Search results for: autonomous basin climbing

Authors: Givi Gavardashvili, Eduard Kukhalashvili, Tamriko Supatashvili, Giorgi Natroshvili, Konstantine Bziava, Irma Qufarashvili

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In the article to research water levels in the Zhinvali water reservoirs by field and theoretical research and using GPS and GIS technologies has been established dynamic of water reservoirs changes in the suitable coordinates and has been made water reservoir maps and is lined in the 3D format. By using of GPS coordinates and digital maps has been established water horizons of Zhinvali water reservoir in the absolute marks and has been calculated water levels volume. To forecast the filling of the Zhinvali water reservoir by solid sediment in 2018 conducted field experimental researches in the catchment basin of river Tetri (White) Aragvi. It has been established main hydrological and hydraulic parameters of the active erosion-debris flow tributaries of river Tetri Aragvi. It has been calculated erosion coefficient considering the degradation of the slope. By calculation is determined, that in the river Tetri Aragvi catchment basin the value of 1% maximum discharge changes Q1% = 70,0 – 550,0 m3/sec, and erosion coefficient - E = 0,73 - 1,62, with suitable fifth class of erosion and intensity 50-100 tone/hectare in the year.

Keywords: Zhinvali soil dam, water reservoirs, water levels, erosion, debris flow

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Authors: Mehdi Ameur, Ahmed Essadki, Tamou Nasser

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The purpose of this paper is the evaluation of photovoltaic system with MPPT techniques. This system is developed by combining the models of established solar module and DC-DC converter with the algorithms of perturbing and observing (P&O), incremental conductance (INC) and fuzzy logic controller (FLC). The system is simulated under different climate conditions and MPPT algorithms to determine the influence of these conditions on characteristic power-voltage of PV system. According to the comparisons of the simulation results, the photovoltaic system can extract the maximum power with precision and rapidity using the MPPT algorithms discussed in this paper.

Keywords: fuzzy logic controller, FLC, hill climbing, HC, incremental conductance (INC), perturb and observe (P&O), maximum power point, MPP, maximum power point tracking, MPPT

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Authors: Kruti Jaruriya

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Distribution of arsenic (As) and its compound and related toxicology are serious concerns. This is particularly so since millions worldwide are suffering from toxicity due to drinking of As-contaminated groundwater. The Bengal delta plain, formed by the Ganga– Padma–Meghna–Brahmaputra river basin, covering several districts of West Bengal, India and Bangladesh is considered as the worst As affected alluvial basin. However, some equally affected, if not more, areas are emerging in upper Brahmaputra plains. The present study was carried out to examine As contamination trends in the worst affected part of Assam, India. Arsenic (As) mobilization to the groundwater of Brahmaputra floodplains was investigated in Titabor, Jorhat District, located in the North Eastern part of India. The groundwater and the aquifer geochemistry were characterized. The groundwater is characterized by high dissolved Fe, Mn, and HCO-3 and low concentrations of NO-3 and SO2-4 indicating anoxic conditions prevailing in the groundwater. Fifty groundwater samples collected from shallow and deep tubewells of Titabor, Jorhat district (Assam) were examined. Along with total As, examination of concentration levels of other key parameters, viz., pH, EC, Fe, Mn , Mg2+, Ca2+, Na+, K+, PO43- , HCO-3 , NO3- ,Cl - and SO42- was also carried out. In respect to the permissible guideline of World Health Organization (WHO: As 0.01 ppm, Fe 1.0 ppm, and Mn 0.3 ppm for potable water), the range of As concentration in the groundwater varied from 0.014 to 0.604 mg/L with mean concentration 0.184 mg/L. The present study showed that out of the 50 groundwater samples,100%, 54%, and 42% were found contaminated with higher metal contents (for total As, Fe, and Mn, respectively). The results of hydrogeochemical study revealed that the reductive dissolution of MnOOH and FeOOH represents an important mechanism of arsenic release in the study area along with major cations playing an important role in leaching of As into the groundwater. Arsenic released by oxidation of pyrite, as water levels are drawn down and air enters the aquifer, contributes negligibly to the problem of As pollution. Identification of the mechanism of As release to groundwater helps to provide a framework to guide the placement of new water wells so that they will have acceptable concentrations of As.

Keywords: arsenic, assam, brahmaputra floodplain, groundwater, hydrogeochemistry

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Authors: Nayden Chivarov, Denis Chikurtev, Kaloyan Yovchev, Nedko Shivarov

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This paper represents methods for improving the efficiency and precision of service mobile robot. This robot is used for increasing the quality of life of elderly and disabled people. The key concept of the proposed Intelligent Service Mobile Robot is its easier adaptability to achieve services for a wide range of Elderly or Disabled Person’s needs, by performing different tasks for supporting Elderly or Disabled Persons care. We developed robot autonomous navigation and computer vision systems in order to recognize different objects and bring them to the people. Web based user interface is developed to provide easy access and tele-control of the robot by any device through the internet. In this study algorithms for object recognition and localization are proposed for providing successful object recognition and accuracy in the positioning. Different methods for sending movement commands to the mobile robot system are proposed and evaluated. After executing some experiments to show the results of the research, we can summarize that these systems and algorithms provide good control of the service mobile robot and it will be more useful to help the elderly and disabled persons.

Keywords: service robot, mobile robot, autonomous navigation, computer vision, web user interface, ROS

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Authors: M. S. Nikitenko, S. A. Kizilov, D. Y. Khudonogov

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The paper considers an approach to a machine vision operating system combined with using a grid of light markers. This approach is used to solve several scientific and technical problems, such as measuring the capability of an apron feeder delivering coal from a lining return port to a conveyor in the technology of mining high coal releasing to a conveyor and prototyping an autonomous vehicle obstacle detection system. Primary verification of a method of calculating bulk material volume using three-dimensional modeling and validation in laboratory conditions with relative errors calculation were carried out. A method of calculating the capability of an apron feeder based on a machine vision system and a simplifying technology of a three-dimensional modelled examined measuring area with machine vision was offered. The proposed method allows measuring the volume of rock mass moved by an apron feeder using machine vision. This approach solves the volume control issue of coal produced by a feeder while working off high coal by lava complexes with release to a conveyor with accuracy applied for practical application. The developed mathematical apparatus for measuring feeder productivity in kg/s uses only basic mathematical functions such as addition, subtraction, multiplication, and division. Thus, this fact simplifies software development, and this fact expands the variety of microcontrollers and microcomputers suitable for performing tasks of calculating feeder capability. A feature of an obstacle detection issue is to correct distortions of the laser grid, which simplifies their detection. The paper presents algorithms for video camera image processing and autonomous vehicle model control based on obstacle detection machine vision systems. A sample fragment of obstacle detection at the moment of distortion with the laser grid is demonstrated.

