Search results for "Ground"
showing 10 items of 2432 documents
Impact Analysis Using Life Cycle Assessment of Asphalt Production from Primary Data
2020
Road construction and maintenance have a great impact on the environment, owing to the huge volumes of resources involved. Consequently, current production procedures and technologies must be properly investigated, for identifying and quantifying the life cycle environmental impacts produced. In this paper, primary data, i.e., site-specific data directly collected or measured on a reference plant, are analyzed for calculating the impact of the production of a hot mix asphalt. The analysis is performed in a from &ldquo
Occurrence of antibiotics and antiretroviral drugs in source-separated urine, groundwater, surface water and wastewater in the peri-urban area of Chu…
2020
Recently, there has been an increased interest in bridging the knowledge gap in the occurrence and fate of pharmaceuticals in African urban water cycles. In this study, the occurrence of 7 antibiotics and 3 antiretrovirals in source-separated urine, groundwater, wastewater and surface water of the peri-urban area of Chunga in Lusaka, Zambia, was studied. In groundwater, the pharmaceuticals were only sporadically present with 4 antibiotics and 1 antiretroviral detected. The concentration of the antibiotics ranged from below limit of quantification (<LOQ) to 880 ng/L, with sulfamethoxazole having the highest detection frequency of 42.3%. In the surface water, a comparatively high concentrati…
Vision based attitude and altitude estimation for UAVs in dark environments
2011
This paper presents a system dedicated to the real-time estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low light and dark environment. This system consists in a fisheye camera, which allows to cover a large field of view (FOV), and a laser circle projector mounted on a fixed baseline. The approach, close to structured light systems, uses the geometrical information obtained by the projection of the laser circle onto the ground plane and perceived by the camera. We present a theoretical study of the system in which the camera is modelled as a sphere and show that the estimation of a conic on this sphere allows to obtain the attitude and the altitude of the robot…
Mobile manipulator performance measurement towards manufacturing assembly tasks
2016
Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performance of mobile manipulators, although at a much higher relative cost as compared to artifacts. The concept of using test artifacts demonstrates to potential manufacturers and users of mobile manipulator systems that relatively low cost performance measurement methods exist. This paper discusses the concept of reconfigurable mobile manipulator artifacts that were designed and built. An artifact was then used through experimentation to measure the performance of a mobile manipulator to demonstrat…
Graph Filtering of Time-Varying Signals over Asymmetric Wireless Sensor Networks
2019
In many applications involving wireless sensor networks (WSNs), the observed data can be modeled as signals defined over graphs. As a consequence, an increasing interest has been witnessed to develop new methods to analyze graph signals, leading to the emergence of the field of Graph Signal Processing. One of the most important processing tools in this field is graph filters, which can be easily implemented distributedly over networks by means of cooperation among the nodes. Most of previous works related to graph filters assume the same connection probability in both link directions when transmitting an information between two neighboring nodes. This assumption is not realistic in practice…
A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments
2012
International audience; This paper presents a single camera and laser system dedicated to the realtime estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low illumination conditions to dark environments. The fisheye camera allows to cover a large field of view (FOV). The approach, close to structured light systems, uses the geometrical information obtained by the projection of a laser circle onto the ground plane and perceived by the camera. We propose some experiments based on simulated data and real sequences. The results show good agreement with the ground truth values from the commercial sensors in terms of its accuracy and correctness. The results also prove i…
Vibration control strategy for large-scale structures with incomplete multi-actuator system and neighbouring state information
2016
The synthesis of optimal controllers for vibrational protection of large-scale structures with multiple actuation devices and partial state information is a challenging problem. In this study, the authors present a design strategy that allows computing this kind of controllers by using standard linear matrix inequality optimisation tools. To illustrate the main elements of the new approach, a five-story structure equipped with two interstory actuation devices and subjected to a seismic disturbance is considered. For this control setup, three different controllers are designed: an ideal state-feedback H 8 controller with full access to the complete state information and two static output-fee…
A risk assessment proposal for underground cavities in Hard Soils-Soft Rocks
2018
Abstract Underground calcarenite quarries in Marsala (Sicily) have been involved in a number of collapses that have, seriously damaged numerous buildings. The stability conditions were therefore examined in order to assess risk conditions within the historical centre of the town and the surrounding areas, which are subject to urban expansion. Starting with an extensive collection of historical information, the research was carried out through surveys of the cavities, systematic sampling of material, petrographic analysis and geotechnical testing. The results of laboratory tests and in situ investigations provided a geotechnical characterization of both the intact material and the rock mass.…
Successful aerobic bioremediation of groundwater contaminated with higher chlorinated phenols by indigenous degrader bacteria
2018
The xenobiotic priority pollutant pentachlorophenol has been used as a timber preservative in a polychlorophenol bulk synthesis product containing also tetrachlorophenol and trichlorophenol. Highly soluble chlorophenol salts have leaked into groundwater, causing severe contamination of large aquifers. Natural attenuation of higher-chlorinated phenols (HCPs: pentachlorophenol + tetrachlorophenol) at historically polluted sites has been inefficient, but a 4-year full scale in situ biostimulation of a chlorophenol-contaminated aquifer by circulation and re-infiltration of aerated groundwater was remarkably successful: pentachlorophenol decreased from 400 μg L−1 to <1 μg L−1 and tetrachlorophen…
Biomonitoring and evaluation of permethrin uptake in forestry workers using permethrin-treated tick-proof pants.
2014
We conducted a randomized case-control trial to analyze uptake of the insecticide/arcaricide permethrin in wearers of permethrin-impregnated and non-impregnated pants in German forestry. Eighty-two male workers were each equipped for a 16-week period with permethrin-treated (test group) or with non-treated work pants (control group). Pants with or without lining to protect against cuts, obtained from two different distributors, were worn in each group. Urinary permethrin metabolite levels were measured by GC-MS/MS before, during and after wearing of the pants. Permethrin uptake was calculated using additional questionnaire data. In the control group, metabolite levels in the range of enviro…