Search results for: autonomous basin climbing

Authors: Ahmad Forouzantabar, Mohammad Azadi, Alireza Alesaadi

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This paper describes a sliding mode controller for autonomous underwater vehicles (AUVs). The dynamic of AUV model is highly nonlinear because of many factors, such as hydrodynamic drag, damping, and lift forces, Coriolis and centripetal forces, gravity and buoyancy forces, as well as forces from thruster. To address these difficulties, a nonlinear sliding mode controller is designed to approximate the nonlinear dynamics of AUV and improve trajectory tracking. Moreover, the proposed controller can profoundly attenuate the effects of uncertainties and external disturbances in the closed-loop system. Using the Lyapunov theory the boundedness of AUV tracking errors and the stability of the proposed control system are also guaranteed. Numerical simulation studies of an AUV are included to illustrate the effectiveness of the presented approach.

Keywords: lyapunov stability, autonomous underwater vehicle, sliding mode controller, electronics engineering

Procedia PDF Downloads 581

Authors: Syed Hammad Ali, Rijan Bhakta Kayastha, Ahuti Shrestha, Iram Bano

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The hydrology of Upper Indus basin is not recognized well due to the intricacies in the climate and geography, and the scarcity of data above 5000 meters above sea level where most of the precipitation falls in the form of snow. The main objective of this study is to measure the contributions of different components of runoff in Upper Indus basin. To achieve this goal, the Modified positive degree-day model (MPDDM) was used to simulate the runoff and investigate its components in two catchments of Upper Indus basin, Hunza and Gilgit River basins. These two catchments were selected because of their different glacier coverage, contrasting area distribution at high altitudes and significant impact on the Upper Indus River flow. The components of runoff like snow-ice melt and rainfall-base flow were identified by the model. The simulation results show that the MPDDM shows a good agreement between observed and modeled runoff of these two catchments and the effects of snow-ice are mainly reliant on the catchment characteristics and the glaciated area. For Gilgit River basin, the largest contributor to runoff is rain-base flow, whereas large contribution of snow-ice melt observed in Hunza River basin due to its large fraction of glaciated area. This research will not only contribute to the better understanding of the impacts of climate change on the hydrological response in the Upper Indus, but will also provide guidance for the development of hydropower potential, water resources management and offer a possible evaluation of future water quantity and availability in these catchments.

Keywords: future discharge projection, positive degree day, regional climate model, water resource management

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Authors: Hany Mustafa, Mahmoud Roushdi, Khaled Kheireldin

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Rainfall variability is an important feature of semi-arid climates. Climate change is very likely to increase the frequency, magnitude, and variability of extreme weather events such as droughts, floods, and storms. The Blue Nile Basin is facing extreme climate change-related events such as floods and droughts and its possible impacts on ecosystem, livelihood, agriculture, livestock, and biodiversity are expected. Rainfall variability is a threat to food production in the Blue Nile Basin countries. This study investigates the long-term variations and trends of seasonal and annual precipitation over the Blue Nile Basin for 102-year period (1901-2002). Six statistical trend analysis of precipitation was performed with nonparametric Mann-Kendall test and Sen's slope estimator. On the other hands, four statistical absolute homogeneity tests: Standard Normal Homogeneity Test, Buishand Range test, Pettitt test and the Von Neumann ratio test were applied to test the homogeneity of the rainfall data, using XLSTAT software, which results of p-valueless than alpha=0.05, were significant. The percentages of significant trends obtained for each parameter in the different seasons are presented. The study recommends adaptation strategies to be streamlined to relevant policies, enhancing local farmers’ adaptive capacity for facing future climate change effects.

Keywords: Blue Nile basin, climate change, Mann-Kendall test, trend analysis

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Authors: V. Nagaraju, G. Murali, Nagarjunavarma Ganna, Atluri Pavan Kalyan, N. Sree Sai Ganesh, V. S. V. S. Badrinath

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The present work focuses on the development of a mathematical model for the yield obtained by single slope solar still incorporated with cylindrical pipes filled with sand. The mathematical results obtained were validated with the experimental results for the 3 cm of water level at the basin. The mathematical model and results obtained with the experimental investigation are within 11% of deviation. The theoretical model to predict the yield obtained due to the capillary effect was proposed first. And then, to predict the total yield obtained, the thermal effect model was integrated with the capillary effect model. With the obtained results, it is understood that the yield obtained is more in the case of solar stills with sand-filled cylindrical pipes when compared to solar stills without sand-filled cylindrical pipes. And later model was used for predicting yield for 1 cm and 2 cm of water levels at the basin. And it is observed that the maximum yield was obtained for a 1 cm water level at the basin. It means solar still produces better yield with the lower depth of water level at the basin; this may be because of the availability of more space in the sand for evaporation.

Keywords: solar still, cylindrical pipes, still efficiency, mathematical modeling, capillary effect model, yield, solar desalination

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Authors: Angelos Kaminis, Dakotah Stirnweis

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Advances in robotic technology have driven the development of improved robotic companions in the last couple decades. However, commercially available robotic companions lack the ability to create an emotional connection with their user. By developing a companion robot that has a symbiotic relationship with a plant, an element of co-dependency is introduced into the human companion robot dynamic. This companion robot, while theoretically capable of providing most of the plant’s needs, still requires human interaction for watering, moving obstacles, and solar panel cleaning. To facilitate the interaction between human and robot, the robot is capable of limited auditory and visual communication to help express its and the plant’s needs. This paper seeks to fully describe the Autonomous Plant Care Robot system and its symbiotic relationship with its botanical ward and the plant and robot’s dependent relationship with their owner.