Keywords: machine vision, machine vision operating system, light markers, measuring capability, obstacle detection system, autonomous transport

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Authors: Nicholas Lambert, Seungyeon Ryu, Mehmet Mulla, Albert Kim

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In this paper, an interactive in-car interface called HoloDash is presented. It is intended to provide information and infotainment in both autonomous vehicles and ‘connected cars’, vehicles equipped with Internet access via cellular services. The research focuses on the development of interactive avatars for this system and its gesture-based control system. This is a case study for the development of a possible human-centred means of presenting a connected or autonomous vehicle’s On-Board Diagnostics through a projected ‘holographic’ infotainment system. This system is termed a Holographic Human Vehicle Interface (HHIV), as it utilises a dashboard projection unit and gesture detection. The research also examines the suitability for gestures in an automotive environment, given that it might be used in both driver-controlled and driverless vehicles. Using Human Centred Design methods, questions were posed to test subjects and preferences discovered in terms of the gesture interface and the user experience for passengers within the vehicle. These affirm the benefits of this mode of visual communication for both connected and driverless cars.

Keywords: gesture, holographic interface, human-computer interaction, user-centered design

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Authors: Mike-Franck Mienlam Essi, Joseph Quentin Yene Atangana, Mbida Yem

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The Kribi-Campo sub-basin belongs to the southern domain of the Cameroon Atlantic Margin in the Gulf of Guinea. It is the African homologous segment of the Sergipe-Alagoas Basin, located at the northeast side of the Brazil margin. The onset of the seafloor spreading period in the Southwest African Margin in general and the study area particularly remains controversial. Various studies locate this event during the Cretaceous times (Early Aptian to Late Albian), while others suggested that this event occurred during Pre-Cretaceous period (Palaeozoic or Jurassic). This work analyses 02 Cameroon Span seismic lines to re-examine the Early marine incursion period of the study area for a better understanding of the margin evolution. The methodology of analysis in this study is based on the delineation of the first seismic sequence, using the reflector’s terminations tracking and the analysis of its internal reflections associated to the external configuration of the package. The results obtained indicate from the bottom upwards that the first deposits overlie a first seismic horizon (H1) associated to “onlap” terminations at its top and underlie a second horizon which shows “Downlap” terminations at its top (H2). The external configuration of this package features a prograded fill pattern, and it is observed within the depocenter area with discontinuous reflections that pinch out against the basement. From east to west, this sequence shows two seismic facies (SF1 and SF2). SF1 has parallel to subparallel reflections, characterized by high amplitude, and SF2 shows parallel and stratified reflections, characterized by low amplitude. The distribution of these seismic facies reveals a lateral facies variation observed. According to the fundamentals works on seismic stratigraphy and the literature review of the geological context of the study area, particularly, the stratigraphical natures of the identified horizons and seismic facies have been highlighted. The seismic horizons H1 and H2 correspond to Top basement and “Downlap Surface,” respectively. SF1 indicates continental sediments (Sands/Sandstone) and SF2 marine deposits (shales, clays). Then, the prograding configuration observed suggests a marine regression. The correlation of these results with the lithochronostratigraphic chart of Sergipe-Alagoas Basin reveals that the first marine deposits through the study area are dated from Pre-Cretaceous times (Palaeozoic or Jurassic). The first deposits onto the basement represents the end of a cycle of sedimentation. The hypothesis of Mike.F. Mienlam Essi is with the Earth Sciences Department of the Faculty of Science of the University of Yaoundé I, P.O. BOX 812 CAMEROON (e-mail: [email protected]). Joseph.Q. Yene Atangana is with the Earth Sciences Department of the Faculty of Science of the University of Yaoundé I, P.O. BOX 812 CAMEROON (e-mail: [email protected]). Mbida Yem is with the Earth Sciences Department of the Faculty of Science of the University of Yaoundé I, P.O. BOX 812 CAMEROON (e-mail: [email protected]). Cretaceous seafloor spreading through the study area is the onset of another cycle of sedimentation. Furthermore, the presence of marine sediments into the first deposits implies that this package could contain marine source rocks. The spatial tracking of these deposits reveals that they could be found in some onshore parts of the Kribi-Campo area or even in the northern side.

Keywords: cameroon span seismic, early marine incursion, kribi-campo sub-basin, pre-cretaceous period, sergipe-alagoas basin

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Authors: Arun Joshi

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The present study deals with the report of Gangamopteriscyclopteroides from the Barakar Formation of Simlong Open Cast Mine, Rajmahal Area, Rajmahal Basin, Jharkhand, India. The genus Gangamopteriscomprises leaves which are simple, entire, symmetrical or asymmetrical, linear, lanceolate, elliptical, obovate in shape, apex broadly rounded, obtuse, acute, acuminate or mucronate, base petiolate or contracted, midrib absent. Median region occupied by subparallel veins with anastomoses of elongate or hexagonal outline. Secondary veins arise from median veins by repeated dichotomy, arched, bifurcating and anasotomosing network. The present work is significant as it represents the presence of Glossopteris flora (250- 290 ma) which is mainly responsible for the formation of coal. Coal is one of the major fuels for power production through thermal power plants. The Glossopteris flora is one of the major floras that occupied the southern continent during Carboniferous- Permian time. This southern continent is also known as Gondwana comprising Australia, South Africa, Antarctica, Madagascar and India. There is a vast geological reserve of coal with favorable stripping ratio available at the Simlong Block but the area comes under the most naxalite prone area and thus the mine has been running in an unplanned manner. It has got the potential of becoming a big project with higher capacity and is well suited for enhancing production which can be helpful in the economic growth of the country. Though, the present record is scanty, it shows the presence of Glossopteris flora responsible for the formation of coal in the Coalmine. However, there are fears of fossils disappearing from this area as the state government of Jharkhand has given out a mining lease in the area to private companies. Therefore, it is very necessary to study such coal forming vegetation and their systematic study from the area to generate a new palaeobotanical database, palaeoenvironmental interpretation, basinal correlation and for the understanding of evolutionary perspectives.

