 11 acylated, were detected and structurally characterized in a cauliflower waste extract. Kaempferol and quercetin were the main aglycones detected while sinapic and ferulic acid were the main phenolic acids. C-glycosides were also found although their structure could not be elucidated. The proposed method can be used as a rapid screening test for flavonoid identification and for routine analysis of plant extracts, such as these derived from cauliflower waste. The study also confirms that agroindustrial wastes, such as cauliflower leaves, could be seen as a valuable source of different bioactive phenolic compounds. Copyright © 2013 Elsevier B.V. All rights reserved.

  15. The Bering Autonomous Target Detection

    DEFF Research Database (Denmark)

    Jørgensen, John Leif; Denver, Troelz; Betto, Maurizio

    2003-01-01

    An autonomous asteroid target detection and tracking method has been developed. The method features near omnidirectionality and focus on high speed operations and completeness of search of the near space rather than the traditional faint object search methods, employed presently at the larger...... telescopes. The method has proven robust in operation and is well suited for use onboard spacecraft. As development target for the method and the associated instrumentation the asteroid research mission Bering has been used. Onboard a spacecraft, the autonomous detection is centered around the fully...... autonomous star tracker the Advanced Stellar Compass (ASC). One feature of this instrument is that potential targets are registered directly in terms of date, right ascension, declination, and intensity, which greatly facilitates both tracking search and registering. Results from ground and inflight tests...

  16. Autonomous intelligent assembly systems LDRD 105746 final report.

    Energy Technology Data Exchange (ETDEWEB)

    Anderson, Robert J.

    2013-04-01

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

  17. 14th International Conference on Intelligent Autonomous Systems

    CERN Document Server

    Hosoda, Koh; Menegatti, Emanuele; Shimizu, Masahiro; Wang, Hesheng

    2017-01-01

    This book describes the latest research advances, innovations, and visions in the field of robotics as presented by leading researchers, engineers, and practitioners from around the world at the 14th International Conference on Intelligent Autonomous Systems (IAS-14), held in Shanghai, China in July 2016. The contributions amply demonstrate that robots, machines and systems are rapidly achieving intelligence and autonomy, attaining more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision-making. They cover a wide range of research results and applications, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions were selected by means of a rigorous peer-review process and highlight many exciting and visionary ideas that will further galvanize the research community and spur novel research directions. The series of biennial IAS ...

  18. Mechatronics Design of an Autonomous Pipe-Inspection Robot

    Directory of Open Access Journals (Sweden)

    Abdellatif Mohamed

    2018-01-01

    Full Text Available Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions.

  19. Visual technology for the autonomous learning of mathematics

    Directory of Open Access Journals (Sweden)

    Helmut Linneweber‐Lammerskitten

    2010-09-01

    Full Text Available This paper describes a collaborative research and development project between the University of Applied Sciences Northwestern Switzerland and Rhodes University in South Africa. The project seeks to establish, disseminate and research the efficacy and use of short video clips designed specifically for the autonomous learning of mathematics. Specific to the South African context is our interest in capitalising on the ubiquity of cellphone technology and the autonomous affordances offered by mobile learning. This paper engages with a number of theoretical and pedagogical issues relating to the design, production and use of these video clips. Although the focus is specific to the contexts of South Africa and Switzerland, the discussion is of broad applicability.

  20. Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    James K. Archibald

    2006-12-01

    Full Text Available This paper addresses the challenge of supporting real-time vision processing on-board small autonomous vehicles. Local vision gives increased autonomous capability, but it requires substantial computing power that is difficult to provide given the severe constraints of small size and battery-powered operation. We describe a custom FPGA-based circuit board designed to support research in the development of algorithms for image-directed navigation and control. We show that the FPGA approach supports real-time vision algorithms by describing the implementation of an algorithm to construct a three-dimensional (3D map of the environment surrounding a small mobile robot. We show that FPGAs are well suited for systems that must be flexible and deliver high levels of performance, especially in embedded settings where space and power are significant concerns.

  1. Reconfigurable On-Board Vision Processing for Small Autonomous Vehicles

    Directory of Open Access Journals (Sweden)

    Fife WadeS

    2007-01-01

    Full Text Available This paper addresses the challenge of supporting real-time vision processing on-board small autonomous vehicles. Local vision gives increased autonomous capability, but it requires substantial computing power that is difficult to provide given the severe constraints of small size and battery-powered operation. We describe a custom FPGA-based circuit board designed to support research in the development of algorithms for image-directed navigation and control. We show that the FPGA approach supports real-time vision algorithms by describing the implementation of an algorithm to construct a three-dimensional (3D map of the environment surrounding a small mobile robot. We show that FPGAs are well suited for systems that must be flexible and deliver high levels of performance, especially in embedded settings where space and power are significant concerns.

  2. Monte Carlo Registration and Its Application with Autonomous Robots

    Directory of Open Access Journals (Sweden)

    Christian Rink

    2016-01-01

    Full Text Available This work focuses on Monte Carlo registration methods and their application with autonomous robots. A streaming and an offline variant are developed, both based on a particle filter. The streaming registration is performed in real-time during data acquisition with a laser striper allowing for on-the-fly pose estimation. Thus, the acquired data can be instantly utilized, for example, for object modeling or robot manipulation, and the laser scan can be aborted after convergence. Curvature features are calculated online and the estimated poses are optimized in the particle weighting step. For sampling the pose particles, uniform, normal, and Bingham distributions are compared. The methods are evaluated with a high-precision laser striper attached to an industrial robot and with a noisy Time-of-Flight camera attached to service robots. The shown applications range from robot assisted teleoperation, over autonomous object modeling, to mobile robot localization.

  3. Vision Based Autonomous Robot Navigation Algorithms and Implementations

    CERN Document Server

    Chatterjee, Amitava; Nirmal Singh, N

    2013-01-01

    This book is devoted to the theory and development of autonomous navigation of mobile robots using computer vision based sensing mechanism. The conventional robot navigation systems, utilizing traditional sensors like ultrasonic, IR, GPS, laser sensors etc., suffer several drawbacks related to either the physical limitations of the sensor or incur high cost. Vision sensing has emerged as a popular alternative where cameras can be used to reduce the overall cost, maintaining high degree of intelligence, flexibility and robustness. This book includes a detailed description of several new approaches for real life vision based autonomous navigation algorithms and SLAM. It presents the concept of how subgoal based goal-driven navigation can be carried out using vision sensing. The development concept of vision based robots for path/line tracking using fuzzy logic is presented, as well as how a low-cost robot can be indigenously developed in the laboratory with microcontroller based sensor systems. The book descri...

  4. Mobilities Design

    DEFF Research Database (Denmark)

    Lanng, Ditte Bendix; Wind, Simon; Jensen, Ole B.

    2017-01-01

    Mobilities comprise a large part of our world and everyday lives, and the mobilities spaces in which we travel are ubiquitous. Yet, ordinary mobilities spaces – such as parking lots, pedestrian tunnels, and road lay-bys – tend to be criticized as typologies that lack consideration for the people...... who use them and for their wider social, aesthetic, cultural, and ecological agency in the city. This is clearly not an unambiguous characterization. But from it follows an urgency to re-examine unheeded mobilities spaces and extend demands of their agency beyond standards of technical efficiency....... This article draws on the recent “mobilities turn” in social science to support such re-examination of mobilities spaces. In social-scientific mobilities research, mobilities are considered the departure point for understanding the socio-material world in which we live. Mobilities are regarded as far more than...

  5. Nuclear waste management. Quarterly progress report, October-December 1979

    Energy Technology Data Exchange (ETDEWEB)

    Platt, A.M.; Powell, J.A. (comps.)

    1980-04-01

    Progress and activities are reported on the following: high-level waste immobilization, alternative waste forms, nuclear waste materials characterization, TRU waste immobilization programs, TRU waste decontamination, krypton solidification, thermal outgassing, iodine-129 fixation, monitoring of unsaturated zone transport, well-logging instrumentation development, mobile organic complexes of fission products, waste management system and safety studies, assessment of effectiveness of geologic isolation systems, waste/rock interactions technology, spent fuel and fuel pool integrity program, and engineered barriers. (DLC)

  6. Political accountability and autonomous weapons

    Directory of Open Access Journals (Sweden)

    James Igoe Walsh

    2015-09-01

    Full Text Available Autonomous weapons would have the capacity to select and attack targets without direct human input. One important objection to the introduction of such weapons is that they will make it more difficult to identify and hold accountable those responsible for undesirable outcomes such as mission failures and civilian casualties. I hypothesize that individuals can modify their attribution of responsibility in predicable ways to accommodate this new technology. The results of a survey experiment are consistent with this; subjects continue to find responsible and hold accountable political and military leaders when autonomous weapons are used, but also attribute responsibility to the designers and programmers of such weapons.

  7. Discerning non-autonomous dynamics

    Energy Technology Data Exchange (ETDEWEB)

    Clemson, Philip T.; Stefanovska, Aneta, E-mail: aneta@lancaster.ac.uk

    2014-09-30

    Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale—from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems—their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous

  8. Gas House Autonomous System Monitoring

    Science.gov (United States)

    Miller, Luke; Edsall, Ashley

    2015-01-01

    Gas House Autonomous System Monitoring (GHASM) will employ Integrated System Health Monitoring (ISHM) of cryogenic fluids in the High Pressure Gas Facility at Stennis Space Center. The preliminary focus of development incorporates the passive monitoring and eventual commanding of the Nitrogen System. ISHM offers generic system awareness, adept at using concepts rather than specific error cases. As an enabler for autonomy, ISHM provides capabilities inclusive of anomaly detection, diagnosis, and abnormality prediction. Advancing ISHM and Autonomous Operation functional capabilities enhances quality of data, optimizes safety, improves cost effectiveness, and has direct benefits to a wide spectrum of aerospace applications.

  9. Discerning non-autonomous dynamics

    International Nuclear Information System (INIS)

    Clemson, Philip T.; Stefanovska, Aneta

    2014-01-01

    Structure and function go hand in hand. However, while a complex structure can be relatively safely broken down into the minutest parts, and technology is now delving into nanoscales, the function of complex systems requires a completely different approach. Here the complexity clearly arises from nonlinear interactions, which prevents us from obtaining a realistic description of a system by dissecting it into its structural component parts. At best, the result of such investigations does not substantially add to our understanding or at worst it can even be misleading. Not surprisingly, the dynamics of complex systems, facilitated by increasing computational efficiency, is now readily tackled in the case of measured time series. Moreover, time series can now be collected in practically every branch of science and in any structural scale—from protein dynamics in a living cell to data collected in astrophysics or even via social networks. In searching for deterministic patterns in such data we are limited by the fact that no complex system in the real world is autonomous. Hence, as an alternative to the stochastic approach that is predominantly applied to data from inherently non-autonomous complex systems, theory and methods specifically tailored to non-autonomous systems are needed. Indeed, in the last decade we have faced a huge advance in mathematical methods, including the introduction of pullback attractors, as well as time series methods that cope with the most important characteristic of non-autonomous systems—their time-dependent behaviour. Here we review current methods for the analysis of non-autonomous dynamics including those for extracting properties of interactions and the direction of couplings. We illustrate each method by applying it to three sets of systems typical for chaotic, stochastic and non-autonomous behaviour. For the chaotic class we select the Lorenz system, for the stochastic the noise-forced Duffing system and for the non-autonomous

  10. Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning

    International Nuclear Information System (INIS)

    Schalkoff, Robert J.

    1999-01-01

    This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D and D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology

  11. Mobile Autonomous Robot Twente, a mechatronics design approach

    NARCIS (Netherlands)

    Schipper, Denis Alexander; Schipper, D.A.

    2001-01-01

    The main question of this thesis is how the different skills and disciplines involved can be combined to fully exploit the potential of a mechatronics design approach. The choice made was to gain experience in the field of mechatronics design by developing a technical system of high complexity,

  12. Autonomous Coordination and Online Motion Modeling for Mobile Robots

    National Research Council Canada - National Science Library

    Sjoberg, Eric J

    2007-01-01

    Robots are rapidly becoming more involved in everyday military operations. As robots become more capable, their tasks will increase to include such roles as exploring enemy controlled buildings and caves...