Keywords: symbiotic, robotics, autonomous, plant-care, companion

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Authors: Hsin-Chih Lai, Yung-Lung Lee, Yun-Yao Chi, Ching-Yi Horng, Pei-Chih Wu, Hsien-Chang Wang

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Taiwan, a climatically challenged island, has always been keen on the issue of water resource management due to its limitations in water storage. Since water resource management has been the focal point of many adaptations to climate change, there has been a lack of attention on another issue, water quality. This study chooses the Errer River Basin as the experimental focus for water quality in Taiwan. With the Errer River Basin being one of the most polluted rivers in Taiwan, this study observes the effects of climate change on this river over a period of time. Taiwan is also targeted by multiple typhoons every year, the heavy rainfall and strong winds create problems of pollution being carried to different river segments, including into the ocean. This study aims to create an impact and risk assessment on Errer River Basin, to show the connection from climate change to potential extreme events, which in turn could influence water quality and ultimately human health. Using dynamic downscaling, this study narrows the information from a global scale to a resolution of 1 km x 1 km. Then, through interpolation, the resolution is further narrowed into a resolution of 200m x 200m, to analyze the past, present, and future of extreme events. According to different climate change scenarios, this study designs an assessment index on the vulnerability of the Errer River Basin. Through this index, Errer River inhabitants can access advice on adaptations to climate change and act accordingly.

Keywords: climate change, adaptation, water quality, risk assessment

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Authors: Maryam Jaberi, Siavosh Shayan, Mojtaba Yamani

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Habble-Rud River basin (HR), up to 100 km length, one of the largest watersheds which drain into deserts to the north of Central Iran (Dasht-e Kavir). This stream is oblique with the NE-SW trending, flow in the southern range of central Alborz Mountains and the northern border of Central Iran. The end of the ~17 km suddenly change direction and with the southern trending to have a morphology which meanders passes through the Alborz Mountain ridge and flows into the Garmsar plain where it forms one of the largest alluvial fans in Iran, i.e. the vast Garmsar alluvial fan with an area of 476 km2. This study was carried out through morphometric analyses, longitudinal river profiles, and study of geomorpholic evidence such as fluvial terraces, gypsum-salt domes, seismic data, and satellite images. This study aimed to investigate the changes in the pattern of rivers in the southern part of the HR river basin. The southern part of HR river basin located at the southern foothills of the Central Alborz is characterized the thrust faults (Sorkheh-Kalut and Garmsar faults), folds,diapirs and arid climate. The activity of more than 10 salt domes that belong to the Oligocene-Miocene period has considerably influenced the pattern of streams in this region. Dissolution of these domes has not only reduced the quality of water and soil resources, but also has led to the formation of badlands and gullies.Our results indicated that the pattern of rivers in the southern part of HR river basin was influenced by discharge of the HR river in Quaternary, geological structure, subsidence of Central Iran and vertical uplift of Alborz mountain. These agents caused the formation meanders in the southern part of the HR River and evaluation of the seasonal rivers like Shoor-Darre and Garmabsar.

Keywords: geomorphologic evaluation, rivers pattern, Habble-Rud River basin, seasonal rivers

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Authors: Raahil Sheikh, Abhishek Maurya, Priya Gujjar, Himanshu Dwivedi, Prathamesh Minde

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UAVs have been an initial member of our environment since it's the first used by Austrian warfare in Venice. At that stage, they were just pilotless balloons equipped with bombs to be dropped on enemy territory. Over time, technological advancements allowed UAVs to be controlled remotely or autonomously. This study shall mainly focus on the intensification of pre-existing manual drones equipping them with a variety of sensors and making them autonomous, and capable, and purposing them for a variety of roles, including thermal sensing, data collection, tracking creatures, forest fires, volcano detection, hydrothermal studies, urban heat, Island measurement, and other environmental research. The system can also be used for reconnaissance, research, 3D mapping, and search and rescue missions. This study mainly focuses on automating tedious tasks and reducing human errors as much as possible, reducing deployment time, and increasing the overall efficiency, efficacy, and reliability of the UAVs. Creation of a comprehensive Ground Control System UI (GCS) enabling less trained professionals to be able to use the UAV with maximum potency. With the inclusion of such an autonomous system, artificially intelligent paths and environmental gusts and concerns can be avoided.

Keywords: UAV, drone, autonomous system, thermal imaging

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Authors: Safwat E. Musa, Nuha E. Mohamed, Nuha A. Bagi

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In this study, several crossplots of the P-impedance with the lithology logs (gamma ray, neutron porosity, deep resistivity, water saturation and Vp/Vs curves) were made in three available wells, which were drilled in central part of the Blue Nile basin in depths varies from 1460 m to 1600 m. These crossplots were successful to discriminate between sand and shale when using P-Impedance values, and between the wet sand and the pay sand when using both P-impedance and Vp/Vs together. Also, some impedance sections were converted to porosity sections using linear formula to characterize the reservoir in terms of porosity. The used crossplots were created on log resolution, while the seismic resolution can identify only the reservoir, unless a 3D seismic angle stacks were available; then it would be easier to identify the pay sand with great confidence; through high resolution seismic inversion and geostatistical approach when using P-impedance and Vp/Vs volumes.