Keywords: Barakar formation, coal, Glossopteris flora, Gondwana, India, Naxalite, Rajmahal Basin

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Authors: Arifin Matoka, Nadjamuddin Harun, Salama Manjang, M. Arsyad Thaha

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Along irrigation canals in certain areas falling water level height is have potential for micro hydro power plant (MHP), which generally MHP potential valley away from society consumer of electricity and needed a long conductor cable, so that with the MHP Irrigation is ideal are typical with an Open Flume type turbines. This study is divided into two phases research phase of the potential power that exist in irrigation channels at the Gorontalo Province and stages solution sedimentation effects. The total power generated in the irrigation channel of the results of this study at 781.83 Kw, it is quite significant for the 1737 rural households on average consumes 450 watt per household. In the field of observation, sedimentation lifting effect on the quality of electric power, at which time the turbid sediment concentrations occur significant voltage fluctuations causing damage to some household electrical appliances such as electronic equipment and lighting. This problem is solution by modeling the sedimentation tub (setling basin) to reduce sedimentation thus olso can reduce the regulation load control equipment which can minimize the cost of investment and maintenance.

Keywords: irrigation canals, microhydro powerplant, sedimentation, Gorontalo Province

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Authors: Wiem Zemzem, Moncef Tagina

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In this work, we are addressing the problem of an autonomous mobile robot navigating in a large, unknown and dynamic environment using reinforcement learning abilities. This problem is principally related to the exploration/exploitation dilemma, especially the need to find a solution letting the robot detect the environmental change and also learn in order to adapt to the new environmental form without ignoring knowledge already acquired. Firstly, a new action selection strategy, called ε-greedy-MPA (the ε-greedy policy favoring the most promising actions) is proposed. Unlike existing exploration/exploitation policies (EEPs) such as ε-greedy and Boltzmann, the new EEP doesn’t only rely on the information of the actual state but also uses those of the eventual next states. Secondly, as the environment is large, an exploration favoring least recently visited states is added to the proposed EEP in order to accelerate learning. Finally, various simulations with ball-catching problem have been conducted to evaluate the ε-greedy-MPA policy. The results of simulated experiments show that combining this policy with the Qlearning method is more effective and efficient compared with the ε-greedy policy in stationary environments and the utility-based reinforcement learning approach in non stationary environments.

Keywords: autonomous mobile robot, exploration/ exploitation policy, large, dynamic environment, reinforcement learning

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Authors: Robson C. Santos, Julio C. P. Ribeiro, Iorran M. de Castro, Luan C. F. Rodrigues, Sandro R. L. Silva, Diego M. Quesada

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The work aims to develop a robot in the form of autonomous vehicle to detect, inspection and mapping of underground pipelines through the ATmega328 Arduino platform. Hardware prototyping very similar to C / C ++ language that facilitates its use in robotics open source, resembles PLC used in large industrial processes. The robot will traverse the surface independently of direct human action, in order to automate the process of detecting buried pipes, guided by electromagnetic induction. The induction comes from coils that sends the signal to the Arduino microcontroller contained in that will make the difference in intensity and the treatment of the information, then this determines actions to electrical components such as relays and motors, allowing the prototype to move on the surface and getting the necessary information. The robot was developed by electrical and electronic assemblies that allowed test your application. The assembly is made up of metal detector coils, circuit boards and microprocessor, which interconnected circuits previously developed can determine, process control and mechanical actions for a robot (autonomous car) that will make the detection and mapping of buried pipelines plates.

Keywords: robotic, metal detector, embedded system, pipeline inspection

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Authors: Nasser Karami

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The Urmia grapes have been famous for centuries and have been among the most desirable in the production of wine. Interestingly, evidence shows that the Urmia region was the first place in the world where wine was produced and consumed. In fact, the grapes known as “Shiraz” and made popular by “Shiraz Wine” are the grapes cultivated as a local species especially in the West Azerbaijan watershed basin and exported to Europe. But after the Islamic Revolution, because the production, usage, and sale of wine were unlawful (under Islamic rule), they decided to cultivate apples instead of grapes. Before Islamic revolution, about 50 percent of the gardens were producing grapes, but the apple groves took up less than 1.5 percent (100 hectares). Three years after the revolution, in 1982, people were swept up in the revolutionary excitement and grape cultivation decreased, using less than 10 percent of the garden area. Important is the fact that an apple tree needs 12 times more water than a grapevine, it should be noted that in terms of water usage in the area, the agricultural area has not been increased by 2 or 4 times but rather by 12 times. Evaluation of this study showed that contrary to official reports, climate change isn’t major cause of drying up Urmia Lake and 65 percent of this environmental crisis happened due to spreading unsustainable agricultural in basin of this lake.

Keywords: cultivation pattern, unsustainable agriculture, urmia lake drying, water managment

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Authors: S. A. Che Osmi, W. M. F. Wan Ishak, H. Kim, M. A. Azman, M. A. Ramli

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River is one of important water sources for many activities including industrial and domestic usage such as daily usage, transportation, power supply and recreational activities. However, increasing activities in a river has grown the sources of pollutant enters the water bodies, and degraded the water quality of the river. It becomes a challenge to develop an effective river management to ensure the water sources of the river are well managed and regulated. In Malaysia, several approaches for river management have been implemented such as Integrated River Basin Management (IRBM) program for coordinating the management of resources in a natural environment based on river basin to ensure their sustainability lead by Department of Drainage and Irrigation (DID), Malaysia. Nowadays, Total Maximum Daily Load (TMDL) is one of the best approaches for river management in Malaysia. TMDL implementation is regulated and implemented in the United States. A study on the development of TMDL in Malacca River has been carried out by doing water quality monitoring, the development of water quality model by using Environmental Fluid Dynamic Codes (EFDC), and TMDL implementation plan. The implementation of TMDL will help the stakeholders and regulators to control and improve the water quality of the river. It is one of the good approaches for river management in Malaysia.