  13. Learning Preference Models for Autonomous Mobile Robots in Complex Domains

    Science.gov (United States)

    2010-12-01

    templates,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 167–172, 2009. 128, 153 [254] J. Z. Kolter , P. Abbeel, and A. Y...92] Knepper, R. A. [246] Koller, D. [234] Kolter , J. Z. [254] Konolige, K. [148] Koutsougeras, C. [32] Krotkov, E. [96, 123, 178] Kuffner, J. [252

  14. Introduction to Autonomous Mobile Robotics Using "Lego Mindstorms" NXT

    Science.gov (United States)

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

    2013-01-01

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

  15. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  16. Introduction to autonomous mobile robotics using Lego Mindstorms NXT

    Science.gov (United States)

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

    2013-12-01

    Teaching the fundamentals of robotics to computer science undergraduates requires designing a well-balanced curriculum that is complemented with hands-on applications on a platform that allows rapid construction of complex robots, and implementation of sophisticated algorithms. This paper describes such an elective introductory course where the Lego Mindstorms NXT kits are used as the robot platform. The aims, scope and contents of the course are presented, and the design of the laboratory sessions as well as the term projects, which address several core problems of robotics and artificial intelligence simultaneously, are explained in detail.

  17. Creating a Mobile Autonomous Robot Research System (MARRS)

    Science.gov (United States)

    1984-12-01

    Laboratory was made possible through the energetic support of many individuals and organizations. In particluar, we want to thank our thesis advisor Dr...Drive Computer (Menos I upgraded HERO-1 computer) is described in Virtual Device’s Menos I user’s manual, Virtual Devices Robo C user’s manual...8217i.vjf/^vf.’ Most software development efforts for MARRS-1 took advantage of Virtual Devices Robo C compiler and Robo Assembler. The next best

  18. Autonomic dysfunction in cirrhosis and portal hypertension

    DEFF Research Database (Denmark)

    Dümcke, Christine Winkler; Møller, Søren

    2008-01-01

    Liver cirrhosis and portal hypertension are frequently associated with signs of circulatory dysfunction and peripheral polyneuropathy, which includes defects of the autonomic nervous system. Autonomic dysfunction, which is seen in both alcoholic and non-alcoholic liver cirrhosis and increases...

  19. Energy homeostasis, autonomic activity and obesity

    NARCIS (Netherlands)

    Scheurink, AJW; Balkan, B; Nyakas, C; vanDijk, G; Steffens, AB; Bohus, B

    1995-01-01

    Obesity is often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The present paper summarizes the results of a number of studies designed to investigate autonomic functioning in normal, genetically, and experimentally obese rats, Particular emphasis is given

  20. Connected and autonomous vehicles 2040 vision.

    Science.gov (United States)

    2014-07-01

    The Pennsylvania Department of Transportation (PennDOT) commissioned a one-year project, Connected and Autonomous : Vehicles 2040 Vision, with researchers at Carnegie Mellon University (CMU) to assess the implications of connected and : autonomous ve...

  1. Mobile Workforce, Mobile Technology, Mobile Threats

    International Nuclear Information System (INIS)

    Garcia, J.

    2015-01-01

    Mobile technologies' introduction into the world of safeguards business processes such as inspection creates tremendous opportunity for novel approaches and could result in a number of improvements to such processes. Mobile applications are certainly the wave of the future. The success of the application ecosystems has shown that users want full fidelity, highly-usable, simple purpose applications with simple installation, quick responses and, of course, access to network resources at all times. But the counterpart to opportunity is risk, and the widespread adoption of mobile technologies requires a deep understanding of the threats and vulnerabilities inherent in mobile technologies. Modern mobile devices can be characterized as small computers. As such, the threats against computing infrastructure apply to mobile devices. Meanwhile, the attributes of mobile technology that make it such an obvious benefit over traditional computing platforms all have elements of risk: pervasive, always-on networking; diverse ecosystems; lack of centralized control; constantly shifting technological foundations; intense competition among competitors in the marketplace; the scale of the installation base (from millions to billions); and many more. This paper will explore the diverse and massive environment of mobile, the number of attackers and vast opportunities for compromise. The paper will explain how mobile devices prove valuable targets to both advanced and persistent attackers as well as less-skilled casual hackers. Organized crime, national intelligence agencies, corporate espionage are all part of the landscape. (author)

  2. Three omni-directional wheels control on a mobile robot

    OpenAIRE

    Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

    2004-01-01

    Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant...

  3. Adaptive learning fuzzy control of a mobile robot

    International Nuclear Information System (INIS)

    Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

    1989-11-01

    In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

  4. Formal Verification of Autonomous Vehicle Platooning

    OpenAIRE

    Kamali, Maryam; Dennis, Louise A.; McAree, Owen; Fisher, Michael; Veres, Sandor M.

    2016-01-01

    The coordination of multiple autonomous vehicles into convoys or platoons is expected on our highways in the near future. However, before such platoons can be deployed, the new autonomous behaviors of the vehicles in these platoons must be certified. An appropriate representation for vehicle platooning is as a multi-agent system in which each agent captures the "autonomous decisions" carried out by each vehicle. In order to ensure that these autonomous decision-making agents in vehicle platoo...

  5. Waste management bibliography 1979-1981

    International Nuclear Information System (INIS)

    Oakley, D.T.

    1981-10-01

    The Los Alamos National Laboratory is conducting a variety of research and development to ensure the safety of storing and treating all types of radioactive wastes. These activities include the assay and sorting of waste, the interaction of waste with the earth, and the treatment of waste to reduce the volume and mobility of radionuclides in waste. The practical lessons learned from safely storing waste at Los Alamos since the mid-1940s are an ingredient in determining the direction of our research. National waste management programs are structured according to categories of waste, for example, high level, low level, mill tailings, and transuranic. In this bibliography publications are listed since 1979 according to the following disciplines to show the relevance of work to more than one category of waste: summary and overview; material science; environmental studies; geochemistry and geology; waste assay; soil/waste interactions shallow land burial; volume reduction and technology development; and nonradioactive wastes

  6. Hazard Map for Autonomous Navigation

    DEFF Research Database (Denmark)

    Riis, Troels

    This dissertation describes the work performed in the area of using image analysis in the process of landing a spacecraft autonomously and safely on the surface of the Moon. This is suggested to be done using a Hazard Map. The correspondence problem between several Hazard Maps are investigated...

  7. Designing Assessment for Autonomous Learning

    Science.gov (United States)

    Hay, Marie; Mathers, Lucy

    2012-01-01

    This paper aims to disseminate and evaluate an autonomous learning framework developed through collaborative research with first- and second-year undergraduate students at De Montfort University. Central to the framework is the involvement of students in the assessment of their peers and themselves using dialogue about the assessment and feedback…

  8. Computing architecture for autonomous microgrids

    Science.gov (United States)

    Goldsmith, Steven Y.

    2015-09-29

    A computing architecture that facilitates autonomously controlling operations of a microgrid is described herein. A microgrid network includes numerous computing devices that execute intelligent agents, each of which is assigned to a particular entity (load, source, storage device, or switch) in the microgrid. The intelligent agents can execute in accordance with predefined protocols to collectively perform computations that facilitate uninterrupted control of the .

  9. Autonomous Landing on Moving Platforms

    KAUST Repository

    Mendoza Chavez, Gilberto

    2016-01-01

    -deployment and recovery of MAVs, but it remains a challenging task for both autonomous and piloted vehicles. Model Predictive Control (MPC) is a widely used and effective scheme to control constrained systems. One of its variants, output-feedback tube-based MPC, ensures

  10. Mobilities Design

    DEFF Research Database (Denmark)

    Jensen, Ole B.; Lanng, Ditte Bendix

    Contemporary society is marked and defined by the ways in which mobile goods, bodies, vehicles, objects, and data are organized, moved and staged. On the background of the ‘mobilities turn’ (e.g. Cresswell 2006, Urry 2007) this book articulates a new and emerging research field, namely that of ‘m......Contemporary society is marked and defined by the ways in which mobile goods, bodies, vehicles, objects, and data are organized, moved and staged. On the background of the ‘mobilities turn’ (e.g. Cresswell 2006, Urry 2007) this book articulates a new and emerging research field, namely...... that of ‘mobilities design’. The book revolves around the following research question: How are design decisions and interventions staging mobilities? It builds upon the Staging Mobilities model (Jensen 2013) in an explorative inquiry into the problems and potentials of the design of mobilities. The exchange value...

  11. Mobile economy

    OpenAIRE

    Turowski, Klaus

    2004-01-01

    Mobile economy : Transaktionen, Prozesse, Anwendungen und Dienste ; 4. Workshop Mobile Commerce, 02.-03. Februar 2004, Univ. Augsburg / K. Turowski ... (Hrsg.). - Bonn : Ges. für Informatik, 2004. - 189 S. : Ill., graph. Darst. - (GI-Edition : Proceedings ; 42)

  12. Mobile marketing

    OpenAIRE

    Gause, Matěj

    2012-01-01

    The goal of bachelor's thesis on the theme "Mobile marketing" is to outline its development and why is this new phenomen so important for all modern companies around the world. The work is not about simple description of mobile marketing media but it vividly informs about the latest trends and news from the world of mobile apps and games. It presents the most successful mobile apps which registered more than billion downloads and from their unique characteristics it unveils great potential of...

  13. Mobile marketing

    OpenAIRE

    KLEČKOVÁ, Zuzana

    2013-01-01

    The main aim of this thesis was to provide a comprehensive overview of the mobile marketing and analyze selected campaigns of Czech mobile marketing in comparison to world successful campaigns. The research contained studying of available literature about the theme to gain general knowledge about the issue. The theoretical part of the thesis contains predominantly various definitions of mobile marketing and its tools, advantages of these tools and some information about Mobile Marketing Assoc...

  14. Staging Mobilities

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    and lived as people are “staging themselves” (from below). Staging mobilities is a dynamic process between “being staged” (for example, being stopped at traffic lights) and the “mobile staging” of interacting individuals (negotiating a passage on the pavement). Staging Mobilities is about the fact...

  15. Subversive Mobilities

    DEFF Research Database (Denmark)

    Thelle, Mikkel

    2013-01-01

    The article approaches mobility through a cultural history of urban conflict. Using a case of “The Copenhagen Trouble,“ a series of riots in the Danish capital around 1900, a space of subversive mobilities is delineated. These turn-of-the-century riots points to a new pattern of mobile gathering...

  16. Effects of cellulose degradation products on the mobility of Eu(III) in repositories for low and intermediate level radioactive waste.

    Science.gov (United States)

    Diesen, Veronica; Forsberg, Kerstin; Jonsson, Mats

    2017-10-15

    The deep repository for low and intermediate level radioactive waste SFR in Sweden will contain large amounts of cellulosic waste materials contaminated with radionuclides. Over time the repository will be filled with water and alkaline conditions will prevail. In the present study degradation of cellulosic materials and the ability of cellulosic degradation products to solubilize and thereby mobilise Eu(III) under repository conditions has been investigated. Further, the possible immobilization of Eu(III) by sorption onto cement in the presence of degradation products has been investigated. The cellulosic material has been degraded under anaerobic and aerobic conditions in alkaline media (pH: 12.5) at ambient temperature. The degradation was followed by measuring the total organic carbon (TOC) content in the aqueous phase as a function of time. After 173days of degradation the TOC content is highest in the anaerobic artificial cement pore water (1547mg/L). The degradation products are capable of solubilising Eu(III) and the total europium concentration in the aqueous phase was 900μmol/L after 498h contact time under anaerobic conditions. Further it is shown that Eu(III) is adsorbed to the hydrated cement to a low extent (<9μmol Eu/g of cement) in the presence of degradation products. Copyright © 2017 Elsevier B.V. All rights reserved.