Keywords: basin, Blue Nile, inversion, seismic

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Authors: Lanja F. Rauf, Salahalddin S. Ali, Nadhir Al-Ansari

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Evolving groundwater vulnerability from DRASTIC to modified DRASTIC methods helps choose the most accurate areas that are most delicate toward pollution. This study aims to modify DRASTIC with land use and water quality index for groundwater vulnerability assessment in the Halabja-Khurmal sub-basin, NE/Iraq. The Halabja- Khurmal sub-basin groundwater vulnerability index is calculated from nine hydrogeological parameters by the overlay weighting method. As a result, 1.3 % of the total area has a very high vulnerability value and 46.1 % with high vulnerability. The regions with high groundwater vulnerability have a high water table and groundwater recharge. Nitrate concentration was used to validate the result, and the Pearson correlation and recession analysis between the modified DRASTIC index and nitrate concentration depicted a strong relation with 0.76 and 0.7, respectively.

Keywords: groundwater vulnerability, modified DRASTIC, land-use, nitrate pollution, water quality index

Procedia PDF Downloads 65

Authors: Raahil Sheikh, Prathamesh Minde, Priya Gujjar, Himanshu Dwivedi, Abhishek Maurya

Abstract:

UAVs have been an initial member of our environment since it's the first used by Austrian warfare in Venice. At that stage, they were just pilotless balloons equipped with bombs to be dropped on enemy territory. Over time, technological advancements allowed UAVs to be controlled remotely or autonomously. This study shall mainly focus on the intensification of pre-existing manual drones equipping them with a variety of sensors and making them autonomous, and capable, and purposing them for a variety of roles, including thermal sensing, data collection, tracking creatures, forest fires, volcano detection, hydrothermal studies, urban heat, Island measurement, and other environmental research. The system can also be used for reconnaissance, research, 3D mapping, and search and rescue missions. This study mainly focuses on automating tedious tasks and reducing human errors as much as possible, reducing deployment time, and increasing the overall efficiency, efficacy, and reliability of the UAVs. Creation of a comprehensive Ground Control System UI (GCS) enabling less trained professionals to be able to use the UAV with maximum potency. With the inclusion of such an autonomous system, artificially intelligent paths and environmental gusts and concerns can be avoided

Keywords: UAV, autonomous systems, drones, geo thermal imaging

Procedia PDF Downloads 49

Authors: Jaypalsinh B. Parmar, Pintu Nakrani, Ashish Chaurasia

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Digital Elevation Model (DEM) is considered as an important data in GIS-based terrain analysis for many applications and assessment of processes such as environmental and climate change studies, hydrologic modelling, etc. Vertical accuracy of DEM having geographically dynamic nature depends on different parameters which affect the model simulation outcomes. Vertical accuracy assessment in Indian landscape especially in low-lying coastal urban terrain such as lower Tapi Basin is very limited. In the present study, attempt has been made to evaluate the vertical accuracy of 30m resolution open source Indian National Cartosat-1 DEM v3 for Lower Tapi Basin (LTB) from western India. The extensive field investigation is carried out using stratified random fast static DGPS survey in the entire study region, and 117 high accuracy ground control points (GCPs) have been obtained. The above open source DEM was compared with obtained GCPs, and different statistical attributes were envisaged, and vertical error histograms were also evaluated.

Keywords: CartoDEM, Digital Elevation Model, GPS, lower Tapi basin

Procedia PDF Downloads 332

Authors: Muhd. Barzani Gasim, Mohd. Ekhwan Toriman, Mohd. Khairul Amri Kamarudin, Azman Azid, Siti Humaira Haron, Muhammad Hafiz Md. Saad

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Malaysia is a country in Southeast Asia that constantly exposed to flooding and landslide. The disaster has caused some troubles such loss of property, loss of life and discomfort of people involved. This problem occurs as a result of climate change leading to increased stream flow rate as a result of disruption to regional hydrological cycles. The aim of the study is to determine hydrologic processes in the east coasts of Peninsular Malaysia, especially in Kelantan Basin. Parameterized to account for the spatial and temporal variability of basin characteristics and their responses to climate variability. For hydrological modeling of the basin, the Soil and Water Assessment Tool (SWAT) model such as relief, soil type, and its use, and historical daily time series of climate and river flow rates are studied. The interpretation of Landsat map/land uses will be applied in this study. The combined of SWAT and climate models, the system will be predicted an increase in future scenario climate precipitation, increase in surface runoff, increase in recharge and increase in the total water yield. As a result, this model has successfully developed the basin analysis by demonstrating analyzing hydrographs visually, good estimates of minimum and maximum flows and severe floods observed during calibration and validation periods.

