Search results for: autonomous basin climbing

Authors: Adedapo Jepson Olumide, Kurowska Ewa, K. Schoeneich, Ikpokonte A. Enoch

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In this paper, subsurface temperature measured from continuous temperature logs were used to determine the geothermal gradient of NigerDelta sedimentary basin. The measured temperatures were corrected to the true subsurface temperatures by applying the American Association of Petroleum Resources (AAPG) correction factor, borehole temperature correction factor with La Max’s correction factor and Zeta Utilities borehole correction factor. Geothermal gradient in this basin ranges from 1.20C to 7.560C/100m. Six geothermal anomalies centres were observed at depth in the southern parts of the Abakaliki anticlinorium around Onitsha, Ihiala, Umuaha area and named A1 to A6 while two more centre appeared at depth of 3500m and 4000m named A7 and A8 respectively. Anomaly A1 describes the southern end of the Abakaliki anticlinorium and extends southwards, anomaly A2 to A5 were found associated with a NW-SE structural alignment of the Calabar hinge line with structures describing the edge of the Niger Delta basin with the basement block of the Oban massif. Anomaly A6 locates in the south-eastern part of the basin offshore while A7 and A8 are located in the south western part of the basin offshore. At the average exploratory depth of 3500m, the geothermal gradient values for these anomalies A1, A2, A3, A4, A5, A6, A7, and A8 are 6.50C/100m, 1.750C/100m, 7.50C/100m, 1.250C/100m, 6.50C/100m, 5.50C/100m, 60C/100m, and 2.250C/100m respectively. Anomaly A8 area may yield higher thermal value at greater depth than 3500m. These results show that anomalies areas of A1, A3, A5, A6 and A7 are potentially prospective and explorable for geothermal energy using abandoned oil wells in the study area. Anomalies A1, A3.A5, A6 occur at areas where drilled boreholes were not exploitable for oil and gas but for the remaining areas where wells are so exploitable there appears no geothermal anomaly. Geothermal energy is environmentally friendly, clean and reversible.

Keywords: temperature logs, geothermal gradient anomalies, alternative energy, Niger delta basin

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Authors: Mohamed Hrouda

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The Principal Component Analysis (PCA) was performed on a dataset comprising 41 biomarker concentrations from twenty-three core source rocks samples and seven oil samples from different location, with the objective of establishing the major sources of variance within the steranes, tricyclic terpanes, hopanes, and triaromatic steroid. This type of analysis can be used as an aid when deciding which molecular biomarker maturity, source facies or depositional environment parameters should be plotted, because the principal component loadings plots tend to extract the biomarker variables related to maturity, source facies or depositional environment controls. Facies characterization of the source rock samples separate the Silurian and Devonian source rock samples into three groups. Maturity evaluation of source rock samples based on biomarker and aromatic hydrocarbon distributions indicates that not all the samples are strongly affected by maturity, the Upper Devonian samples from wells located in the northern part of the basin are immature, whereas the other samples which have been selected from the Lower Silurian are mature and have reached the main stage of the oil window, the Lower Silurian source rock strata revealed a trend of increasing maturity towards the south and southwestern part of Ghadames Basin. Most of the facies-based parameters employed in this project using biomarker distributions clearly separate the oil samples into three groups. Group I contain oil samples from wells within Al-Wafa oil field Located in the south western part of the basin, Group II contains oil samples collected from Al-Hamada oil field complex in the south and the third group contains oil samples collected from oil fields located in the north

Keywords: Ghadamis basin, geochemistry, silurian, devonian

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Authors: Umit Duru

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The Soil and Water Assessment Tool (SWAT) was tested for prediction of water balance and sediment yield in the Ankara gauged basin, Turkey. The overall objective of this study was to evaluate the performance and applicability of the SWAT in this region of Turkey. Thirteen years of monthly stream flow, and suspended sediment, data were used for calibration and validation. This research assessed model performance based on differences between observed and predicted suspended sediment yield during calibration (1987-1996) and validation (1982-1984) periods. Statistical comparisons of suspended sediment produced values for NSE (Nash Sutcliffe efficiency), RE (relative error), and R² (coefficient of determination), of 0.81, -1.55, and 0.93, respectively, during the calibration period, and NSE, RE (%), and R² of 0.77, -2.61, and 0.87, respectively, during the validation period. Based on the analyses, SWAT satisfactorily simulated observed hydrology and sediment yields and can be used as a tool in decision making for water resources planning and management in the basin.