  17. AD HOC Networks for the Autonomous Car

    Science.gov (United States)

    Ron, Davidescu; Negrus, Eugen

    2017-10-01

    The future of the vehicle is made of cars, roads and infrastructures connected in a two way automated communication in a holistic system. It is a mandatory to use Encryption to maintain Confidentiality, Integrity and Availability in an ad hoc vehicle network. Vehicle to Vehicle communication, requires multichannel interaction between mobile, moving and changing parties to insure the full benefit from data sharing and real time decision making, a network of such users referred as mobile ad hoc network (MANET), however as ad hoc networks were not implemented in such a scale, it is not clear what is the best method and protocol to apply. Furthermore the visibility of secure preferred asymmetric encrypted ad hoc networks in a real time environment of dense moving autonomous vehicles has to be demonstrated, In order to evaluate the performance of Ad Hoc networks in changing conditions a simulation of multiple protocols was performed on large number of mobile nodes. The following common routing protocols were tested, DSDV is a proactive protocol, every mobile station maintains a routing table with all available destinations, DSR is a reactive routing protocol which allows nodes in the MANET to dynamically discover a source route across multiple network hops, AODV is a reactive routing protocol Instead of being proactive. It minimizes the number of broadcasts by creating routes based on demand, SAODV is a secure version of AODV, requires heavyweight asymmetric cryptographic, ARIANDE is a routing protocol that relies on highly efficient symmetric cryptography the concept is primarily based on DSR. A methodical evolution was performed in a various density of transportation, based on known communication bench mark parameters including, Throughput Vs. time, Routing Load per packets and bytes. Out of the none encrypted protocols, It is clear that in terms of performance of throughput and routing load DSR protocol has a clear advantage the high node number mode. The encrypted

  18. Mobile Probes in Mobile Learning

    DEFF Research Database (Denmark)

    Ørngreen, Rikke; Blomhøj, Ulla; Duvaa, Uffe

    In this paper experiences from using mobile probes in educational design of a mobile learning application is presented. The probing process stems from the cultural probe method, and was influenced by qualitative interview and inquiry approaches. In the project, the mobile phone was not only acting...... as an agent for acquiring empirical data (as the situation in hitherto mobile probe settings) but was also the technological medium for which data should say something about (mobile learning). Consequently, not only the content of the data but also the ways in which data was delivered and handled, provided...... a valuable dimension for investigating mobile use. The data was collected at the same time as design activities took place and the collective data was analysed based on user experience goals and cognitive processes from interaction design and mobile learning. The mobile probe increased the knowledge base...

  19. Mobile Semiotics

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    2013-01-01

    This chapter aims to understand the mobile condition of contemporary life with a particular view to the signifying dimension of the environment and its ‘readability’. The chapter explores the potentials of semiotics and its relationship to the new mobilities literature. What takes place...... is a ‘mobile sense making’ where signs and materially situated meanings connect to the moving human body and thus create particular challenges and complexities of making sense of the world. The chapter includes notions of mobility systems and socio-technical networks in order to show how a ‘semiotic layer’ may...... work to afford or restrict mobile practices....

  20. Autonomous Cryogenics Loading Operations Simulation Software: Knowledgebase Autonomous Test Engineer

    Science.gov (United States)

    Wehner, Walter S., Jr.

    2013-01-01

    Working on the ACLO (Autonomous Cryogenics Loading Operations) project I have had the opportunity to add functionality to the physics simulation software known as KATE (Knowledgebase Autonomous Test Engineer), create a new application allowing WYSIWYG (what-you-see-is-what-you-get) creation of KATE schematic files and begin a preliminary design and implementation of a new subsystem that will provide vision services on the IHM (Integrated Health Management) bus. The functionality I added to KATE over the past few months includes a dynamic visual representation of the fluid height in a pipe based on number of gallons of fluid in the pipe and implementing the IHM bus connection within KATE. I also fixed a broken feature in the system called the Browser Display, implemented many bug fixes and made changes to the GUI (Graphical User Interface).

  1. Autonomic computing enabled cooperative networked design

    CERN Document Server

    Wodczak, Michal

    2014-01-01

    This book introduces the concept of autonomic computing driven cooperative networked system design from an architectural perspective. As such it leverages and capitalises on the relevant advancements in both the realms of autonomic computing and networking by welding them closely together. In particular, a multi-faceted Autonomic Cooperative System Architectural Model is defined which incorporates the notion of Autonomic Cooperative Behaviour being orchestrated by the Autonomic Cooperative Networking Protocol of a cross-layer nature. The overall proposed solution not only advocates for the inc

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

    Science.gov (United States)

    2013-05-01

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

  3. Mobile Lexicography

    DEFF Research Database (Denmark)

    Køhler Simonsen, Henrik

    2014-01-01

    Users are already mobile, but the question is to which extent knowledge-based dictionary apps are designed for the mobile user situation. The objective of this article is to analyse the characteristics of the mobile user situation and to look further into the stationary user situation and the mob......Users are already mobile, but the question is to which extent knowledge-based dictionary apps are designed for the mobile user situation. The objective of this article is to analyse the characteristics of the mobile user situation and to look further into the stationary user situation...... and the mobile user situation. The analysis is based on an empirical survey involving ten medical doctors and a monolingual app designed to support cognitive lexicographic functions, cf. (Tarp 2006:61-64). In test A the doctors looked up five medical terms while sitting down at a desk and in test B the doctors...

  4. Mobility Divides

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    Contemporary mobilities are cultural and social manifestations, and the mobile practices in the everyday life of billions of humans are re-configuring senses of place, self, other and relationships to the built environment. The way ‘mobile situations’ are staged in designed and built environments......’ in the everyday life and cast light on how design and ‘materialities of mobilites’ are creating differential mobilities across societies, social networks, and communities of practices.......Contemporary mobilities are cultural and social manifestations, and the mobile practices in the everyday life of billions of humans are re-configuring senses of place, self, other and relationships to the built environment. The way ‘mobile situations’ are staged in designed and built environments...

  5. Mobile Semiotics - signs and mobilities

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    a potential for mobilities studies if the awareness of seeing the environment as a semiotic layer and system can be sensitized to the insights of the ‘mobilities turn’. Empirically the paper tentatively explores the usefulness of a mobile semiotics approach to cases such as street signage, airport design...

  6. PIPEBOT: a mobile system for duct inspection

    Energy Technology Data Exchange (ETDEWEB)

    Estrada, Emanuel; Goncalves, Eder Mateus; Botelho, Silvia; Oliveira, Vinicius; Souto Junior, Humberto; Almeida, Renan de; Mello Junior, Claudio; Santos, Thiago [Universidade Federal do Rio Grande (FURG), RS (Brazil); Gulles, Roger [Universidade Tecnologica Federal do Parana (UTFPR), Curitiba, PR (Brazil)

    2009-07-01

    In this paper, it is presented the development of an innovative and low-cost robotic mobile system to be employed in inspection of pipes. The system is composed of a robot with different sensors which permit to move inside pipes and detect faults as well as incipient faults. The robot is a semiautonomous one, i.e. it can navigate by human tele operation or autonomously one. The autonomous mode uses computer vision techniques and signals from position sensor of the robot to navigating and localizing it. It is showed the mechanical structure of the robot, the overall architecture of the system and preliminary results. (author)

  7. Morphologic Changes in Autonomic Nerves in Diabetic Autonomic Neuropathy

    Directory of Open Access Journals (Sweden)

    Heung Yong Jin

    2015-12-01

    Full Text Available Diabetic neuropathy is one of the major complications of diabetes, and it increases morbidity and mortality in patients with both type 1 diabetes mellitus (T1DM and type 2 diabetes mellitus (T2DM. Because the autonomic nervous system, for example, parasympathetic axons, has a diffuse and wide distribution, we do not know the morphological changes that occur in autonomic neural control and their exact mechanisms in diabetic patients with diabetic autonomic neuropathy (DAN. Although the prevalence of sympathetic and parasympathetic neuropathy is similar in T1DM versus T2DM patients, sympathetic nerve function correlates with parasympathetic neuropathy only in T1DM patients. The explanation for these discrepancies might be that parasympathetic nerve function was more severely affected among T2DM patients. As parasympathetic nerve damage seems to be more advanced than sympathetic nerve damage, it might be that parasympathetic neuropathy precedes sympathetic neuropathy in T2DM, which was Ewing's concept. This could be explained by the intrinsic morphologic difference. Therefore, the morphological changes in the sympathetic and parasympathetic nerves of involved organs in T1DM and T2DM patients who have DAN should be evaluated. In this review, evaluation methods for morphological changes in the epidermal nerves of skin, and the intrinsic nerves of the stomach will be discussed.

  8. Insights into the background of autonomic medicine.

    Science.gov (United States)

    Laranjo, Sérgio; Geraldes, Vera; Oliveira, Mário; Rocha, Isabel

    2017-10-01

    Knowledge of the physiology underlying the autonomic nervous system is pivotal for understanding autonomic dysfunction in clinical practice. Autonomic dysfunction may result from primary modifications of the autonomic nervous system or be secondary to a wide range of diseases that cause severe morbidity and mortality. Together with a detailed history and physical examination, laboratory assessment of autonomic function is essential for the analysis of various clinical conditions and the establishment of effective, personalized and precise therapeutic schemes. This review summarizes the main aspects of autonomic medicine that constitute the background of cardiovascular autonomic dysfunction. Copyright © 2017 Sociedade Portuguesa de Cardiologia. Publicado por Elsevier España, S.L.U. All rights reserved.

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

    Science.gov (United States)

    Susmono

    2017-03-01

    Indonesia is a big country with circa 250 million population, with more than 500 Local Governments and they are going to improve their municiple solid waste dumping method from Open Dumping to Sanitary Landfill (SLF) and to promote Reduce-Reuse-Recycling (3R) since many years ago, and it is strengthened by issuing of Solid Waste Management Act No.18/2008, MSW Government Regulation No.12/2012 and other regulations which are issued by Central Government and Local Governments. During “Water and Sanitation Decade 1980-1990” through “Integrated Urban Infrastructures Development Program” some pilot project such as 30 units of 3R station were developed in the urban areas, and modified or simplification of SLF call Controlled Landfill (CLF) were implemented. In the year of 2002 about 45 units of composting pilot projects were developed under “Western Java Environmental Management Project”, and the result was notified that some of them are not sustain because many aspects. At the beginning of 2007 until now, some pilot projects of 3R were continued in some cities and since 2011 some Waste Banks are growing fast. In the year of 2014 was recorded that of 70 % of 3Rs in Java Island well developed (2014, Directorate of Environment Sanitation Report), and in the year of 2012 was recorded that development of Communal Waste Banks were growing fast during two months from 400 units to 800 units (2012, Ministry of Environment report), now more Communal Waste Banks all ready exist. After the last overview monitoring activity by Ministry of Environment and JICA (2008), because of lack of data is very difficult to give current accurate information of Municiple Solid Waste Handling in Indonesia. Nevertheless some innovation are developed because of impact of many pilot projects, Adipura City Cleanest Competition among Local Governments and growing of the spirit of autonomous policy of Local Governments, but some Local Governments still dependence on Central Government support

  10. Waste inspection tomography (WIT)

    Energy Technology Data Exchange (ETDEWEB)

    Bernardi, R.T. [Bio-Imaging Research, Inc., Lincolnshire, IL (United States)

    1995-10-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU.

  11. Waste inspection tomography (WIT)

    International Nuclear Information System (INIS)

    Bernardi, R.T.

    1995-01-01

    Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU

  12. Lightweight autonomous chemical identification system (LACIS)

    Science.gov (United States)

    Lozos, George; Lin, Hai; Burch, Timothy

    2012-06-01

    Smiths Detection and Intelligent Optical Systems have developed prototypes for the Lightweight Autonomous Chemical Identification System (LACIS) for the US Department of Homeland Security. LACIS is to be a handheld detection system for Chemical Warfare Agents (CWAs) and Toxic Industrial Chemicals (TICs). LACIS is designed to have a low limit of detection and rapid response time for use by emergency responders and could allow determination of areas having dangerous concentration levels and if protective garments will be required. Procedures for protection of responders from hazardous materials incidents require the use of protective equipment until such time as the hazard can be assessed. Such accurate analysis can accelerate operations and increase effectiveness. LACIS is to be an improved point detector employing novel CBRNE detection modalities that includes a militaryproven ruggedized ion mobility spectrometer (IMS) with an array of electro-resistive sensors to extend the range of chemical threats detected in a single device. It uses a novel sensor data fusion and threat classification architecture to interpret the independent sensor responses and provide robust detection at low levels in complex backgrounds with minimal false alarms. The performance of LACIS prototypes have been characterized in independent third party laboratory tests at the Battelle Memorial Institute (BMI, Columbus, OH) and indoor and outdoor field tests at the Nevada National Security Site (NNSS). LACIS prototypes will be entering operational assessment by key government emergency response groups to determine its capabilities versus requirements.