Keywords: east coasts of Peninsular Malaysia, Kelantan river basin, minimum and maximum flows, severe floods, SWAT model

Procedia PDF Downloads 233

Authors: Jaypalsinh Parmar, Pintu Nakrani, Bhaumik Shah

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Digital Elevation Model (DEM) is elevation data of the virtual grid on the ground. DEM can be used in application in GIS such as hydrological modelling, flood forecasting, morphometrical analysis and surveying etc.. For morphometrical analysis the stream flow network plays a very important role. DEM lacks accuracy and cannot match field data as it should for accurate results of morphometrical analysis. The present study focuses on comparing the Agree method and the conventional Shortest path method for finding out morphometric parameters in the flat region of the Lower Tapi Basin which is located in the western India. For the present study, open source SRTM (Shuttle Radar Topography Mission with 1 arc resolution) and toposheets issued by Survey of India (SOI) were used to determine the morphometric linear aspect such as stream order, number of stream, stream length, bifurcation ratio, mean stream length, mean bifurcation ratio, stream length ratio, length of overland flow, constant of channel maintenance and aerial aspect such as drainage density, stream frequency, drainage texture, form factor, circularity ratio, elongation ratio, shape factor and relief aspect such as relief ratio, gradient ratio and basin relief for 53 catchments of Lower Tapi Basin. Stream network was digitized from the available toposheets. Agree DEM was created by using the SRTM and stream network from the toposheets. The results obtained were used to demonstrate a comparison between the two methods in the flat areas.

Keywords: agree method, morphometric analysis, lower Tapi basin, shortest path method

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Authors: Mortez Alijani, Anas Osman

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Recently, the popularity of Unmanned aerial vehicles (UAVs) has skyrocketed amidst the unprecedented events and the global pandemic, as they play a key role in both the security and health sectors, through surveillance, taking test samples, transportation of crucial goods and spreading awareness among civilians. However, the process of designing and producing such aerial robots is suppressed by the internal and external constraints that pose serious challenges. Landing is one of the key operations during flight, especially, the autonomous landing of UAVs on a moving platform is a scientifically complex engineering problem. Typically having a successful automatic landing of UAV on a moving platform requires accurate localization of landing, fast trajectory planning, and robust control planning. To achieve these goals, the information about the autonomous landing process such as the intersection point, the position of platform/UAV and inclination angle are more necessary. In this study, the mathematical approach to this problem in the X-Y axis based on the inclination angle and position of UAV in the landing process have been presented. The experimental results depict the accurate position of the UAV, intersection between UAV and moving platform and inclination angle in the landing process, allowing prediction of the intersection point.

Keywords: autonomous landing, inclination angle, unmanned aerial vehicles, moving platform, X-Y axis, intersection point

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Authors: K. Mirudhula, R. Saravanan

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Bhavani basin is the fourth largest Sub Basin in the Cauvery basin. The entire command area of all three major canals that takes off from the Bhavani river falls within the Erode District i.e. Lower Bhavani Project (LBP), Kodiveri and Kalingarayan canals. The LBP canal is a major source of irrigation in Erode District. Many of these canals are unlined and leakage takes place from them. Thus the seepage from the canal helps in recharging the wells in the area, enabling to get adequate water supply for the crops when water was not released from Bhavanisagar Dam. In this study, the groundwater recharge is determined by groundwater flow modeling using Visual MODFLOW model. For this purpose, three major natural sources of groundwater recharge are taken into consideration such as rainfall infiltration, canal seepage and return flow of irrigation. The model was run and ZONEBUDGET gives an idea about the amount of recharge from lined/unlined canal to the field. Unlined canal helps to recharge the groundwater about 20% more than the lined canal. The analysis reveals that the annual rainfall also has rapidly changed in this region. In the LBP canal Head reach meets their requirement with available quantity of water from the canal system. Tail end reach does not receive the required quantity of water because of seepage loss and conveyance loss. Hence the lined canal can be provided for full length of the main canal. Branch canals and minor distributaries are suggested to maintain the canals with unlined canal system.

Keywords: lower Bhavani basin, erode, groundwater flow modeling, irrigation practice, lined canal system

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Authors: Arwa Khannoussi, Alexandru-Liviu Olteanu, Pritesh Narayan, Catherine Dezan, Jean-Philippe Diguet, Patrick Meyer, Jacques Petit-Frere

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Due to the nature of autonomous Unmanned Aerial Vehicles (UAV) missions, it is important that the decisions of a UAV stay consistent with the priorities of an operator, while at the same time allowing them to be easily audited and explained. We propose a multi-layer decision engine that integrates the operator (human) preferences by using the Multi-Criteria Decision Aiding (MCDA) methods. A software implementation of a UAV simulator and of the decision engine is presented to highlight the advantage of using such techniques on high-level decisions. We demonstrate that, with such a preference-based decision engine, the decisions of the UAV are compatible with the priorities of the operator, which in turn increases her/his confidence in its autonomous behavior.