Keywords: EFDC, river management, TMDL, water quality modelling

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Authors: Mirza Mujtaba Baig

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Artificial Intelligence (AI) is evolving rapidly, and one of the areas in which this field has influenced is automation. The automobile, healthcare, education, and robotic industries deploy AI technologies constantly, and the automation of tasks is beneficial to allow time for knowledge-based tasks and also introduce convenience to everyday human endeavors. The paper reviews the challenges faced with the current implementations of autonomous self-driving cars by exploring the machine learning, robotics, and artificial intelligence techniques employed for the development of this innovation. The controversy surrounding the development and deployment of autonomous machines, e.g., vehicles, begs the need for the exploration of the configuration of the programming modules. This paper seeks to add to the body of knowledge of research assisting researchers in decreasing the inconsistencies in current programming modules. Blockchain is a technology of which applications are mostly found within the domains of financial, pharmaceutical, manufacturing, and artificial intelligence. The registering of events in a secured manner as well as applying external algorithms required for the data analytics are especially helpful for integrating, adapting, maintaining, and extending to new domains, especially predictive analytics applications.

Keywords: artificial intelligence, automation, big data, self-driving cars, machine learning, neural networking algorithm, blockchain, business intelligence

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Authors: Phillip Garrad, Saritha Unnikrishnan

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The recent popularity of connected and autonomous vehicles (CAV) corresponds with an increase in the risk of cyber-attacks. These cyber-attacks have been instigated by both researchers or white-coat hackers and cyber-criminals. As Connected Vehicles move towards full autonomy, the impact of these cyber-attacks also grows. The current research details challenges faced in cybersecurity testing of CAV, including access and cost of the representative test setup. Other challenges faced are lack of experts in the field. Possible solutions to how these challenges can be overcome are reviewed and discussed. From these findings, a software simulated CAV network is established as a cost-effective representative testbed. Penetration tests are then performed on this simulation, demonstrating a cyber-attack in CAV. Studies have shown Artificial Intelligence (AI) to improve runtime, increase efficiency and comprehensively cover all the typical test aspects in penetration testing in other industries. There is an attempt to introduce similar AI models to the software simulation. The expectation from this implementation is to see similar improvements in runtime and efficiency for the CAV model. If proven to be an effective means of penetration test for CAV, this methodology may be used on a full CAV test network.

Keywords: cybersecurity, connected vehicles, software simulation, artificial intelligence, penetration testing

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Authors: Ali Montazar

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California and the Colorado River Basin are facing increasing uncertainty concerning water supplies. The Colorado River is the main source of irrigation water in the low desert of California. Currently, due to an increasing water-use competition and long-term drought at the Colorado River Basin, efficient use of irrigation water is one of the highest conservation priorities in the region. This study aims to present some of current irrigation technologies and management approaches in the low desert and assess the viability and potential of these water management practices. The results of several field experiments are used to assess five water conservation practices of sub-surface drip irrigation, automated surface irrigation, sprinkler irrigation, tail-water recovery system, and deficit irrigation strategy. The preliminary results of several ongoing studies at commercial fields are presented, particularly researches in alfalfa, sugar beets, kliengrass, sunflower, and spinach fields. The findings indicate that all these practices have significant potential to conserve water (an average of 1 ac-ft/ac) and enhance the efficiency of water use (15-25%). Further work is needed to better understand the feasibility of each of these applications and to help maintain profitable and sustainable agricultural production system in the low desert as water and labor costs, and environmental issues increase.

Keywords: automated surface irrigation, deficit irrigation, low desert of California, sprinkler irrigation, sub-surface drip irrigation, tail-water recovery system

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Authors: M. Budakoglu, M. Karaman

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Lake Acıgöl is located in area with limited influences from urban and industrial pollution sources, there is nevertheless a need to understand all potential lithological and anthropogenic sources of priority contaminants in this closed basin. This study discusses vertical and horizontal distribution pattern of major, trace elements of recent lake sediments to better understand their current geochemical analog with lithological units in the Lake Acıgöl basin. This study also provides reliable background levels for the region by the detailed surfaced lithological units data. The detail results of surface, subsurface and shallow core sediments from these relatively unperturbed ecosystems, highlight its importance as conservation area, despite the high-scale industrial salt production activity. While P2O5/TiO2 versus MgO/CaO classification diagram indicate magmatic and sedimentary origin of lake sediment, Log(SiO2/Al2O3) versus Log(Na2O/K2O) classification diagrams express lithological assemblages of shale, iron-shale, vacke and arkose. The plot between TiO2 vs. SiO2 and P2O5/TiO2 vs. MgO/CaO also supports the origin of the primary magma source. The average compositions of the 20 different lithological units used as a proxy for geochemical background in the study area. As expected from weathered rock materials, there is a large variation in the major element content for all analyzed lake samples. The A-CN-K and A-CNK-FM ternary diagrams were used to deduce weathering trends. Surface and subsurface sediments display an intense weathering history according to these ternary diagrams. The most of the sediments samples plot around UCC and TTG, suggesting a low to moderate weathering history for the provenance. The sediments plot in a region clearly suggesting relative similar contents in Al2O3, CaO, Na2O, and K2O from those of lithological samples.