  13. Autonomous Multicamera Tracking on Embedded Smart Cameras

    Directory of Open Access Journals (Sweden)

    Bischof Horst

    2007-01-01

    Full Text Available There is currently a strong trend towards the deployment of advanced computer vision methods on embedded systems. This deployment is very challenging since embedded platforms often provide limited resources such as computing performance, memory, and power. In this paper we present a multicamera tracking method on distributed, embedded smart cameras. Smart cameras combine video sensing, processing, and communication on a single embedded device which is equipped with a multiprocessor computation and communication infrastructure. Our multicamera tracking approach focuses on a fully decentralized handover procedure between adjacent cameras. The basic idea is to initiate a single tracking instance in the multicamera system for each object of interest. The tracker follows the supervised object over the camera network, migrating to the camera which observes the object. Thus, no central coordination is required resulting in an autonomous and scalable tracking approach. We have fully implemented this novel multicamera tracking approach on our embedded smart cameras. Tracking is achieved by the well-known CamShift algorithm; the handover procedure is realized using a mobile agent system available on the smart camera network. Our approach has been successfully evaluated on tracking persons at our campus.

  14. Intelligent agents: adaptation of autonomous bimodal microsystems

    Science.gov (United States)

    Smith, Patrice; Terry, Theodore B.

    2014-03-01

    Autonomous bimodal microsystems exhibiting survivability behaviors and characteristics are able to adapt dynamically in any given environment. Equipped with a background blending exoskeleton it will have the capability to stealthily detect and observe a self-chosen viewing area while exercising some measurable form of selfpreservation by either flying or crawling away from a potential adversary. The robotic agent in this capacity activates a walk-fly algorithm, which uses a built in multi-sensor processing and navigation subsystem or algorithm for visual guidance and best walk-fly path trajectory to evade capture or annihilation. The research detailed in this paper describes the theoretical walk-fly algorithm, which broadens the scope of spatial and temporal learning, locomotion, and navigational performances based on optical flow signals necessary for flight dynamics and walking stabilities. By observing a fly's travel and avoidance behaviors; and, understanding the reverse bioengineering research efforts of others, we were able to conceptualize an algorithm, which works in conjunction with decisionmaking functions, sensory processing, and sensorimotor integration. Our findings suggest that this highly complex decentralized algorithm promotes inflight or terrain travel mobile stability which is highly suitable for nonaggressive micro platforms supporting search and rescue (SAR), and chemical and explosive detection (CED) purposes; a necessity in turbulent, non-violent structured or unstructured environments.

  15. CSIR energy autonomous campus programme

    CSIR Research Space (South Africa)

    Mukoma, Peter

    2018-05-01

    Full Text Available : rooftops, ground- mounted plants Total of 8 MWp  13 GWh/yr Wind: 3-4 MW-class wind turbines Total of 3 MW  7 GWh/yr Biogas: Municipal solid waste and/or organic waste from surrounding supermarkets & restaurants 4-5 MW @ 800-1,000 hrs...

  16. Sweden: Autonomous Reactivity Control (ARC) Systems

    International Nuclear Information System (INIS)

    Qvist, Staffan A.

    2015-01-01

    The next generation of nuclear energy systems must be licensed, constructed, and operated in a manner that will provide a competitively priced supply of energy, keeping in consideration an optimum use of natural resources, while addressing nuclear safety, waste, and proliferation resistance, and the public perception concerns of the countries in which those systems are deployed. These issues are tightly interconnected, and the implementation of passive and inherent safety features is a high priority in all modern reactor designs since it helps to tackle many of the issues at once. To this end, the Autonomous Reactivity Control (ARC) system was developed to ensure excellent inherent safety performance of Generation-IV reactors while having a minimal impact on core performance and economic viability. This paper covers the principles for ARC system design and analysis, the problem of ensuring ARC system response stability and gives examples of the impact of installing ARC systems in well-known fast reactor core systems. It is shown that even with a relatively modest ARC installation, having a near-negligible impact on core performance during standard operation, cores such as the European Sodium Fast Reactor (ESFR) can be made to survive any postulated unprotected transient without coolant boiling or fuel melting

  17. Cardiovascular autonomic neuropathy in diabetes

    DEFF Research Database (Denmark)

    Spallone, Vincenza; Ziegler, Dan; Freeman, Roy

    2011-01-01

    Cardiovascular Autonomic Neuropathy (CAN) Subcommittee of Toronto Consensus Panel on Diabetic Neuropathy worked to update CAN guidelines, with regard to epidemiology, clinical impact, diagnosis, usefulness of CAN testing, and management. CAN is the impairment of cardiovascular autonomic control...... in type 2 diabetes. CAN is a risk marker of mortality and cardiovascular morbidity, and possibly a progression promoter of diabetic nephropathy. Criteria for CAN diagnosis and staging are: 1. one abnormal cardio-vagal test identifies possible or early CAN; 2. at least two abnormal cardio-vagal tests....... diagnosis of CAN clinical forms, 2. detection and tailored treatment of CAN clinical correlates (e.g. tachycardia, OH, nondipping, QT interval prolongation), 3. risk stratification for diabetic complications and cardiovascular morbidity and mortality, and 4. modulation of targets of diabetes therapy...

  18. Autonomous Laser-Powered Vehicle

    Science.gov (United States)

    Stone, William C. (Inventor); Hogan, Bartholomew P. (Inventor)

    2017-01-01

    An autonomous laser-powered vehicle designed to autonomously penetrate through ice caps of substantial (e.g., kilometers) thickness by melting a path ahead of the vehicle as it descends. A high powered laser beam is transmitted to the vehicle via an onboard bare fiber spooler. After the beam enters through the dispersion optics, the beam expands into a cavity. A radiation shield limits backscatter radiation from heating the optics. The expanded beam enters the heat exchanger and is reflected by a dispersion mirror. Forward-facing beveled circular grooves absorb the reflected radiant energy preventing the energy from being reflected back towards the optics. Microchannels along the inner circumference of the beam dump heat exchanger maximize heat transfer. Sufficient amount of fiber is wound on the fiber spooler to permit not only a descent but also to permit a sample return mission by inverting the vehicle and melting its way back to the surface.

  19. Health, autonomic financing and transferences

    Directory of Open Access Journals (Sweden)

    David Cantarero Prieto

    2002-01-01

    Full Text Available The present paper has as objective to study the whole relative problem to the autonomous communities and regional heath care expenditure financing in Spain. This article has a dual purpose. First, the financing of the current health care attendance is approached in the Spanish regions passing magazine to its possible variants and we observe that the balance of our system is clearly inclined towards the side of the integration in the general pattern of financing («Fiscal Room» with specific conditions («Mixed System». Secondly, we examine the new situation in the mark of health care and its corresponding financing in the new model approved in 2001, in terms of the effects of tax assignment on autonomous communities.

  20. Autonomously managed high power systems

    International Nuclear Information System (INIS)

    Weeks, D.J.; Bechtel, R.T.

    1985-01-01

    The need for autonomous power management capabilities will increase as the power levels of spacecraft increase into the multi-100 kW range. The quantity of labor intensive ground and crew support consumed by the 9 kW Skylab cannot be afforded in support of a 75-300 kW Space Station or high power earth orbital and interplanetary spacecraft. Marshall Space Flight Center is managing a program to develop necessary technologies for high power system autonomous management. To date a reference electrical power system and automation approaches have been defined. A test facility for evaluation and verification of management algorithms and hardware has been designed with the first of the three power channel capability nearing completion

  1. Development of autonomous operation system

    International Nuclear Information System (INIS)

    Endou, Akira; Watanabe, Kenshiu; Miki, Tetsushi

    1992-01-01

    To enhance operation reliability of nuclear plants by removing human factors, study on an autonomous operation system has been carried out to substitute artificial intelligence (AI) for plant operators and, in addition, traditional controllers used in existing plants. For construction of the AI system, structurization of knowledge on the basis of the principles such as physical laws, function and structure of relevant objects and generalization of problem solving process are intended. A hierarchical distributed cooperative system configuration in employed because it is superior from the viewpoint of dynamical reorganization of system functions. This configuration is realized by an object-oriented multi-agent system. Construction of a prototype system was planned and the conceptual design was made for FBR plant in order to evaluate applicability of AI to the autonomous operation and to have a prospect for the realization of the system. The prototype system executes diagnosis, state evaluation, operation and control for the main plant subsystems. (author)

  2. Autonomous Agents as Artistic Collaborators

    DEFF Research Database (Denmark)

    Kadish, David

    In this paper, I ask whether it is possible to exert creative direction on the emergence of large scale patterns from the actions of autonomous or semi-autonomous actors. As an artist and an engineer, I undertake installations and projects with an intent to create, to make art or innovative...... structures. At the same time, one of my artistic interests is in ceding a great deal of creative control to a cluster of robotic actors, in the process interrogating the lack of control that we, as a species, exert over the world. Here, I explore this idea in the context of an ongoing project called...... that navigate the space as well. My work has implications for how we as a species address planetary-scale challenges and whether we can organize societies to find emergent solutions to complex problems. Behind my artistic interest is the idea that "creation" has no teleological impulse. The creative force from...

  3. Innovative thermal energy harvesting for future autonomous applications

    Science.gov (United States)

    Monfray, Stephane

    2013-12-01

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

  4. Innovative thermal energy harvesting for future autonomous applications

    International Nuclear Information System (INIS)

    Monfray, Stephane

    2013-01-01

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

  5. Autonomous spacecraft rendezvous and docking

    Science.gov (United States)

    Tietz, J. C.; Almand, B. J.

    A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

  6. Biology-Inspired Autonomous Control

    Science.gov (United States)

    2011-08-31

    insect brain, allow these animals to fly with damaged wings, order of body mass payloads (e.g., foraging bees with a load of pollen , blood satiated...The research focus addressed two broad, complementary research areas : autonomous systems concepts inspired by the behavior and neurobiology...UL 46 19b. TELEPHONE NUMBER (include area code) 850 883-1887 Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std. Z39.18 iii Table of

  7. Autonomous Electrical Vehicles’ Charging Station

    OpenAIRE

    Józef Paska; Mariusz Kłos; Łukasz Rosłaniec; Rafał Bielas; Magdalena Błędzińska

    2016-01-01

    This paper presents a model of an autonomous electrical vehicles’ charging station. It consists of renewable energy sources: wind turbine system, photovoltaic cells, as well as an energy storage, load, and EV charging station. In order to optimise the operating conditions, power electronic converters were added to the system. The model was implemented in the Homer Energy programme. The first part of the paper presents the design assumptions and technological solutions. Further in the paper...

  8. Fleet management for autonomous vehicles

    OpenAIRE

    Bsaybes, Sahar; Quilliot, Alain; Wagler, Annegret K.

    2016-01-01

    The VIPAFLEET project consists in developing models and algorithms for man- aging a fleet of Individual Public Autonomous Vehicles (VIPA). Hereby, we consider a fleet of cars distributed at specified stations in an industrial area to supply internal transportation, where the cars can be used in different modes of circulation (tram mode, elevator mode, taxi mode). One goal is to develop and implement suitable algorithms for each mode in order to satisfy all the requests under an economic point...

  9. Failure Prediction for Autonomous Driving

    OpenAIRE

    Hecker, Simon; Dai, Dengxin; Van Gool, Luc

    2018-01-01

    The primary focus of autonomous driving research is to improve driving accuracy. While great progress has been made, state-of-the-art algorithms still fail at times. Such failures may have catastrophic consequences. It therefore is important that automated cars foresee problems ahead as early as possible. This is also of paramount importance if the driver will be asked to take over. We conjecture that failures do not occur randomly. For instance, driving models may fail more likely at places ...