Keywords: autonomous UAV, multi-criteria decision aiding, multi-layers decision engine, operator's preferences, traceable decisions, UAV simulation

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Authors: Hadi Allafta, Christian Opp

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Soil erosion is a major concern in the Shatt Al-Arab basin owing to the steepness of its topography as well as the remarkable altitudinal deference between the upstream and downstream parts of the basin. Such conditions resulted in soil vulnerability to erosion; huge amounts of soil are annually transported, creating enormous implications such as land degradation, structure damage, biodiversity loss, productivity decline, etc. Thus, evaluation of soil erosion risk and its spatial distribution is crucial to build adatabase for efficient control measures. The present study used revised universal soil loss equation (RUSLE) model integrated with Geographic Information System (GIS) for depicting soil erosion hazard zones in the Shatt Al-Arab basin. The RUSLE model incorporated several parameters such as rainfall-runoff erosivity, soil erodibility, slope length and steepness, land cover and management, and conservation support practice for soil erosion zonation. High to medium soil loss of 100 to 20 ton perhectare per year represents around 25% of the basin area, while the areas of low soil loss of less than 20 ton per hectare per year occupied the rest of the total area. The high soil loss rates are linked to areas of high rainfall levels, loamy soil domination, elevated terrains/plateau margins with steep side slope, and high cultivation activities. The findings of the current study can be useful for managers and policy makers in the implementation of a suitable conservation program to reduce soil erosion or to recommend soil conservation acts if development projects are to be continued at regions of high soil erosion risk.

Keywords: geographic information system, revised universal soil loss equation, shatt Al-Arab basin, soil erosion

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Authors: Jose Flores, Nadia Gamboa

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A proper water quality management requires the establishment of a monitoring network. Therefore, evaluation of the efficiency of water quality monitoring networks is needed to ensure high-quality data collection of critical quality chemical parameters. Unfortunately, in some Latin American countries water quality monitoring programs are not sustainable in terms of recording historical data or environmentally representative sites wasting time, money and valuable information. In this study, multivariate statistical techniques, such as principal components analysis (PCA) and hierarchical cluster analysis (HCA), are applied for identifying the most significant monitoring sites as well as critical water quality parameters in the monitoring network of the Jequetepeque River basin, in northern Peru. The Jequetepeque River basin, like others in Peru, shows socio-environmental conflicts due to economical activities developed in this area. Water pollution by trace elements in the upper part of the basin is mainly related with mining activity, and agricultural land lost due to salinization is caused by the extensive use of groundwater in the lower part of the basin. Since the 1980s, the water quality in the basin has been non-continuously assessed by public and private organizations, and recently the National Water Authority had established permanent water quality networks in 45 basins in Peru. Despite many countries use multivariate statistical techniques for assessing water quality monitoring networks, those instruments have never been applied for that purpose in Peru. For this reason, the main contribution of this study is to demonstrate that application of the multivariate statistical techniques could serve as an instrument that allows the optimization of monitoring networks using least number of monitoring sites as well as the most significant water quality parameters, which would reduce costs concerns and improve the water quality management in Peru. Main socio-economical activities developed and the principal stakeholders related to the water management in the basin are also identified. Finally, water quality management programs will also be discussed in terms of their efficiency and sustainability.

Keywords: PCA, HCA, Jequetepeque, multivariate statistical

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Authors: Tithi Banerjee, Ananya Mukhopadhyay

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The comparison of ancient tidalites recorded in both siliciclastics and carbonates has not been well documented due to a lack of suitable outcropping examples. The Proterozoic Simla Basin, Lesser Himalaya serves a unique example in this regard. An attempt has been made in the present work to differentiate sedimentary facies and architectural elements of tidalites in both siliciclastics and carbonates recorded in the Simla Basin. Lithofacies and microfacies analysis led to identification of 11 lithofacies and 4 architectural elements from the siliciclastics, 6 lithofacies and 3 architectural elements from the carbonates. The most diagnostic features for comparison of the two tidalite systems are sedimentary structures, textures, and architectural elements. The physical features such as flaser-lnticular bedding, mud/silt couplets, tidal rhythmites, tidal bundles, cross stratified successions, tidal bars, tidal channels, microbial structures are common to both the environments. The architecture of these tidalites attests to sedimentation in shallow subtidal to intertidal flat facies, affected by intermittent reworking by open marine waves/storms. The seventeen facies attributes were categorized into two major facies belts (FA1 and FA2). FA1 delineated from the lower part of the Chhaosa Formation (middle part of the Simla Basin) represents a prograding muddy pro-delta deposit whereas FA2 delineated from the upper part of the Basantpur Formation (lower part of the Simla Basin) bears the signature of an inner-mid carbonate ramp deposit. Facies distribution indicates development of highstand systems tract (HST) during sea level still stand related to normal regression. The aggradational to progradational bedsets record the history of slow rise in sea level.

Keywords: proterozoic, Simla Basin, tidalites, inner-mid carbonate ramp, prodelta, TST, HST

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Authors: Yingxu Wang, Jianhua Lu, Jun Peng, Jiawei Zhang

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The fundamental demand in contemporary intelligent science towards Autonomous AI (AI*) is the creation of unprecedented formal means of Intelligent Mathematics (IM). It is discovered that natural intelligence is inductively created rather than exhaustively trained. Therefore, IM is a family of algebraic and denotational mathematics encompassing Inference Algebra, Real-Time Process Algebra, Concept Algebra, Semantic Algebra, Visual Frame Algebra, etc., developed in our labs. IM plays indispensable roles in training-free AI* theories and systems beyond traditional empirical data-driven technologies. A set of applications of IM-driven AI* systems will be demonstrated in contemporary intelligence science, AI*, and cognitive computers.