Keywords: Lake Acıgöl, recent lake sediment, geochemical speciation of major and trace elements, heavy metals, Denizli, Turkey

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Authors: Aurela Jahja, Katarzyna Wątor, Arjan Beqiraj, Piotr Rusiniak, Nevton Kodhelaj

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Albanian geological terrains represent an important node of the Alpine – Mediterranean mountain belt and are divided into several predominantly NNW - SSE striking geotectonic units, which, based on the presence or lack of Cretaceous transgression and magmatic rocks, belong to Internal or External Albanides. The internal (Korabi, Mirdita and Gashi) units are characterized by the Lower Cretaceous discordance and the presence of abundant magmatic rocks whereas in the external (Alps, Krasta-Cukali, Kruja, Ionian, Sazani and Peri Adriatic Depression) units an almost continuous sedimentation from Triassic to Paleogene is evidenced. The internal and external units show relevant differences in both geothermal and heat flow density values. The gradient values vary from 15-21.3 to 36 mK/m, while the heat flow density ranges from 42 to 60 mW/m2, in the external (Preadriatic Depression) and internal (ophiolitic belt) units, respectively. The geothermal fluids, which are found in natural springs and deep oil wells of Albania, are located in four thermo-mineral provinces: a) Peshkopi (Korabi) province; b) Kruja province; c) Preadriatic basin province, and d) South Ionian province. Thirteen geothermal waters were sampled from 11 natural springs and 2 deep wells, of which 6 springs and 2 wells from Kruja, 1 spring from Peshkopia, 2 springs from Preadriatic basin and 2 springs South Ionian province. Temperature, pH and Electrical Conductivity were measured in situ, while in laboratory were analyzed by ICP method major anions and cations and several trace elements (B, Li, Sr, Rb, I, Br, etc.). The measured values of temperature, pH and electrical conductivity range within 17-63°C, 6.26-7.92 and 724- 26856µS/cm intervals, respectively. The chemical type of the Albania thermal waters is variable. In the Kruja province prevail the Cl-SO4-NaCa and Cl-Na-Ca water types; while SO4-Ca, HCO3-Ca and Cl-HCO3-Na-Ca, and Cl-Na are found in the provinces of Peshkopi, Ionian and Preadriatic basin, respectively. In the Cl-SO4-HCO3 triangular diagram most of the geothermal waters are close to the chloride corner that belong to “mature waters”, typical of geothermal deep and hot fluids. Only samples from the Ionian province are located within the region of high bicarbonate concentration and they can be classified as peripheral waters that may have mixed with cold groundwater. In the Na-Ca-Mg and Na-K-Mg triangular diagram the majority of waters fall in the corner of sodium, suggesting that their cation ratios are controlled by mineral-solution equilibrium. There is a linear relationship between Cl and B which indicates the mixing of geothermal water with cold water, where the low-chlorine thermal waters from Ionian basin and Preadriatic depression provinces are distinguished by high-chlorine thermal waters from Kruja province. The Cl/Br molar ration of the thermal waters from Kruja province ranges from 1000 to 2660 and separates them from the thermal waters of Ionian basin and Preadriatic depression provinces having Cl/Br molar ratio lower than 650. The apparent increase of Cl/Br molar ratio that correlates with the increasing of the chloride, is probably related with dissolution of the Halite.

Keywords: geothermal fluids, geotectonic units, natural springs, deep wells, mature waters, peripheral waters

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Authors: Mikhail O. Eremin

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Present work is devoted to experimental study and numerical modelling of failure of rocks typical for Kuzbass coal basin (Russia). The main goal was to define strength and deformation characteristics of rocks on the base of uniaxial compression and three-point bending loadings and then to build a mathematical model of failure process for both types of loading. Depending on particular physical-mechanical characteristics typical rocks of Kuzbass coal basin (sandstones, siltstones, mudstones, etc. of different series – Kolchuginsk, Tarbagansk, Balohonsk) manifest brittle and quasi-brittle character of failure. The strength characteristics for both tension and compression are found. Other characteristics are also found from the experiment or taken from literature reviews. On the base of obtained characteristics and structure (obtained from microscopy) the mathematical and structural models are built and numerical modelling of failure under different types of loading is carried out. Effective characteristics obtained from modelling and character of failure correspond to experiment and thus, the mathematical model was verified. An Instron 1185 machine was used to carry out the experiments. Mathematical model includes fundamental conservation laws of solid mechanics – mass, impulse, energy. Each rock has a sufficiently anisotropic structure, however, each crystallite might be considered as isotropic and then a whole rock model has a quasi-isotropic structure. This idea gives an opportunity to use the Hooke’s law inside of each crystallite and thus explicitly accounting for the anisotropy of rocks and the stress-strain state at loading. Inelastic behavior is described in frameworks of two different models: von Mises yield criterion and modified Drucker-Prager yield criterion. The damage accumulation theory is also implemented in order to describe a failure process. Obtained effective characteristics of rocks are used then for modelling of rock mass evolution when mining is carried out both by an open-pit or underground opening.

Keywords: damage accumulation, Drucker-Prager yield criterion, failure, mathematical modelling, three-point bending, uniaxial compression

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Authors: Miroslav Hyza, Petr Rulik, Vojtech Bednar, Jan Sury

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An early and reliable detection of an increased radioactivity level in the atmosphere is one of the key aspects of atmospheric radiological monitoring. Although the standard laboratory procedures provide detection limits as low as few µBq/m³, their major drawback is the delayed result reporting: typically a few days. This issue is the main objective of the HAMRAD project, which gave rise to a prototype of an autonomous monitoring device. It is based on the idea of sequential aerosol sampling using a carrousel sample changer combined with a gamma-ray spectrometer. In our hardware configuration, the air is drawn through a filter positioned on the carrousel so that it could be rotated into the measuring position after a preset sampling interval. Filter analysis is performed via a 50% HPGe detector inside an 8.5cm lead shielding. The spectrometer output signal is then analyzed using DSP electronics and Gamwin software with preset nuclide libraries and other analysis parameters. After the counting, the filter is placed into a storage bin with a capacity of 250 filters so that the device can run autonomously for several months depending on the preset sampling frequency. The device is connected to a central server via GPRS/GSM where the user can view monitoring data including raw spectra and technological data describing the state of the device. All operating parameters can be remotely adjusted through a simple GUI. The flow rate is continuously adjustable up to 10 m³/h. The main challenge in spectrum analysis is the natural background subtraction. As detection limits are heavily influenced by the deposited activity of radon decay products and the measurement time is fixed, there must exist an optimal sample decay time (delayed spectrum acquisition). To solve this problem, we adopted a simple procedure based on sequential spectrum acquisition and optimal partial spectral sum with respect to the detection limits for a particular radionuclide. The prototyped device proved to be able to detect atmospheric contamination at the level of mBq/m³ per an 8h sampling.