  10. Autonomic computing meets SCADA security

    OpenAIRE

    Nazir, S; Patel, S; Patel, D

    2017-01-01

    © 2017 IEEE. National assets such as transportation networks, large manufacturing, business and health facilities, power generation, and distribution networks are critical infrastructures. The cyber threats to these infrastructures have increasingly become more sophisticated, extensive and numerous. Cyber security conventional measures have proved useful in the past but increasing sophistication of attacks dictates the need for newer measures. The autonomic computing paradigm mimics the auton...

  11. Training Revising Based Traversability Analysis of Complex Terrains for Mobile Robot

    Directory of Open Access Journals (Sweden)

    Rui Song

    2014-05-01

    Full Text Available Traversability analysis is one of the core issues in the autonomous navigation for mobile robots to identify the accessible area by the information of sensors on mobile robots. This paper proposed a model to analyze the traversability of complex terrains based on rough sets and training revising. The model described the traversability for mobile robots by traversability cost. Through the experiment, the paper gets the conclusion that traversability analysis model based on rough sets and training revising can be used where terrain features are rich and complex, can effectively handle the unstructured environment, and can provide reliable and effective decision rules in the autonomous navigation for mobile robots.

  12. Autonomic neuropathy in diabetes mellitus

    Directory of Open Access Journals (Sweden)

    Alberto eVerrotti

    2014-12-01

    Full Text Available Diabetic autonomic neuropathy (DAN is a serious and common complication of diabetes, often overlooked and misdiagnosed. It is a systemic-wide disorder that may be asymptomatic in the early stages. The most studied and clinically important form of DAN is cardiovascular autonomic neuropathy (CAN defined as the impairment of autonomic control of the cardiovascular system in patients with diabetes after exclusion of other causes. The reported prevalence of DAN varies widely depending on inconsistent definition, different diagnostic method, different patient cohorts studied. The pathogenesis is still unclear and probably multifactorial. Once DAN becomes clinically evident, no form of therapy has been identified which can effectively stop or reverse it. Prevention strategies are based on strict glycemic control with intensive insulin treatment, multifactorial intervention and lifestyle modification including control of hypertension, dyslipidemia, stop smoking, weight loss and adequate physical exercise. The present review summarizes the latest knowledge regarding clinical presentation, epidemiology, pathogenesis and management of DAN, with some mention to childhood and adolescent population.

  13. Evaluation of selected static methods used to estimate element mobility, acid-generating and acid-neutralizing potentials associated with geologically diverse mining wastes

    Science.gov (United States)

    Hageman, Philip L.; Seal, Robert R.; Diehl, Sharon F.; Piatak, Nadine M.; Lowers, Heather

    2015-01-01

    A comparison study of selected static leaching and acid–base accounting (ABA) methods using a mineralogically diverse set of 12 modern-style, metal mine waste samples was undertaken to understand the relative performance of the various tests. To complement this study, in-depth mineralogical studies were conducted in order to elucidate the relationships between sample mineralogy, weathering features, and leachate and ABA characteristics. In part one of the study, splits of the samples were leached using six commonly used leaching tests including paste pH, the U.S. Geological Survey (USGS) Field Leach Test (FLT) (both 5-min and 18-h agitation), the U.S. Environmental Protection Agency (USEPA) Method 1312 SPLP (both leachate pH 4.2 and leachate pH 5.0), and the USEPA Method 1311 TCLP (leachate pH 4.9). Leachate geochemical trends were compared in order to assess differences, if any, produced by the various leaching procedures. Results showed that the FLT (5-min agitation) was just as effective as the 18-h leaching tests in revealing the leachate geochemical characteristics of the samples. Leaching results also showed that the TCLP leaching test produces inconsistent results when compared to results produced from the other leaching tests. In part two of the study, the ABA was determined on splits of the samples using both well-established traditional static testing methods and a relatively quick, simplified net acid–base accounting (NABA) procedure. Results showed that the traditional methods, while time consuming, provide the most in-depth data on both the acid generating, and acid neutralizing tendencies of the samples. However, the simplified NABA method provided a relatively fast, effective estimation of the net acid–base account of the samples. Overall, this study showed that while most of the well-established methods are useful and effective, the use of a simplified leaching test and the NABA acid–base accounting method provide investigators fast

  14. Mobile Clouds

    DEFF Research Database (Denmark)

    Fitzek, Frank; Katz, Marcos

    A mobile cloud is a cooperative arrangement of dynamically connected communication nodes sharing opportunistic resources. In this book, authors provide a comprehensive and motivating overview of this rapidly emerging technology. The book explores how distributed resources can be shared by mobile...... users in very different ways and for various purposes. The book provides many stimulating examples of resource-sharing applications. Enabling technologies for mobile clouds are also discussed, highlighting the key role of network coding. Mobile clouds have the potential to enhance communications...... performance, improve utilization of resources and create flexible platforms to share resources in very novel ways. Energy efficient aspects of mobile clouds are discussed in detail, showing how being cooperative can bring mobile users significant energy saving. The book presents and discusses multiple...

  15. Mobilities Design

    DEFF Research Database (Denmark)

    Jensen, Ole B.; Lanng, Ditte Bendix; Wind, Simon

    2016-01-01

    In this paper, we identify the nexus between design (architecture, urban design, service design, etc.) and mobilities as a new and emerging research field. In this paper, we apply a “situational mobilities” perspective and take point of departure in the pragmatist question: “What design decisions...... and interventions affords this particular mobile situation?” The paper presents the contours of an emerging research agenda within mobilities research. The advent of “mobilities design” as an emerging research field points towards a critical interest in the material as well as practical consequences of contemporary......-making. The paper proposes that increased understanding of the material affordances facilitated through design provides important insight to planning and policymaking that at times might be in risk of becoming too detached from the everyday life of the mobile subject within contemporary mobilities landscapes....

  16. Semi-autonomous robots for reactor containments

    International Nuclear Information System (INIS)

    1994-01-01

    During 1993, the activity at the University was split into two primary groups. One group provided direct support for the development and testing of the RVIR vehicle. This effort culminated in a demonstration of the vehicle at ORNL during December. The second group of researchers focused attention on pushing the technology forward in the areas of radiation imaging, navigation, and sensing modalities. A major effort in technology transfer took place during this year. All of these efforts reflected in the periodic progress reports which are attached. During 1994, our attention will change from the Nuclear Energy program to the Environmental Restoration and Waste Management office. The immediate needs of the Robotics Technology Development Program within the Office of Technology Development of EM drove this change in target applications. The University will be working closely with the national laboratories to further develop and transfer existing technologies to mobile platforms which are currently being designed and employed in seriously hazardous environments

  17. Mobiles Robotersystem

    OpenAIRE

    Schmierer, G.; Wolf, A.

    1999-01-01

    DE 19816893 A UPAB: 20000203 NOVELTY - An optical and or acoustic noticeable advertising and or information carrier (10) is fixed permitting detachment in such a manner at the mobile platform (8), that the advertising and or information carrier does not impair the movability of the mobile platform. The advertising is provided at an exposed place on the mobile platform. USE - Advertising or information communication. ADVANTAGE - Advertising or information is imparted in prominent positioning w...

  18. Mobil marketing

    OpenAIRE

    Engelová, Kateřina

    2006-01-01

    Mobil marketing - reklama a podpora prodeje prostřednictvím mobilních telefonů. Technologické a kulturní předpoklady vzniku tohoto odvětví. Mobil marketing a marketingový mix, možnosti synergie. Nástroje mobil marketingu - reklamní SMS a MMS, lokační služby, soutěže, ankety a hlasování, věrnostní systémy, mobilní obsah. Subjekty mobil marketingu. M-komerce. Využití pro podnikové aplikace.

  19. Wastes options

    International Nuclear Information System (INIS)

    Maes, M.

    1992-01-01

    After a description of the EEC environmental policy, some wastes families are described: bio-contaminant wastes (municipal and industrial), hospitals wastes, toxic wastes in dispersed quantities, nuclear wastes (radioactive and thermal), plastics compounds wastes, volatiles organic compounds, hydrocarbons and used solvents. Sources, quantities and treatments are given. (A.B.). refs., figs., tabs

  20. Economic Floating Waste Detectionfor Surface Cleaning Robots

    Directory of Open Access Journals (Sweden)

    Sumroengrit Jakkrit

    2017-01-01

    Full Text Available Removing waste out of water surface is a routine task and can be operated by using autonomous surface cleaning robots. This paper presents amethodoflaser-based floating waste detection for surface robot guidance when waste positions are unknown beforehand. Basing on concept of refraction and reflection of laser ray, the proposed laser-based technique is proven to be applicable on floating waste detection. The economic waste detector is constructed and mounted on the robot. Five DOF equations of motion are formulated for calculation of waste position incorporating distance measured by the laser and also the robot motion caused by external wind force as well as water surface tension. Experiments were conducted on a pond with calm water and results show that the presented economic waste detection successfully identify and locate position of plastic bottles floating on water surface within the range of 5 meters.

  1. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-11-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  2. Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

    Directory of Open Access Journals (Sweden)

    Noureddine Ouadah

    2008-09-01

    Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

  3. Autonomous Cryogenic Load Operations: Knowledge-Based Autonomous Test Engineer

    Science.gov (United States)

    Schrading, J. Nicolas

    2013-01-01

    The Knowledge-Based Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20 years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in the system. As part of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display of the entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledge base, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  4. Autonomous Cryogenic Load Operations: KSC Autonomous Test Engineer

    Science.gov (United States)

    Shrading, Nicholas J.

    2012-01-01

    The KSC Autonomous Test Engineer (KATE) program has a long history at KSC. Now a part of the Autonomous Cryogenic Load Operations (ACLO) mission, this software system has been sporadically developed over the past 20+ years. Originally designed to provide health and status monitoring for a simple water-based fluid system, it was proven to be a capable autonomous test engineer for determining sources of failure in. the system, As part.of a new goal to provide this same anomaly-detection capability for a complicated cryogenic fluid system, software engineers, physicists, interns and KATE experts are working to upgrade the software capabilities and graphical user interface. Much progress was made during this effort to improve KATE. A display ofthe entire cryogenic system's graph, with nodes for components and edges for their connections, was added to the KATE software. A searching functionality was added to the new graph display, so that users could easily center their screen on specific components. The GUI was also modified so that it displayed information relevant to the new project goals. In addition, work began on adding new pneumatic and electronic subsystems into the KATE knowledgebase, so that it could provide health and status monitoring for those systems. Finally, many fixes for bugs, memory leaks, and memory errors were implemented and the system was moved into a state in which it could be presented to stakeholders. Overall, the KATE system was improved and necessary additional features were added so that a presentation of the program and its functionality in the next few months would be a success.

  5. Waste Sites - Municipal Waste Operations

    Data.gov (United States)

    NSGIC Education | GIS Inventory — A Municipal Waste Operation is a DEP primary facility type related to the Waste Management Municipal Waste Program. The sub-facility types related to Municipal Waste...

  6. Mobile phones and mobile communication

    DEFF Research Database (Denmark)

    Ling, Richard; Donner, Jonathan

    With staggering swiftness, the mobile phone has become a fixture of daily life in almost every society on earth. In 2007, the world had over 3 billion mobile subscriptions. Prosperous nations boast of having more subscriptions than people. In the developing world, hundreds of millions of people who...... could never afford a landline telephone now have a mobile number of their own. With a mobile in our hand many of us feel safer, more productive, and more connected to loved ones, but perhaps also more distracted and less involved with things happening immediately around us. Written by two leading...... researchers in the field, this volume presents an overview of the mobile telephone as a social and cultural phenomenon. Research is summarized and made accessible though detailed descriptions of ten mobile users from around the world. These illustrate popular debates, as well as deeper social forces at work...