Keywords: intelligence mathematics, foundations of intelligent science, autonomous AI, cognitive computers, inference algebra, real-time process algebra, concept algebra, semantic algebra, applications

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Authors: Michael Kenomore, Mohamed Hassan, Amjad Shah, Hom Dhakal

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Shale gas reservoirs have been of greater importance compared to shale oil reservoirs since 2009 and with the current nature of the oil market, understanding the technical and economic performance of shale gas reservoirs is of importance. Using the Barnett shale as a case study, an economic model was developed to quantify the effect of finding and development costs and gas prices on the basins in the Barnett shale using net present value as an evaluation parameter. A rate of return of 20% and a payback period of 60 months or less was used as the investment hurdle in the model. The Barnett was split into four basins (Strawn Basin, Ouachita Folded Belt, Forth-worth Syncline and Bend-arch Basin) with analysis conducted on each of the basin to provide a holistic outlook. The dataset consisted of only horizontal wells that started production from 2008 to at most 2015 with 1835 wells coming from the strawn basin, 137 wells from the Ouachita folded belt, 55 wells from the bend-arch basin and 724 wells from the forth-worth syncline. The data was analyzed initially on Microsoft Excel to determine the estimated ultimate recoverable (EUR). The range of EUR from each basin were loaded in the Palisade Risk software and a log normal distribution typical of Barnett shale wells was fitted to the dataset. Monte Carlo simulation was then carried out over a 1000 iterations to obtain a cumulative distribution plot showing the probabilistic distribution of EUR for each basin. From the cumulative distribution plot, the P10, P50 and P90 EUR values for each basin were used in the economic model. Gas production from an individual well with a EUR similar to the calculated EUR was chosen and rescaled to fit the calculated EUR values for each basin at the respective percentiles i.e. P10, P50 and P90. The rescaled production was entered into the economic model to determine the effect of the finding and development cost and gas price on the net present value (10% discount rate/year) as well as also determine the scenario that satisfied the proposed investment hurdle. The finding and development costs used in this paper (assumed to consist only of the drilling and completion costs) were £1 million, £2 million and £4 million while the gas price was varied from $2/MCF-$13/MCF based on Henry Hub spot prices from 2008-2015. One of the major findings in this study was that wells in the bend-arch basin were least economic, higher gas prices are needed in basins containing non-core counties and 90% of the Barnet shale wells were not economic at all finding and development costs irrespective of the gas price in all the basins. This study helps to determine the percentage of wells that are economic at different range of costs and gas prices, determine the basins that are most economic and the wells that satisfy the investment hurdle.

Keywords: shale gas, Barnett shale, unconventional gas, estimated ultimate recoverable

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Authors: Changchun Liang, Xiaodong Zhang, Xin Liu, Pengfei Sun

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Space intelligent robotic systems are expected to play an increasingly important role in the future. The robotic on-orbital service, whose key is the tracking and capturing technology, becomes research hot in recent years. In this paper, the authors propose a vision servo control system for target capturing. Robotic manipulator will be an intelligent robotic system with large-scale movement, functional agility, and autonomous ability, and it can be operated by astronauts in the space station or be controlled by the ground operator in the remote operation mode. To realize the autonomous movement and capture mission of SRM, a kind of autonomous programming strategy based on multi-camera vision fusion is designed and the selection principle of object visual position and orientation measurement information is defined for the better precision. Distributed control system hierarchy is designed and reliability is considering to guarantee the abilities of control system. At last, a ground experiment system is set up based on the concept of robotic control system. With that, the autonomous target capturing experiments are conducted. The experiment results validate the proposed algorithm, and demonstrates that the control system can fulfill the needs of function, real-time and reliability.

Keywords: control system, on-orbital service, space robot, vision servo

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Authors: Nokwethaba Makhanya, Babatunde J. Abiodun, Piotr Wolski