Keywords: calibration, GIS, sediment yield, SWAT, validation

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Authors: L.Jowkar. M.Samiee

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Models or systems based on rainfall and runoff are numerous and have been formulated and applied depending on the precipitation regime, temperature, and climate. In this study, the ArcCN-Runoff rain-runoff modeling tool was used to estimate the spatial variability of the rainfall-runoff relationship in Sartang Ramon in Jiroft watershed. In this study, the runoff was estimated from 6-hour rainfall. The results showed that based on hydrological soil group map, soils with hydrological groups A, B, C, and D covered 1, 2, 55, and 41% of the basin, respectively. Given that the majority of the area has a slope above 60 percent and results of soil hydrologic groups, one can conclude that Sartang Ramon Basin has a relatively high potential for producing runoff. The average runoff height for a 6-hour rainfall with a 2-year return period is 26.6 mm. The volume of runoff from the 2-year return period was calculated as the runoff height of each polygon multiplied by the area of the polygon, which is 137913486 m³ for the whole basin.

Keywords: Arc CN-Run off, rain-runoff, return period, watershed

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Authors: Nkwanyang L. Takem, Christopher M. Agyingi

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Background and aim: An integrated interpretation of wireline logs and lithology of two selected wells (KF-1 and KF-2) of Kribi oil field within the southeastern offshore Douala/Kribi Campo Basin was carried out for sequence stratigraphic analysis of sediments penetrated by the wells. Methods: The stratigraphic units within the wells were subdivided into depositional sequences using characteristic well log patterns that were deposited between Tertiary Miocene to lower Cretaceous. Results: Nine (9) and eight (8) depositional sequences were identified respectively for KF-1 and KF-2. The sequences comprise LST (progradational packages), TSTs (retrogradational packages) and HSTs (aggradational packages), which reflect depositional systems deposited during different phases of base-level changes. The (LST) consists of Basin Floor Fans (BFF), Slope Fans and Channel Sands deposited when sea level was low and accommodation space lower than rate of sediment influx. TST consists of retrogradational marine shales deposited during high relative sea levels and when accommodation space was higher than rate of sediment influx. HST consisted of shoreface sands displaying mostly aggradational to progradational stacking patterns. Conclusion: The rapid facies changes between successive systems tracts provide potential stratigraphic traps. Reservoir stratification and continuity vary greatly between systems tracts and this enhanced development of stratigraphic traps in the area. Basin floor fans comprise sandstone of good reservoir quality, thus huge accumulation of HC can be trapped in this reservoirs.

Keywords: Douala-Kribi-Campo Basin, reservoirs, sequence strastigraphyy, system tracks

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Authors: Naser Ahmadi Sani, Karim Solaimani, Lida Razaghnia, Jalal Zandi

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In recent decades, rapid and incorrect changes in land-use have been associated with consequences such as natural resources degradation and environmental pollution. Detecting changes in land-use is one of the tools for natural resource management and assessment of changes in ecosystems. The target of this research is studying the land-use changes in Haraz basin with an area of 677000 hectares in a 15 years period (1996 to 2011) using LANDSAT data. Therefore, the quality of the images was first evaluated. Various enhancement methods for creating synthetic bonds were used in the analysis. Separate training sites were selected for each image. Then the images of each period were classified in 9 classes using supervised classification method and the maximum likelihood algorithm. Finally, the changes were extracted in GIS environment. The results showed that these changes are an alarm for the HARAZ basin status in future. The reason is that 27% of the area has been changed, which is related to changing the range lands to bare land and dry farming and also changing the dense forest to sparse forest, horticulture, farming land and residential area.

Keywords: Haraz basin, change detection, land-use, satellite data

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Authors: Kongrat Nokkaew

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This article assessed the surface erosion and stability of cut and fill slope in the excavation of the detention basin, Kalasin Province, Thailand. The large excavation project was built to enlarge detention basin for relieving repeated flooding and drought which usually happen in this area. However, at the end of the 1st rainstorm season, severely erosions slope failures were widespread observed. After investigation, the severity of erosions and slope failure were classified into five level from sheet erosion (Level 1), rill erosion (Level 2, 3), gully erosion (Level 4), and slope failure (Level 5) for proposing slope remediation. The preliminary investigation showed that lack of runoff control were the major factors of the surface erosions while insufficient compacted of the fill slope leaded to slopes failures. The slope stability of four selected slope failure was back calculated by using Simplified Bishop with Seep-W. The result show that factor of safety of slope located on non-plasticity sand was less than one, representing instability of the embankment slope. Such analysis agreed well with the failures observed in the field.