  7. Mobile real time radiography system

    Energy Technology Data Exchange (ETDEWEB)

    Vigil, J.; Taggart, D.; Betts, S. [Los Alamos National Lab., NM (United States)] [and others

    1997-11-01

    A 450-keV Mobile Real Time Radiography (RTR) System was delivered to Los Alamos National Laboratory (LANL) in January 1996. It was purchased to inspect containers of radioactive waste produced at (LANL). Since its delivery it has been used to radiograph more than 600 drums of radioactive waste at various LANL sites. It has the capability of inspecting waste containers of various sizes from <1-gal. buckets up to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). It has three independent x-ray acquisition formats. The primary system used is a 12- in. image intensifier, the second is a 36-in. linear diode array (LDA) and the last is an open system. It is fully self contained with on board generator, HVAC, and a fire suppression system. It is on a 53-ft long x 8-ft. wide x 14-ft. high trailer that can be moved over any highway requiring only an easily obtainable overweight permit because it weights {approximately}38 tons. It was built to conform to industry standards for a cabinet system which does not require an exclusion zone. The fact that this unit is mobile has allowed us to operate where the waste is stored, rather than having to move the waste to a fixed facility.

  8. Mobile real time radiography system

    International Nuclear Information System (INIS)

    Vigil, J.; Taggart, D.; Betts, S.

    1997-01-01

    A 450-keV Mobile Real Time Radiography (RTR) System was delivered to Los Alamos National Laboratory (LANL) in January 1996. It was purchased to inspect containers of radioactive waste produced at (LANL). Since its delivery it has been used to radiograph more than 600 drums of radioactive waste at various LANL sites. It has the capability of inspecting waste containers of various sizes from <1-gal. buckets up to standard waste boxes (SWB, dimensions 54.5 in. x 71 in. x 37 in.). It has three independent x-ray acquisition formats. The primary system used is a 12- in. image intensifier, the second is a 36-in. linear diode array (LDA) and the last is an open system. It is fully self contained with on board generator, HVAC, and a fire suppression system. It is on a 53-ft long x 8-ft. wide x 14-ft. high trailer that can be moved over any highway requiring only an easily obtainable overweight permit because it weights ∼38 tons. It was built to conform to industry standards for a cabinet system which does not require an exclusion zone. The fact that this unit is mobile has allowed us to operate where the waste is stored, rather than having to move the waste to a fixed facility

  9. A Mobile Self-Reconfigurable Microrobot with Power and Communication Relays

    Directory of Open Access Journals (Sweden)

    Dawei Zhang

    2010-12-01

    Full Text Available A modular mobile self-reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS-based electromagnetic micromotors. To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented. Experimental results verify high efficiency and reliability of the proposed docking method, and demonstrate the improved ability of performing large-range vision-based surveillance by power and communication relays.

  10. A Mobile Self-reconfigurable Microrobot with Power and Communication Relays

    Directory of Open Access Journals (Sweden)

    Dawei Zhang

    2011-01-01

    Full Text Available A modular mobile self-reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS-based electromagnetic micromotors. To realize that the microrobot is autonomous, its electrical system is designed in modularity and integrated. A simple autonomous docking approach based on infrared sensors is presented. Experimental results verify high efficiency and reliability of the proposed docking method, and demonstrate the improved ability of performing large-range vision-based surveillance by power and communication relays.

  11. Human Supervision of Multiple Autonomous Vehicles

    Science.gov (United States)

    2013-03-22

    AFRL-RH-WP-TR-2013-0143 HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES Heath A. Ruff Ball...REPORT TYPE Interim 3. DATES COVERED (From – To) 09-16-08 – 03-22-13 4. TITLE AND SUBTITLE HUMAN SUPERVISION OF MULTIPLE AUTONOMOUS VEHICLES 5a...Supervision of Multiple Autonomous Vehicles To support the vision of a system that enables a single operator to control multiple next-generation

  12. The treatment of autonomic dysfunction in tetanus

    Directory of Open Access Journals (Sweden)

    T van den Heever

    2017-07-01

    Full Text Available We report a case of generalised tetanus in a 50-year-old female patient after sustaining a wound to her right lower leg. She developed autonomic dysfunction, which included labile hypertension alternating with hypotension and sweating. The autonomic dysfunction was treated successfully with a combination of morphine sulphate infusion, magnesium sulphate, and clonidine. She also received adrenaline and phenylephrine infusions as needed for hypotension. We then discuss the pathophysiology, clinical features and treatment options of autonomic dysfunction.

  13. Urban Mobility

    DEFF Research Database (Denmark)

    2017-01-01

    This anthology is the proceedings publication from the 2015 NAF Symposium in Malmö, Sweden. The aim of the 2015 NAF Symposium “Urban Mobility – Architectures, Geographies and Social Space” was to facilitate a cross-disciplinary discussion on urban mobility in which the juxtaposition of different...

  14. Urban Mobility

    DEFF Research Database (Denmark)

    2017-01-01

    This anthology is the proceedings publication from the 2015 NAF Symposium in Malmö, Sweden. The aim of the 2015 NAF Symposium “Urban Mobility – Architectures, Geographies and Social Space” was to facilitate a cross-disciplinary discussion on urban mobility in which the juxtaposition of different ...

  15. Mobile phone

    International Nuclear Information System (INIS)

    2009-01-01

    Almost the entire Norwegian population has cell phone. The usefulness of the cell phone is great, but can use a mobile phone to health or discomfort? How can exposure be reduced? NRPA follows research and provides advice on mobile phone use. (AG)

  16. Packaged low-level waste verification system

    Energy Technology Data Exchange (ETDEWEB)

    Tuite, K.; Winberg, M.R.; McIsaac, C.V. [Idaho National Engineering Lab., Idaho Falls, ID (United States)

    1995-12-31

    The Department of Energy through the National Low-Level Waste Management Program and WMG Inc. have entered into a joint development effort to design, build, and demonstrate the Packaged Low-Level Waste Verification System. Currently, states and low-level radioactive waste disposal site operators have no method to independently verify the radionuclide content of packaged low-level waste that arrives at disposal sites for disposition. At this time, the disposal site relies on the low-level waste generator shipping manifests and accompanying records to ensure that low-level waste received meets the site`s waste acceptance criteria. The subject invention provides the equipment, software, and methods to enable the independent verification of low-level waste shipping records to ensure that the site`s waste acceptance criteria are being met. The objective of the prototype system is to demonstrate a mobile system capable of independently verifying the content of packaged low-level waste.

  17. Intensive mobilities

    DEFF Research Database (Denmark)

    Vannini, Phillip; Bissell, David; Jensen, Ole B.

    with fieldwork conducted in Canada, Denmark and Australia to develop our understanding of the experiential politics of long distance workers. Rather than focusing on the extensive dimensions of mobilities that are implicated in patterns and trends, our paper turns to the intensive dimensions of this experience......This paper explores the intensities of long distance commuting journeys as a way of exploring how bodily sensibilities are being changed by the mobilities that they undertake. The context of this paper is that many people are travelling further to work than ever before owing to a variety of factors...... which relate to transport, housing and employment. Yet we argue that the experiential dimensions of long distance mobilities have not received the attention that they deserve within geographical research on mobilities. This paper combines ideas from mobilities research and contemporary social theory...

  18. Designing Mobilities

    DEFF Research Database (Denmark)

    Jensen, Ole B.

    are often still not engaged with in a sufficiently manner. Often social sciences keep distance to the physical and material as if the social was still to be understood as a realm separate of technology, architecture, and design (for a critique of this see; Latour 2005 and Urry 2000). This paper takes point......Within the so-called ‘mobilities turn’ (Adey 2010; Cresswell 2006; Urry 2007) much research has taken place during the last decade bringing mobilities into the centre of sociological analysis. However, the materiality and spatiality of artefacts, infrastructures, and sites hosting mobilities...... of departure in the sociological perspective termed ‘Staging Mobilities’ (Jensen 2013a) and utilizes this as an analytical frame for exploring cases of mobility design. The paper put focus on how the material shape, design and architectures of technologies, spaces and sites influence mobilities practices...

  19. Mobile probes

    DEFF Research Database (Denmark)

    Ørngreen, Rikke; Jørgensen, Anna Neustrup; Noesgaard, Signe Schack

    2016-01-01

    A project investigating the effectiveness of a collection of online resources for teachers' professional development used mobile probes as a data collection method. Teachers received questions and tasks on their mobile in a dialogic manner while in their everyday context as opposed...... to in an interview. This method provided valuable insight into the contextual use, i.e. how did the online resource transfer to the work practice. However, the research team also found that mobile probes may provide the scaffolding necessary for individual and peer learning at a very local (intra-school) community...... level. This paper is an initial investigation of how the mobile probes process proved to engage teachers in their efforts to improve teaching. It also highlights some of the barriers emerging when applying mobile probes as a scaffold for learning....

  20. Mobilities Design

    DEFF Research Database (Denmark)

    Jensen, Ole B.; Lanng, Ditte Bendix

    2016-01-01

    of life’ for billions of people in the everyday life. This paper is structured in three parts. After the general introduction we present the mobilities theory perspective of ‘staging mobilities’ and connects this to the empirical phenomenon of parking lots and their design. The paper ends in section three......Contemporary society is marked and defined by the ways in which mobile goods, bodies, vehicles, objects, and data are organized, moved and staged. On the backgound of the ‘mobilities turn’ (for short review paper on this see; Sheller 2011, Vannini 2010) this paper proposes a further development...... of the perspective in the direction of a material and design oriented turn. In order to fulfill this purpose we articulate a new and emerging research field, namely that of ‘mobilities design’. In our understanding time has come to articulate ‘Mobilities Design’ as a dedicated research field in and of its own...

  1. Mobile Lexicography

    DEFF Research Database (Denmark)

    Køhler Simonsen, Henrik

    2015-01-01

    are already mobile – but lexicography is not yet fully ready for the mobile challenge, mobile users and mobile user situations. The article is based on empirical data from two surveys comprising 10 medical doctors, who were asked to look up five medical substances with the medical dictionary app Medicin.......dk and five students, who were asked to look up five terms with the dictionary app Gyldendal Engelsk-Dansk. The empirical data comprise approximately 15 hours of recordings of user behavior, think-aloud data and interview data. The data indicate that there is still much to be done in this area...... and that lexicographic innovation is needed. A new type of users, new user situations and new access methods call for new lexicographic solutions, and this article proposes a six-pointed hexagram model, which can be used during dictionary app design to lexicographically calibrate the six dimensions in mobile...

  2. Restricted Mobilities

    DEFF Research Database (Denmark)

    Nielsen, Mette; Lassen, Claus

    2012-01-01

    communities and shopping centres through mobility lenses. The article shows how different mobility systems enable and restrict the public access to private-public spaces, and it points out that proprietary communities create an unequal potential for human movement and access in the city. The main argument......Privatisation of public spaces in the contemporary city has increased during the last decades but only few studies have approached this field from a mobility perspective. Therefore the article seeks to rectify this by exploring two Australian examples of private spaces in the city; gated...... and stratification mechanisms. In conclusion the article therefore suggests that future urban research and planning also needs a mobile understanding of spaces in the cities and how different mobility systems play an important role to sustain the exclusiveness that often characterises the private/public spaces...

  3. Mobility Work

    DEFF Research Database (Denmark)

    Bardram, Jakob Eyvind; Bossen, Claus

    2005-01-01

    We posit the concept of Mobility Work to describe efforts of moving about people and things as part of accomplishing tasks. Mobility work can be seen as a spatial parallel to the concept of articulation work proposed by the sociologist Anselm Strauss. Articulation work describes efforts of coordi....../or resources. To accomplish their work, actors have to make the right configuration of these four aspects emerge.......We posit the concept of Mobility Work to describe efforts of moving about people and things as part of accomplishing tasks. Mobility work can be seen as a spatial parallel to the concept of articulation work proposed by the sociologist Anselm Strauss. Articulation work describes efforts...... of coordination necessary in cooperative work, but focuses, we argue, mainly on the temporal aspects of cooperative work. As a supplement, the concept of mobility work focuses on the spatial aspects of cooperative work. Whereas actors seek to diminish the amount of articulation work needed in collaboration...

  4. Mobility Challenges

    DEFF Research Database (Denmark)

    Jensen, Ole B.; Lassen, Claus

    2011-01-01

    This article takes point of departure in the challenges to understand the importance of contemporary mobility. The approach advocated is a cross-disciplinary one drawing on sociology, geography, urban planning and design, and cultural studies. As such the perspective is to be seen as a part...... of the so-called ‘mobility turn’ within social science. The perspective is illustrative for the research efforts at the Centre for Mobility and Urban Studies (C-MUS), Aalborg University. The article presents the contours of a theoretical perspective meeting the challenges to research into contemporary urban...... mobilities. In particular the article discusses 1) the physical city, its infrastructures and technological hardware/software, 2) policies and planning strategies for urban mobility and 3) the lived everyday life in the city and the region....