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Climate change possibly intensifies hydrological droughts and reduces water availability in river basins. Despite this, most research on climate change effects in southern Africa has focused exclusively on meteorological droughts. This thesis projects the potential impact of climate change on the future characteristics of hydrological droughts in the Limpopo River Basin (LRB). The study uses regional climate model (RCM) measurements (from the Coordinated Regional Climate Downscaling Experiment, CORDEX) and a combination of hydrological simulations (using the Soil and Water Assessment Tool Plus model, SWAT+) to predict the impacts at four global warming levels (GWLs: 1.5℃, 2.0℃, 2.5℃, and 3.0℃) under the RCP8.5 future climate scenario. The SWAT+ model was calibrated and validated with a streamflow dataset observed over the basin, and the sensitivity of model parameters was investigated. The performance of the SWAT+LRB model was verified using the Nash-Sutcliffe efficiency (NSE), Percent Bias (PBIAS), Root Mean Square Error (RMSE), and coefficient of determination (R²). The Standardized Precipitation Evapotranspiration Index (SPEI) and the Standardized Precipitation Index (SPI) have been used to detect meteorological droughts. The Soil Water Index (SSI) has been used to define agricultural drought, while the Water Yield Drought Index (WYLDI), the Surface Run-off Index (SRI), and the Streamflow Index (SFI) have been used to characterise hydrological drought. The performance of the SWAT+ model simulations over LRB is sensitive to the parameters CN2 (initial SCS runoff curve number for moisture condition II) and ESCO (soil evaporation compensation factor). The best simulation generally performed better during the calibration period than the validation period. In calibration and validation periods, NSE is ≤ 0.8, while PBIAS is ≥ ﹣80.3%, RMSE ≥ 11.2 m³/s, and R² ≤ 0.9. The simulations project a future increase in temperature and potential evapotranspiration over the basin, but they do not project a significant future trend in precipitation and hydrological variables. However, the spatial distribution of precipitation reveals a projected increase in precipitation in the southern part of the basin and a decline in the northern part of the basin, with the region of reduced precipitation projected to increase with GWLs. A decrease in all hydrological variables is projected over most parts of the basin, especially over the eastern part of the basin. The simulations predict meteorological droughts (i.e., SPEI and SPI), agricultural droughts (i.e., SSI), and hydrological droughts (i.e., WYLDI, SRI) would become more intense and severe across the basin. SPEI-drought has a greater magnitude of increase than SPI-drought, and agricultural and hydrological droughts have a magnitude of increase between the two. As a result, this research suggests that future hydrological droughts over the LRB could be more severe than the SPI-drought projection predicts but less severe than the SPEI-drought projection. This research can be used to mitigate the effects of potential climate change on basin hydrological drought.

Keywords: climate change, CORDEX, drought, hydrological modelling, Limpopo River Basin

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Authors: Tesfaye Mengistu

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This thesis aims to investigate the effectiveness of Reinforcement Learning (RL) for Autonomous Energy Management solutions. The study explores the potential of Model Free RL approaches, such as Monte Carlo RL and Q-learning, to improve energy management by autonomously adjusting energy management strategies to maximize efficiency. The research investigates the implementation of RL algorithms for optimizing energy consumption in a single-agent environment. The focus is on developing a framework for the implementation of RL algorithms, highlighting the importance of RL for enabling autonomous systems to adapt quickly to changing conditions and make decisions based on previous experiences. Moreover, the paper proposes RL as a novel energy management solution to address nations' CO2 emission goals. Reinforcement learning algorithms are well-suited to solving problems with sequential decision-making patterns and can provide accurate and immediate outputs to ease the planning and decision-making process. This research provides insights into the challenges and opportunities of using RL for energy management solutions and recommends further studies to explore its full potential. In conclusion, this study provides valuable insights into how RL can be used to improve the efficiency of energy management systems and supports the use of RL as a promising approach for developing autonomous energy management solutions in residential buildings.

Keywords: artificial intelligence, reinforcement learning, monte carlo, energy management, CO2 emission

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Authors: Qing Dai, Zhengkui Lin, Jiajia Zhang, Yi Qu

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Based on activity method, this paper focuses on morning commuting behavior when commuters travel with autonomous vehicles (AVs). Firstly, a net utility function of commuters is constructed by the activity utility of commuters at home, in car and at workplace, and the disutility of travel time cost and that of schedule delay cost. Then, this net utility function is applied to build an equilibrium model. Finally, under the assumption of constant marginal activity utility, the properties of equilibrium are analyzed. The results show that, in autonomous driving, the starting and ending time of morning peak and the number of commuters who arrive early and late at workplace are the same as those in manual driving. In automatic driving, however, the departure rate of arriving early at workplace is higher than that of manual driving, while the departure rate of arriving late is just the opposite. In addition, compared with manual driving, the departure time of arriving at workplace on time is earlier and the number of people queuing at the bottleneck is larger in automatic driving. However, the net utility of commuters and the total net utility of system in automatic driving are greater than those in manual driving.

Keywords: autonomous cars, bottleneck model, activity utility, user equilibrium

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Authors: Zhibin Lei, Minghui Yang

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Ningwu-Jingle basin is a structural syncline which has undergone a complex tectono-thermal history since Cretaceous. It stretches along the strike of the northern Lvliang Mountains which are the most important mountains in the middle and west of North China Craton. The Mesozoic units make up of the core of Ningwu-Jingle Basin, with pre-Mesozoic units making up of its flanks. The available low-temperature thermochronology implies that Ningwu-Jingle Basin has experienced two stages of uplifting: 94±7Ma to 111±8Ma (Albian to Cenomanian) and 62±4 to 75±5Ma (Danian to Maastrichtian). In order to constrain its tectono-thermal history in the Cenozoic, both apatite (U-Th-Sm)/He and fission track dating analysis are applied on 3 Middle Jurassic and 3 Upper Triassic sandstone samples. The central fission track ages range from 74.4±8.8Ma to 66.0±8.0Ma (Campanian to Maastrichtian) which matches well with previous data. The central He ages range from 20.1±1.2Ma to 49.1±3.0Ma (Ypresian to Burdigalian). Inverse thermal modeling is established based on both apatite fission track data and (U-Th-Sm)/He data. The thermal history obtained reveals that all 6 sandstone samples cross the high-temperature limit of fission track partial annealing zone by the uppermost Cretaceous and that of He partial retention zone by the uppermost Eocene to the early Oligocene. The result indicates that the middle and west of North China Craton is not stable in the Cenozoic.