Keywords: aerosols, atmosphere, atmospheric radioactivity monitoring, autonomous sampler

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Authors: D. L. David, J. A. Wahedi, Q. T. Zaku

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A study was conducted at River Mayo Ranewo and River Lau, Taraba State Nigeria. The two rivers empty into the Upper Benue Basin. A visual encounter survey was conducted within the two wetlands from June to August, 2014. The fish record was based entirely on landings of fishermen, number of canoes that land fish was counted, types of nets and baits used on each sampling day. Fish were sorted into taxonomic groups, identified to family/species level, counted and weighed in groups. The relative species abundance was determined by dividing the number of species from a site by the total number of species from all tributaries/sites. Fish was preserved in 2% formaldehyde solution and taken to the laboratory, where they were identified. Shannon-Weiner index of species diversity indicated that the diversity was highest at River Mayo Ranewo than River Lau. In the result showed at River Mayo Ranewo, the family Mochokidae recorded the highest (23.15%), followed by Mormyridae (2.64%) and the least was the family Lepidosirenidae (0.04%). While at River Lau the family Mochokidae recorded the highest occurrence of (24.1%), followed by Bagridae (20.20%), and then Mormyridae, which also was the second highest in River Lau, with 18.46% occurrence. There was no occurrence of Malapteruridae and Osteoglossidae (0%) in River Lau, but the least occurrence was the family Gymnarchidae (0.04%). These results indicated that the fish composition were not significantly (p ≤ 0.05) different based on t-test.

Keywords: conservation, diversity index, Lau, Mayo Ranewo, wetlands

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Authors: James Wapyer, Simon A. Kawagle

Abstract:

The current downturn in the metal and oil prices has significantly affected the mineral and petroleum sectors of Papua New Guinea. The sectors have not grown substantially in the last three years compared to previous years. Resources of several projects have not been proved up as well as feasibility studies not undertaken on advanced projects. In the 2012-2015 periods, however, development licences for four projects have been granted - the Solwara-1 project in the Manus Basin, the Woodlark project, the Crater Mountains project and the Stanley gas-condensate project. There has been some progress on three advanced projects – Frieda River copper-gold porphyry, Mount Kare gold, and the Wafi-Golpu projects. The oilfields are small by world standard but have been high rates of production. The developments of liquefied natural gas projects are progressing well and the first LNG project with ExxonMobil and partners shipped its first cargo in May 2014, the second with Total and partners involving Elk-Antelope gas-condensate fields is in its development stage, and the third with Horizon Oil and partners involving gas fields in the western Papuan basin is in the planning stage. Significantly, in the years 2012-2015, the country has exported liquefied natural gas, nickel, cobalt and chromium, and has granted exploration licences for iron-sands and coal measures for the first time.

Keywords: exploration, mineral, Papua New Guinea, petroleum

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Authors: Jenifer Alam, Rima Chatterjee

Abstract:

Upper Assam sedimentary basin is one of the oldest commercially producing basins of India. Being in a tectonically active zone, estimation of tectonic strain and stress magnitudes has vast application in hydrocarbon exploration and exploitation. This East North East –West South West trending shelf-slope basin encompasses the Bramhaputra valley extending from Mikir Hills in the southwest to the Naga foothills in the northeast. Assam Shelf lying between the Main Boundary Thrust (MBT) and Naga Thrust area is comparatively free from thrust tectonics and depicts normal faulting mechanism. The study area is bounded by the MBT and Main Central Thrust in the northwest. The Belt of Schuppen in the southeast, is bordered by Naga and Disang thrust marking the lower limit of the study area. The entire Assam basin shows low-level seismicity compared to other regions of northeast India. Pore pressure (PP), vertical stress magnitude (SV) and horizontal stress magnitudes have been estimated from two wells - N1 and T1 located in Upper Assam. N1 is located in the Assam gap below the Bramhaputra river while T1, lies in the Belt of Schuppen. N1 penetrates geological formations from top Alluvial through Dhekiajuli, Girujan, Tipam, Barail, Kopili, Sylhet and Langpur to the granitic basement while T1 in trusted zone crosses through Girujan Suprathrust, Tipam Suprathrust, Barail Suprathrust to reach Naga Thrust. Normal compaction trend is drawn through shale points through both wells for estimation of PP using the conventional Eaton sonic equation with an exponent of 1.0 which is validated with Modular Dynamic Tester and mud weight. Observed pore pressure gradient ranges from 10.3 MPa/km to 11.1 MPa/km. The SV has a gradient from 22.20 to 23.80 MPa/km. Minimum and maximum horizontal principal stress (Sh and SH) magnitudes under isotropic conditions are determined using poroelastic model. This approach determines biaxial tectonic strain utilizing static Young’s Modulus, Poisson’s Ratio, SV, PP, leak off test (LOT) and SH derived from breakouts using prior information on unconfined compressive strength. Breakout derived SH information is used for obtaining tectonic strain due to lack of measured SH data from minifrac or hydrofracturing. Tectonic strain varies from 0.00055 to 0.00096 along x direction and from -0.0010 to 0.00042 along y direction. After obtaining tectonic strains at each well, the principal horizontal stress magnitudes are calculated from linear poroelastic model. The magnitude of Sh and SH gradient in normal faulting region are 12.5 and 16.0 MPa/km while in thrust faulted region the gradients are 17.4 and 20.2 MPa/km respectively. Model predicted Sh and SH matches well with the LOT data and breakout derived SH data in both wells. It is observed from this study that the stresses SV>SH>Sh prevailing in the shelf region while near the Naga foothills the regime changes to SH≈SV>Sh area corresponds to normal faulting regime. Hence this model is a reliable tool for predicting stress magnitudes from well logs under active tectonic regime in Upper Assam Basin.