  5. Public Health, Ethics, and Autonomous Vehicles.

    Science.gov (United States)

    Fleetwood, Janet

    2017-04-01

    With the potential to save nearly 30 000 lives per year in the United States, autonomous vehicles portend the most significant advance in auto safety history by shifting the focus from minimization of postcrash injury to collision prevention. I have delineated the important public health implications of autonomous vehicles and provided a brief analysis of a critically important ethical issue inherent in autonomous vehicle design. The broad expertise, ethical principles, and values of public health should be brought to bear on a wide range of issues pertaining to autonomous vehicles.

  6. A Generic Architecture for Autonomous Uninhabited Vehicles

    National Research Council Canada - National Science Library

    Barbier, Magali; Gabard, Jean-Francois; Ayreault, Herve

    2007-01-01

    ...; few solutions propose architecture adaptive to several types of platform. Autonomous vehicles that move in partially known and dynamic environments have to deal with asynchronous disruptive events...

  7. Research Institute for Autonomous Precision Guided Systems

    National Research Council Canada - National Science Library

    Rogacki, John R

    2007-01-01

    ... actuators, development of a visualization lab for modeling vision based guidance algorithms, concept development of a rapid prototyping and aero characterization lab, vision based control of autonomous...

  8. Radioactive waste management in Belgium

    International Nuclear Information System (INIS)

    Detilleux, E.

    1984-01-01

    The first part of this paper briefly describes the nuclear industry in Belgium and the problem of radioactive wastes with regard to their quality and quantity. The second part emphasizes the recent guidelines regarding the management of the nuclear industry in general and the radioactive wastes in particular. In this respect, important tasks are the reinforcement of administrative structures with regard to the supervision and the control of nuclear activities, the establishment of a mixed company entrusted with the covering of the needs of nuclear plants in the field of nuclear fuels and particularly the setting up of a public autonomous and specialized organization, the 'Public Organization for the Management of Radioactive Waste and Fissile Materials', in short 'O.N.D.R.A.F.'. This organization is in charge of the management of the transport, the conditioning, the storage and the disposal of radioactive wastes. (Auth.)

  9. CHAMP: A bespoke integrated system for mobile manipulation

    CSIR Research Space (South Africa)

    Van Eden, B

    2014-11-01

    Full Text Available for Mobile Manipulation Beatrice van Eden, Benjamin Rosman, Daniel Withey, Terence Ratshidaho, Mogomotsi Keaikitse, Ditebogo Masha, Ashley Kleinhans, and Ahmed Shaik Mobile Intelligent Autonomous Systems Modelling and Digital Science Council for Scientific... as a rear caster. Each arm has 7 DoF, with an attached Barrett hand. UMAN [19], the UMass Mobile MANipulator also uses a 7 DoF Barrett WAM, with a three-fingered Barrett hand. The arm is mounted on modified Nomadic XR4000 mobile base having four caster...

  10. Autonomous Real Time Requirements Tracing

    Science.gov (United States)

    Plattsmier, George; Stetson, Howard

    2014-01-01

    One of the more challenging aspects of software development is the ability to verify and validate the functional software requirements dictated by the Software Requirements Specification (SRS) and the Software Detail Design (SDD). Insuring the software has achieved the intended requirements is the responsibility of the Software Quality team and the Software Test team. The utilization of Timeliner-TLX(sup TM) Auto- Procedures for relocating ground operations positions to ISS automated on-board operations has begun the transition that would be required for manned deep space missions with minimal crew requirements. This transition also moves the auto-procedures from the procedure realm into the flight software arena and as such the operational requirements and testing will be more structured and rigorous. The autoprocedures would be required to meet NASA software standards as specified in the Software Safety Standard (NASASTD- 8719), the Software Engineering Requirements (NPR 7150), the Software Assurance Standard (NASA-STD-8739) and also the Human Rating Requirements (NPR-8705). The Autonomous Fluid Transfer System (AFTS) test-bed utilizes the Timeliner-TLX(sup TM) Language for development of autonomous command and control software. The Timeliner-TLX(sup TM) system has the unique feature of providing the current line of the statement in execution during real-time execution of the software. The feature of execution line number internal reporting unlocks the capability of monitoring the execution autonomously by use of a companion Timeliner-TLX(sup TM) sequence as the line number reporting is embedded inside the Timeliner-TLX(sup TM) execution engine. This negates I/O processing of this type data as the line number status of executing sequences is built-in as a function reference. This paper will outline the design and capabilities of the AFTS Autonomous Requirements Tracker, which traces and logs SRS requirements as they are being met during real-time execution of the

  11. Autonomous sensor manager agents (ASMA)

    Science.gov (United States)

    Osadciw, Lisa A.

    2004-04-01

    Autonomous sensor manager agents are presented as an algorithm to perform sensor management within a multisensor fusion network. The design of the hybrid ant system/particle swarm agents is described in detail with some insight into their performance. Although the algorithm is designed for the general sensor management problem, a simulation example involving 2 radar systems is presented. Algorithmic parameters are determined by the size of the region covered by the sensor network, the number of sensors, and the number of parameters to be selected. With straight forward modifications, this algorithm can be adapted for most sensor management problems.

  12. Autonomously managed electrical power systems

    Science.gov (United States)

    Callis, Charles P.

    1986-01-01

    The electric power systems for future spacecraft such as the Space Station will necessarily be more sophisticated and will exhibit more nearly autonomous operation than earlier spacecraft. These new power systems will be more reliable and flexible than their predecessors offering greater utility to the users. Automation approaches implemented on various power system breadboards are investigated. These breadboards include the Hubble Space Telescope power system test bed, the Common Module Power Management and Distribution system breadboard, the Autonomusly Managed Power System (AMPS) breadboard, and the 20 kilohertz power system breadboard. Particular attention is given to the AMPS breadboard. Future plans for these breadboards including the employment of artificial intelligence techniques are addressed.

  13. Autonomous quality assurance and troubleshooting

    Science.gov (United States)

    DuPlain, Ronald F.; Radziwill, Nicole M.; Shelton, Amy L.

    2006-06-01

    To improve operational availability (the proportion of time that a telescope is able to accomplish what a visiting observer wants at the time the observation is scheduled), response time to faults must be minimized. One way this can be accomplished is by characterizing the relationships and interdependencies between components in a control system, developing algorithms to identify the root cause of a problem, and capturing expert knowledge of a system to simplify the process of troubleshooting. Results from a prototype development are explained, along with deployment issues. Implications for the future, such as effective knowledge representation and management, and learning processes which integrate autonomous and interactive components, are discussed.

  14. Artificial Intelligence in Autonomous Telescopes

    Science.gov (United States)

    Mahoney, William; Thanjavur, Karun

    2011-03-01

    Artificial Intelligence (AI) is key to the natural evolution of today's automated telescopes to fully autonomous systems. Based on its rapid development over the past five decades, AI offers numerous, well-tested techniques for knowledge based decision making essential for real-time telescope monitoring and control, with minimal - and eventually no - human intervention. We present three applications of AI developed at CFHT for monitoring instantaneous sky conditions, assessing quality of imaging data, and a prototype for scheduling observations in real-time. Closely complementing the current remote operations at CFHT, we foresee further development of these methods and full integration in the near future.

  15. Topological entropy of autonomous flows

    Energy Technology Data Exchange (ETDEWEB)

    Badii, R. [Paul Scherrer Inst. (PSI), Villigen (Switzerland)

    1997-06-01

    When studying fluid dynamics, especially in a turbulent regime, it is crucial to estimate the number of active degrees of freedom or of localized structures in the system. The topological entropy quantifies the exponential growth of the number of `distinct` orbits in a dynamical system as a function of their length, in the infinite spatial resolution limit. Here, I illustrate a novel method for its evaluation, which extends beyond maps and is applicable to any system, including autonomous flows: these are characterized by lack of a definite absolute time scale for the orbit lengths. (author) 8 refs.

  16. BART: The Czech Autonomous Observatory

    Czech Academy of Sciences Publication Activity Database

    Nekola, Martin; Hudec, René; Jelínek, M.; Kubánek, P.; Štrobl, Jan; Polášek, Cyril

    2010-01-01

    Roč. 2010, Spec. Is. (2010), 103986/1-103986/5 ISSN 1687-7969. [Workshop on Robotic Autonomous Observatories. Málaga, 18.05.2009-21.05.2009] R&D Projects: GA ČR GA205/08/1207 Grant - others:ESA(XE) ESA-PECS project No. 98023; Spanish Ministry of Education and Science(ES) AP2003-1407 Institutional research plan: CEZ:AV0Z10030501 Keywords : robotic telescope * BART * gamma ray bursts Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics http://www.hindawi.com/journals/aa/2010/103986.html

  17. Solid waste

    International Nuclear Information System (INIS)

    1995-01-01

    The article drawn up within the framework of 'the assessment of the state of the environment in Lebanon' provides an overview of solid waste management, and assesses future wastes volume and waste disposal issues.In particular it addresses the following concerns: - Long term projections of solid waste arisings (i.e. domestic, industrial, such commercial wastes, vehicle types, construction waste, waste oils, hazardous toxic wastes and finally hospital and clinical wastes) are described. - Appropriate disposal routes, and strategies for reducing volumes for final disposal - Balance between municipal and industrial solid waste generation and disposal/treatment and - environmental impacts (aesthetics, human health, natural environment )of existing dumps, and the potential impact of government plans for construction of solid waste facilities). Possible policies for institutional reform within the waste management sector are proposed. Tables provides estimations of generation rates and distribution of wastes in different regions of Lebanon. Laws related to solid waste management are summarized

  18. Search and Classification Using Multiple Autonomous Vehicles Decision-Making and Sensor Management

    CERN Document Server

    Wang, Yue

    2012-01-01

    Search and Classification Using Multiple Autonomous Vehicles provides a comprehensive study of decision-making strategies for domain search and object classification using multiple autonomous vehicles (MAV) under both deterministic and probabilistic frameworks. It serves as a first discussion of the problem of effective resource allocation using MAV with sensing limitations, i.e., for search and classification missions over large-scale domains, or when there are far more objects to be found and classified than there are autonomous vehicles available. Under such scenarios, search and classification compete for limited sensing resources. This is because search requires vehicle mobility while classification restricts the vehicles to the vicinity of any objects found. The authors develop decision-making strategies to choose between these competing tasks and vehicle-motion-control laws to achieve the proposed management scheme. Deterministic Lyapunov-based, probabilistic Bayesian-based, and risk-based decision-mak...

  19. Waste management - sewage - special wastes

    International Nuclear Information System (INIS)

    1987-01-01

    The 27 papers represent a cross-section of the subject waste management. Particular attention is paid to the following themes: waste avoidance, waste product utilization, household wastes, dumping technology, sewage sludge treatments, special wastes, seepage from hazardous waste dumps, radioactive wastes, hospital wastes, purification of flue gas from waste combustion plants, flue gas purification and heavy metals, as well as combined sewage sludge and waste product utilization. The examples given relate to plants in Germany and other European countries. 12 papers have been separately recorded in the data base. (DG) [de

  20. TARDEC Overview: Ground Vehicle Power and Mobility

    Science.gov (United States)

    2011-02-04

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

  1. Gathering asychronous mobile robots with inaccurate compasses

    OpenAIRE

    Souissi, Samia; Defago, Xavier; Yamashita, Masafumi

    2006-01-01

    This paper considers a system of asynchronous autonomous mobile robots that can move freely in a twodimensional plane with no agreement on a common coordinate system. Starting from any initial configuration, the robots are required to eventually gather at a single point, not fixed in advance (gathering problem). Prior work has shown that gathering oblivious (i.e., stateless) robots cannot be achieved deterministically without additional assumptions. In particular, if robots can detect multipl...