Keywords: apatite fission track thermochronology, apatite (u–th)/he thermochronology, Ningwu-Jingle basin, North China craton, tectono-thermal history

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Authors: Pei-Chih Wu, Hsin-Chih Lai, Yung-Lung Lee, Yun-Yao Chi, Ching-Yi Horng, Hsien-Chang Wang

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The impact of climate change to health has always been well documented. Amongst them, water-borne infectious diseases, chronic adverse effects or cancer risks due to chemical contamination in flooding or drought events are especially important in river basin. This study therefore utilizes GIS and different models to integrate demographic, land use, disaster prevention, social-economic factors, and human health assessment in the Erren River basin. Therefore, through the collecting of climatic, demographic, health surveillance, water quality and other water monitoring data, potential risks associated with the Erren River Basin are established and to understand human exposure and vulnerability in response to climate extremes. This study assesses the temporal and spatial patterns of melioidosis (2000-2015) and various cancer incidents in Tainan and Kaohsiung cities. The next step is to analyze the spatial association between diseases incidences, climatic factors, land uses, and other demographic factors by using ArcMap and GeoDa. The study results show that amongst all melioidosis cases in Taiwan, 24% cases (115) residence occurred in the Erren River basin. The relationship between the cases and in Tainan and Kaohsiung cities are associated with population density, aging indicator, and residence in Erren River basin. Risks from flooding due to heavy rainfall and fish farms in spatial lag regression are also related. Through liver cancer, the preliminary analysis in temporal and spatial pattern shows an increases pattern in annual incidence without clusters in Erren River basin. Further analysis of potential cancers connected to heavy metal contamination from water pollution in Erren River is established. The final step is to develop an assessment tool for human exposure from water contamination and vulnerability in response to climate extremes for the second year.

Keywords: climate change, health impact, health adaptation, Erren River Basin

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Authors: Richard Grünwald, Wenling Wang, Yan Feng

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The presented paper explores the changing dynamics of regional water security in the Mekong River Basin and examines the contemporary water-related challenges from a critical hydropolitical perspective. By drawing on the Lancang-Mekong Cooperation and Conflict Database (LMCCD) recording more than 3000 water-related events within the basin in the last 30 years, we identified several trends changing the dynamics of the regional water security in the Mekong River Basin. Firstly, there is growing politicization of water that is no longer interpreted as abundant. While some scientists blame the rapid basin development, particularly in upstream countries, other researchers consider climate change and cumulative environmental impacts of various water projects as the main culprit for changing the water flow. Secondly, there is an increasing securitization of large-scale hydropower dams with questionable outcomes. Despite hydropower dams raise many controversies, many riparian states push the development at all cost. Such water security dilemma can be especially traced to Laos and Cambodia, which highly invest in the hydropower sector even at the expense of the local environment and good relations with neighbouring countries situated lower on the river. Thirdly, there is a lack of accountable transboundary water governance that will effectively face a looming water crisis. To date, most of the existing cooperation mechanisms are undermined by the geopolitical interests of foreign donors and increasing mistrust to scientific approaches dealing with water insecurity. Our findings are beneficial for the policy-makers and other water experts who want to grasp the broader hydropolitical context in the Mekong River Basin and better understand the new water security threats, including misinterpretation of the hydrological data and legitimization of the pro-development narratives.

Keywords: critical hydropolitics, mekong river, politicization of science, water governance, water security

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Authors: Olumide J. Adedapo

Abstract:

In this work, geothermal energy resource maps of the Niger Delta Basin were constructed using borehole thermal log data from over 300 deep wells. Three major geothermal anomalies were delineated and quantitatively interpreted in both onshore and offshore parts of the Niger Delta. The geothermal maps present the distribution of geothermal energy stored in the sedimentary rock mass in two ways: the accessible resources in depth interval 0-4000 m and static geothermal energy resources stored in the complete sedimentary infill of the basin (from the ground surface to the basement). The first map shows two major onshore anomalies, one in the north (with maximum energy values, 800 GJ/m2), another in the east to northeastern part (maximum energy values of 1250–1500 GJ/m2). Another two major anomalies occur offshore, one in the south with values of 750-1000 GJ/m2, occurring at about 100 km seawards and the other, in the southwest offshore with values 750-1250 GJ/m2, still at about 100 km from the shore. A second map of the Niger Delta shows a small anomaly in the northern part with the maximum value of 1500 GJ/m2 and a major anomaly occurring in the eastern part of the basin, onshore, with values of 2000-3500 GJ/m2. Offshore in the south and southwest anomalies in the total sedimentary rock mass occur with highest values up to 4000GJ/m2, with the southwestern anomaly extending west to the shore. It is much of interest to note the seaward–westward extension of these anomalies both in size, configuration, and magnitude for the geothermal energy in the total sedimentary thickness to the underlying basement. These anomalous fields show the most favourable locations and areas for further work on geothermal energy resources.

Keywords: geothermal energy, offshore, Niger delta, basin

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