Keywords: Eaton, strain, stress, poroelastic model

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Authors: Ali J. Ghandour, Houssam A. Krayem, Abedelkarim A. Jezzini

Abstract:

High-resolution satellite images and remote sensing can provide global information in a fast way compared to traditional methods of data collection. Under such high resolution, a road is not a thin line anymore. Objects such as cars and trees are easily identifiable. Automatic vehicles enumeration can be considered one of the most important applications in traffic management. In this paper, autonomous vehicle detection and classification approach in highway environment is proposed. This approach consists mainly of three stages: (i) first, a set of preprocessing operations are applied including soil, vegetation, water suppression. (ii) Then, road networks detection and delineation is implemented using built-up area index, followed by several morphological operations. This step plays an important role in increasing the overall detection accuracy since vehicles candidates are objects contained within the road networks only. (iii) Multi-level Otsu segmentation is implemented in the last stage, resulting in vehicle detection and classification, where detected vehicles are classified into cars and trucks. Accuracy assessment analysis is conducted over different study areas to show the great efficiency of the proposed method, especially in highway environment.

Keywords: remote sensing, object identification, vehicle and road extraction, vehicle and road features-based classification

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Authors: Mehdi Ameur, Ahmed Essakdi, Tamou Nasser

Abstract:

The purpose of this paper is the analysis and modeling of the photovoltaic system with MPPT techniques. This system is developed by combining the models of established solar module and DC-DC converter with the algorithms of perturb and observe (P&O), incremental conductance (INC) and fuzzy logic controller(FLC). The system is simulated under different climate conditions and MPPT algorithms to determine the influence of these conditions on characteristic power-voltage of PV system. According to the comparisons of the simulation results, the photovoltaic system can extract the maximum power with precision and rapidity using the MPPT algorithms discussed in this paper.

Keywords: photovoltaic array, maximum power point tracking, MPPT, perturb and observe, P&O, incremental conductance, INC, hill climbing, HC, fuzzy logic controller, FLC

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Authors: Zabihullah Mahdi, Khwaja Naweed Seddiqi

Abstract:

Afghanistan is located in a tectonically complex and dynamic area, surrounded by rocks that originated on the mother continent of Gondwanaland. The northern Afghanistan basin, which runs along the country's northern border, has the potential for petroleum generation and accumulation. The Amu Darya basin has the largest petroleum potential in the region. Sedimentation occurred in the Amu Darya basin from the Jurassic to the Eocene epochs. Kashkari oil field is located in northern Afghanistan's Amu Darya basin. The field structure consists of a narrow northeast-southwest (NE-SW) anticline with two structural highs, the northwest limb being mild and the southeast limb being steep. The first oil production well in the Kashkari oil field was drilled in 1976, and a total of ten wells were drilled in the area between 1976 and 1979. The amount of original oil in place (OOIP) in the Kashkari oil field, based on the results of surveys and calculations conducted by research institutions, is estimated to be around 140 MMbbls. The objective of this study is to increase recoverable oil reserves in the Kashkari oil field through the implementation of low-salinity water flooding (LSWF) enhanced oil recovery (EOR) technique. The LSWF involved conducting a core flooding laboratory test consisting of four sequential steps with varying salinities. The test commenced with the use of formation water (FW) as the initial salinity, which was subsequently reduced to a salinity level of 0.1%. Afterwards, the numerical simulation model of core scale oil recovery by LSWF was designed by Computer Modelling Group’s General Equation Modeler (CMG-GEM) software to evaluate the applicability of the technology to the field scale. Next, the Kahskari oil field simulation model was designed, and the LSWF method was applied to it. To obtain reasonable results, laboratory settings (temperature, pressure, rock, and oil characteristics) are designed as far as possible based on the condition of the Kashkari oil field, and several injection and production patterns are investigated. The relative permeability of oil and water in this study was obtained using Corey’s equation. In the Kashkari oilfield simulation model, three models: 1. Base model (with no water injection), 2. FW injection model, and 3. The LSW injection model were considered for the evaluation of the LSWF effect on oil recovery. Based on the results of the LSWF laboratory experiment and computer simulation analysis, the oil recovery increased rapidly after the FW was injected into the core. Subsequently, by injecting 1% salinity water, a gradual increase of 4% oil can be observed. About 6.4% of the field, is produced by the application of the LSWF technique. The results of LSWF (salinity 0.1%) on the Kashkari oil field suggest that this technology can be a successful method for developing Kashkari oil production.

Keywords: low salinity water flooding, immiscible displacement, kashkari oil field, twophase flow, numerical reservoir simulation model

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Authors: Zabihullah Mahdi, Khwaja Naweed Seddiqi

Abstract:

Afghanistan is located in a tectonically complex and dynamic area, surrounded by rocks that originated on the mother continent of Gondwanaland. The northern Afghanistan basin, which runs along the country's northern border, has the potential for petroleum generation and accumulation. The Amu Darya basin has the largest petroleum potential in the region. Sedimentation occurred in the Amu Darya basin from the Jurassic to the Eocene epochs. Kashkari oil field is located in northern Afghanistan's Amu Darya basin. The field structure consists of a narrow northeast-southwest (NE-SW) anticline with two structural highs, the northwest limb being mild and the southeast limb being steep. The first oil production well in the Kashkari oil field was drilled in 1976, and a total of ten wells were drilled in the area between 1976 and 1979. The amount of original oil in place (OOIP) in the Kashkari oil field, based on the results of surveys and calculations conducted by research institutions, is estimated to be around 140 MMbbls. The objective of this study is to increase recoverable oil reserves in the Kashkari oil field through the implementation of low-salinity water flooding (LSWF) enhanced oil recovery (EOR) technique. The LSWF involved conducting a core flooding laboratory test consisting of four sequential steps with varying salinities. The test commenced with the use of formation water (FW) as the initial salinity, which was subsequently reduced to a salinity level of 0.1%. Afterward, the numerical simulation model of core scale oil recovery by LSWF was designed by Computer Modelling Group’s General Equation Modeler (CMG-GEM) software to evaluate the applicability of the technology to the field scale. Next, the Kahskari oil field simulation model was designed, and the LSWF method was applied to it. To obtain reasonable results, laboratory settings (temperature, pressure, rock, and oil characteristics) are designed as far as possible based on the condition of the Kashkari oil field, and several injection and production patterns are investigated. The relative permeability of oil and water in this study was obtained using Corey’s equation. In the Kashkari oilfield simulation model, three models: 1. Base model (with no water injection), 2. FW injection model, and 3. The LSW injection model was considered for the evaluation of the LSWF effect on oil recovery. Based on the results of the LSWF laboratory experiment and computer simulation analysis, the oil recovery increased rapidly after the FW was injected into the core. Subsequently, by injecting 1% salinity water, a gradual increase of 4% oil can be observed. About 6.4% of the field is produced by the application of the LSWF technique. The results of LSWF (salinity 0.1%) on the Kashkari oil field suggest that this technology can be a successful method for developing Kashkari oil production.