  2. Autonomous Lawnmower using FPGA implementation.

    Science.gov (United States)

    Ahmad, Nabihah; Lokman, Nabill bin; Helmy Abd Wahab, Mohd

    2016-11-01

    Nowadays, there are various types of robot have been invented for multiple purposes. The robots have the special characteristic that surpass the human ability and could operate in extreme environment which human cannot endure. In this paper, an autonomous robot is built to imitate the characteristic of a human cutting grass. A Field Programmable Gate Array (FPGA) is used to control the movements where all data and information would be processed. Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL) is used to describe the hardware using Quartus II software. This robot has the ability of avoiding obstacle using ultrasonic sensor. This robot used two DC motors for its movement. It could include moving forward, backward, and turning left and right. The movement or the path of the automatic lawn mower is based on a path planning technique. Four Global Positioning System (GPS) plot are set to create a boundary. This to ensure that the lawn mower operates within the area given by user. Every action of the lawn mower is controlled by the FPGA DE' Board Cyclone II with the help of the sensor. Furthermore, Sketch Up software was used to design the structure of the lawn mower. The autonomous lawn mower was able to operate efficiently and smoothly return to coordinated paths after passing the obstacle. It uses 25% of total pins available on the board and 31% of total Digital Signal Processing (DSP) blocks.

  3. Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

    Directory of Open Access Journals (Sweden)

    Cviklovič Vladimír

    2016-03-01

    Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

  4. Sustainable Mobility

    DEFF Research Database (Denmark)

    Kjærulff, Aslak Aamot

    This paper combines strands of mobilities theory and planning theory, and develops a qualitative approach to look across emerging planning practices. By actively following 8 Danish urban and transport planners, over the course of 2 years, we learn how their practices have changed, inspired...... by mobility management, a concept aiming to reduce carbon emissions from transportation in western societies. The article focuses on how municipal planners formulate the role of mobility management activities organized around private companies, and how their practices are connected to wider ideas on planning....

  5. Distributed computing by oblivious mobile robots

    CERN Document Server

    Flocchini, Paola; Santoro, Nicola

    2012-01-01

    The study of what can be computed by a team of autonomous mobile robots, originally started in robotics and AI, has become increasingly popular in theoretical computer science (especially in distributed computing), where it is now an integral part of the investigations on computability by mobile entities. The robots are identical computational entities located and able to move in a spatial universe; they operate without explicit communication and are usually unable to remember the past; they are extremely simple, with limited resources, and individually quite weak. However, collectively the ro

  6. Autonomous planetary rover at Carnegie Mellon

    Science.gov (United States)

    Whittaker, William; Kanade, Takeo; Mitchell, Tom

    1990-01-01

    This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

  7. Design and implementation of Ad-Hoc collaborative proxying scheme for reducing network energy waste

    Directory of Open Access Journals (Sweden)

    Rafiullah Khan

    2017-05-01

    Full Text Available Network devices are equipped with low power states but they are rarely activated due to their inability of maintaining network connectivity. Recently, Network Connectivity Proxy (NCP concept has been proposed in literature as an effective mechanism to exploit full potential of low power features on network devices by impersonating their virtual presence. However, the NCP concept faces several open issues and challenges especially related to proxying of TCP connections and majority of daily used proprietary closed-source applications. This paper presents a new approach for reducing network energy waste through intelligent collaboration among daily used devices (e.g., desktop computers, laptops, tablets, smartphones, etc. It guarantees to run applications on only and only one user device that is under active use at that specific moment. To reduce energy waste and allow idle devices to sleep, our approach also takes benefit from a light-weight home gateway proxy with very basic practically realizable functionalities. The proposed system not just reduces energy waste of fixed devices but also enables mobile devices to significantly improve their battery life. Our developed software prototypes allow devices to autonomously and seamlessly collaborate with each other without requiring any configuration or user input. Further, this paper also presents the basic performance evaluation of developed prototypes in real networking environments.

  8. An autonomous weeding robot for organic farming

    NARCIS (Netherlands)

    Bakker, T.; Asselt, van C.J.; Bontsema, J.; Müller, J.; Straten, van G.

    2006-01-01

    The objective of this research is the replacement of hand weeding in organic farming by a device working autonomously at ¯eld level. The autonomous weeding robot was designed using a structured design approach, giving a good overview of the total design. A vehicle was developed with a diesel engine,

  9. Autonomous Control of Space Reactor Systems

    International Nuclear Information System (INIS)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-01-01

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are available to perform intelligent control functions that are necessary for both normal and abnormal operational conditions

  10. Overfeeding, autonomic regulation and metabolic consequences.

    NARCIS (Netherlands)

    Scheurink, A.J.W.; Balkan, B; Strubbe, J.H.; van Dijk, G.; Steffens, A.B

    The autonomic nervous system plays an important role in the regulation of body processes in health and disease. Overfeeding and obesity (a disproportional increase of the fat mass of the body) are often accompanied by alterations in both sympathetic and parasympathetic autonomic functions. The

  11. Technologies for highly miniaturized autonomous sensor networks

    NARCIS (Netherlands)

    Baert, K.; Gyselinckx, B.; Torfs, T.; Leonov, V.; Yazicioglu, F.; Brebels, S.; Donnay, S.; Vanfleteren, J.; Beyne, E.; Hoof, C. van

    2006-01-01

    Recent results of the autonomous sensor research program HUMAN++ will be summarized in this paper. The research program aims to achieve highly miniaturized and (nearly) autonomous sensor systems that assist our health and comfort. Although the application examples are dedicated to human

  12. Cooperative Control of Multiple Unmanned Autonomous Vehicles

    Science.gov (United States)

    2005-06-03

    I I Final Report 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS Cooperative Control of Multiple Unmanned Autonomous Vehicles F49620-01-1-0337 6. AUTHOR(S... Autonomous Vehicles Final Report Kendall E. Nygard Department of Computer Science and Operations Research North Dakota State University Fargo, ND 58105-5164

  13. 3-D Vision Techniques for Autonomous Vehicles

    Science.gov (United States)

    1988-08-01

    TITLE (Include Security Classification) W 3-D Vision Techniques for Autonomous Vehicles 12 PERSONAL AUTHOR(S) Martial Hebert, Takeo Kanade, inso Kweoni... Autonomous Vehicles Martial Hebert, Takeo Kanade, Inso Kweon CMU-RI-TR-88-12 The Robotics Institute Carnegie Mellon University Acession For Pittsburgh

  14. Autonomy Level Specification for Intelligent Autonomous Vehicles

    Science.gov (United States)

    2003-09-01

    Autonomy Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report Hui-Min Huang, Elena Messina, James Albus...Level Specification for Intelligent Autonomous Vehicles : Interim Progress Report 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6

  15. Intelligent autonomous systems 12. Vol. 2. Proceedings

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sukhan [Sungkyunkwan Univ., Gyeonggi-Do (Korea, Republic of). College of Information and Communication Engineering; Yoon, Kwang-Joon [Konkuk Univ., Seoul (Korea, Republic of); Cho, Hyungsuck [Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Lee, Jangmyung (eds.) [Pusan National Univ. (Korea, Republic of). Dept. of Electronics Engineering

    2013-02-01

    Recent research in Intelligent and Autonomous Systems. Volume 2 of the proceedings of the 12th International Conference IAS-12, held June 26-29, 2012, jeju Island, Korea. Written by leading experts in the field. Intelligent autonomous systems are emerged as a key enabler for the creation of a new paradigm of services to humankind, as seen by the recent advancement of autonomous cars licensed for driving in our streets, of unmanned aerial and underwater vehicles carrying out hazardous tasks on-site, and of space robots engaged in scientific as well as operational missions, to list only a few. This book aims at serving the researchers and practitioners in related fields with a timely dissemination of the recent progress on intelligent autonomous systems, based on a collection of papers presented at the 12th International Conference on Intelligent Autonomous Systems, held in Jeju, Korea, June 26-29, 2012. With the theme of ''Intelligence and Autonomy for the Service to Humankind, the conference has covered such diverse areas as autonomous ground, aerial, and underwater vehicles, intelligent transportation systems, personal/domestic service robots, professional service robots for surgery/rehabilitation, rescue/security and space applications, and intelligent autonomous systems for manufacturing and healthcare. This volume 2 includes contributions devoted to Service Robotics and Human-Robot Interaction and Autonomous Multi-Agent Systems and Life Engineering.

  16. Safe and Autonomous Drones for Urban Flight

    Science.gov (United States)

    Krishnakumar, Kalmanje

    2016-01-01

    Autonomous vehicles are no longer futuristic technology; in fact, there are already cars with self-driving features on the road. Over the next five years, the connected vehicles will disrupt the entire automotive and UAS ecosystems. The industry will undergo fundamental change as semi-autonomous driving and flying emerges, followed by an eventual shift to full autonomy.

  17. Autonomous Control of Space Reactor Systems

    Energy Technology Data Exchange (ETDEWEB)

    Belle R. Upadhyaya; K. Zhao; S.R.P. Perillo; Xiaojia Xu; M.G. Na

    2007-11-30

    Autonomous and semi-autonomous control is a key element of space reactor design in order to meet the mission requirements of safety, reliability, survivability, and life expectancy. Interrestrial nuclear power plants, human operators are avilable to perform intelligent control functions that are necessary for both normal and abnormal operational conditions.

  18. Mobile technologies in progress of teaching and learning: teaching mobility?

    Directory of Open Access Journals (Sweden)

    Osmar Hélio Alves Araújo

    2016-04-01

    Full Text Available The article is a survey of basic education teachers in the municipality of Iguatu/CE and aimed to verify if teachers use mobile technology in the classroom as an educational resource, as well as investigate to what extent the professional qualifications of these professionals drives an authentic, autonomous teaching action before the harvest of mobile technologies. The subjects are teachers who work in elementary school. Methodologically, constitutes in a field research, with retaining the qualitative approach, aiming to enhance the school in contemporary times is addressed by changes brought to the company by the technological revolution, especially the proliferation of mobile technologies, which are driving changes in processes teaching and learning. We used semi structured and reflective interview as a technique for data collection. They have as the theoretical studies of Alarcão (2001, Freire (1987, 1992, 2001, Libâneo (2001, 2002, 2005, 2011, Nóvoa (2009, Tardif (2001 UNESCO (2013, Veen and Vrakking (2009. The results of the research showed that teachers, for the most part, do not use the apparatus of mobile technologies in pedagogical practice, and point to the picture of insufficient professional qualification for a teaching practice in the context of safe and educationally effectively technologies. However, this split ends, so in need of a continuous training process that deepens also in reality and knowledge that teachers have. As regard as pillars the changes that the current social context has experienced, among which we highlight the technological changes that proliferate dramatically.

  19. ROV90 - A prototype autonomous inspection vehicle

    Energy Technology Data Exchange (ETDEWEB)

    Roedseth, Oe.J.; Hallset, J.O.

    1991-04-01

    Simple autonomous inspection vehicles are suitable for operations where the cost, danger to humans, or area of operation prohibits the use of conventional underwater technology. Autonomous vehicles are, however, in their infancy and few such vehicles are available. There are still some problems to be overcome before this technology becomes useful in commercial applications. We have built ROV90 to investigate these problems. It is a test bed for experimenting with the different parts of an autonomous underwater vehicle. ROV90 will be able to autonomously follow prominent features in the real world, man made or natural. Examples are pipelines or walls in tunnels. ROV90 is tethered, but we are planning to use experience and results from ROV90 to develop av ''real'' autonomous underwater vehicle (AUV) called PISCIS. 11 refs., 8 figs.

  20. Mobile heat accumulators for lorry or train transport?; Mobile Waermespeicher fuer den LKW- oder Zugtransport?

    Energy Technology Data Exchange (ETDEWEB)

    Goldenberg, Philipp

    2013-07-01

    Where heat grids cannot be laid for geographic reasons, mobile heat accumulators may be appropriate. The mobile heat accumulators are transported by lorry or train between the heat source and the heat sink. The waste heat can be decoupled from biogas plants, waste incineration plants or industrial sites. Existing road or rail networks can be used for transportation. Decisive factors to achieve low heat production costs are: free waste heat, large and continuous heat quantities as well as a short distance between the heat source and the heat sink. (orig.)