Keywords: low-salinity water flooding, immiscible displacement, Kashkari oil field, two-phase flow, numerical reservoir simulation model

Procedia PDF Downloads 26

Authors: Anukriti Kumar, Tanmay Singh, Dinesh Kumar Vishwakarma

Abstract:

Traffic control has been one of the most common and irritating problems since the time automobiles have hit the roads. Problems like traffic congestion have led to a significant time burden around the world and one significant solution to these problems can be the proper implementation of the Intelligent Transport System (ITS). It involves the integration of various tools like smart sensors, artificial intelligence, position technologies and mobile data services to manage traffic flow, reduce congestion and enhance driver's ability to avoid accidents during adverse weather. Road and traffic signs’ recognition is an emerging field of research in ITS. Classification problem of traffic signs needs to be solved as it is a major step in our journey towards building semi-autonomous/autonomous driving systems. The purpose of this work focuses on implementing an approach to solve the problem of traffic sign classification by developing a Convolutional Neural Network (CNN) classifier using the GTSRB (German Traffic Sign Recognition Benchmark) dataset. Rather than using hand-crafted features, our model addresses the concern of exploding huge parameters and data method augmentations. Our model achieved an accuracy of around 97.6% which is comparable to various state-of-the-art architectures.

Keywords: multiclass classification, convolution neural network, OpenCV

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Authors: Satyam Raikwar, Thomas Herlitzius, Jens Fehrmann

Abstract:

In recent years, the autonomous navigation of orchard and field robots is an emerging technology of the mobile robotics in agriculture. One of the core aspects of autonomous navigation builds upon path planning, which is still a crucial issue. Generally, for simple representation, the path planning for a mobile robot is performed in a two-dimensional space, which creates a path between the start and goal point. This paper presents the automatic path planning approach for robots used in orchards and vineyards using occupancy grid maps with field consideration. The orchards and vineyards are usually structured environment and their topology is assumed to be constant over time; therefore, in this approach, an RGB image of a field is used as a working environment. These images undergone different image processing operations and then discretized into two-dimensional grid matrices. The individual grid or cell of these grid matrices represents the occupancy of the space, whether it is free or occupied. The grid matrix represents the robot workspace for motion and path planning. After the grid matrix is described, a probabilistic roadmap (PRM) path algorithm is used to create the obstacle-free path over these occupancy grids. The path created by this method was successfully verified in the test area. Furthermore, this approach is used in the navigation of the orchard robot.

Keywords: orchard robots, automatic path planning, occupancy grid, probabilistic roadmap

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Authors: Mostafa Feiz, Hossein Hadizadeh, Mohammad Safari

Abstract:

The Chalpo copper area is located in northeastern Iran, which is part of the structural zone of central Iran and the back-arc basin of Sabzevar. This sedimentary basin accumulated in destructive-Oligomiocene sediments is named the Nasr-Chalpo-Sangerd (NCS) basin. The sedimentary layers in this basin originated mainly from Upper Cretaceous ophiolitic rocks and intermediate to mafic-post ophiolitic volcanic rocks, deposited as a nonconformity. The mineralized sandstone layers in the Chalpo area include leached zones (with a thickness of 5 to 8 meters) and mineralized lenses with a thickness of 0.5 to 0.7 meters. Ore minerals include primary sulfide minerals, such as chalcocite, chalcopyrite, and pyrite, as well as secondary minerals, such as covellite, digenite, malachite, and azurite, formed in three stages that comprise primary, simultaneously, and supergene stage. The best agents that control the mineralization in this area include the permeability of host rocks, the presence of fault zones as the conduits for copper oxide solutions, and significant amounts of plant fossils, which create a reducing environment for the deposition of mineralized layers. Statistical studies on copper layers indicate that Ag, Cd, Mo, and S have the maximum positive correlation with Cu, whereas TiO₂, Fe₂O₃, Al₂O₃, Sc, Tm, Sn, and the REEs have a negative correlation. The calculations of mass changes on copper-bearing layers and primary sandstone layers indicate that Pb, As, Cd, Te, and Mo are enriched in the mineralized zones, whereas SiO₂, TiO₂, Fe₂O₃, V, Sr, and Ba are depleted. The combination of geological, stratigraphic, and geochemical studies suggests that the origin of copper may have been the underlying red strata that contained hornblende, plagioclase, biotite, alkaline feldspar, and labile minerals. Dehydration and hydrolysis of these minerals during the diagenetic process caused the leaching of copper and associated elements by circling fluids, which formed an oxidant-hydrothermal solution. Copper and silver in this oxidant solution might have moved upwards through the basin-fault zones and deposited in the reducing environments in the sandstone layers that have had abundant organic matters. Copper in these solutions probably was carried by chloride complexes. The collision of oxidant and reduced solutions caused the deposition of Cu and Ag, whereas some stable elements in oxidant environments (e.g., Fe₂O₃, TiO₂, SiO₂, REEs) become unstable in the reduced condition. Therefore, the copper-bearing sandstones in the study area are depleted from these elements resulting from the leaching process. The results indicate that during the mineralization stage, LREEs and MREEs were depleted, but Cu, Ag, and S were enriched. Based on field evidence, it seems that the circulation of connate fluids in the reb-bed strata, produced by diagenetic processes, encountered to reduced facies, which formed earlier by abundant fossil-plant debris in the sandstones, is the best model for precipitating sulfide-copper minerals.

Keywords: Chalpo, oligo-miocene red beds, sandstone-hosted copper mineralization, mass change, LREEs, MREEs

Procedia PDF Downloads 51