Keywords: surface erosion, slope stability, detention basin, cut and fill

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Authors: Mohamed Dhaoui, Hakim Gabtni

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The migration of hydrocarbons is a fairly complicated process that depends on several parameters, both structural and sedimentological. In this study, we will try to determine secondary migration paths which convey hydrocarbon from their main source rock to the largest reservoir of the Paleozoic petroleum system of the Tunisian part of Ghadames basin. In fact, The Silurian source rock is the main source rock of the Paleozoic petroleum system of the Ghadames basin. However, the most solicited reservoir in this area is the Triassic reservoir TAGI (Trias Argilo-Gréseux Inférieur). Several geochemical studies have confirmed that oil products TAGI come mainly from the Tannezuft Silurian source rock. That being said that secondary migration occurs through the fault system which affects the post-Silurian series. Our study is based on analysis and interpretation of gravity data. The gravity modeling was conducted in the northern part of Ghadames basin and the Telemzane uplift. We noted that there is a close relationship between the location of producing oil fields and gravity gradients which separate the positive and negative gravity anomalies. In fact, the analysis and transformation of the Bouguer anomaly map, and the residual gravity map allowed as understanding the architecture of the Precambrian in the study area, thereafter gravimetric models were established allowed to determine the probable migration path.

Keywords: basement, Ghadames, gravity, hydrocarbon, migration path

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Authors: Md. Afroz Ansari

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The Bengal basin is a spectacular example of a peripheral foreland basin formed by the convergence of the Indian plate beneath the Eurasian and Burmese plates. The basin is embraced on three sides; north, west and east by different fault-controlled tectonic features whereas released in the south where the rivers are drained into the Bay of Bengal. The Bengal basin in the eastern part of the Indian subcontinent constitutes the largest fluvio-deltaic to shallow marine sedimentary basin in the world today. This continental basin coupled with the offshore Bengal Fan under the Bay of Bengal forms the biggest sediment dispersal system. The continental basin is continuously receiving the sediments by the two major rivers Ganga and Brahmaputra (known as Jamuna in Bengal), and Meghna (emerging from the point of conflux of the Ganga and Brahmaputra) and large number of rain-fed, small tributaries originating from the eastern Indian Shield. The drained sediments are ultimately delivered into the Bengal fan. The significance of the present study is to delineate the variations in thicknesses of the sediments, different crustal structures, and the mantle lithosphere throughout the onshore-offshore Bengal basin. In the present study, the different crustal/geological units and the shallower mantle lithosphere were delineated by analyzing the Bouguer Gravity Anomaly (BGA) data along two long traverses South-North (running from Bengal fan cutting across the transition offshore-onshore of the Bengal basin and intersecting the Main Frontal Thrust of India-Himalaya collision zone in Sikkim-Bhutan Himalaya) and West-East (running from the Peninsular Indian Shield across the Bengal basin to the Chittagong–Tripura Fold Belt). The BGA map was derived from the analysis of topex data after incorporating Bouguer correction and all terrain corrections. The anomaly map was compared with the available ground gravity data in the western Bengal basin and the sub-continents of India for consistency of the data used. Initially, the anisotropy associated with the thicknesses of the different crustal units, crustal interfaces and moho boundary was estimated through spectral analysis of the gravity data with varying window size over the study area. The 2D density sections along the traverses were finalized after a number of iterations with the acceptable root mean square (RMS) errors. The estimated thicknesses of the different crustal units and dips of the Moho boundary along both the profiles are consistent with the earlier results. Further the results were encouraged by examining the earthquake database and focal mechanism solutions for better understanding the geodynamics. The earthquake data were taken from the catalogue of US Geological Survey, and the focal mechanism solutions were compiled from the Harvard Centroid Moment Tensor Catalogue. The concentrations of seismic events at different depth levels are not uncommon. The occurrences of earthquakes may be due to stress accumulation as a result of resistance from three sides.

Keywords: anisotropy, interfaces, seismicity, spectrum analysis

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Authors: Z. Kadivar, M. Vahidinia, A. Mousavinia

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Kopet-Dagh Mountain Range is located in the north and northeast of Iran. Mozduran Formation in the east of Kopet-Dagh is mainly composed of limestone, dolomite, with shale and sandstone interbedded. Mozduran Formation is reservoir rock of the Khangiran gas field. The location of the study was east Kopet-Dagh basin (Northeast Iran) where the deliberate thickness of formation is 418 meters. In the present study, a total of 57 samples were gathered. Moreover, 100 thin sections were made out of 52 samples. According to the findings of the thin section study, 18 genera and nine species of foraminifera and algae were identified. Based on the index fossils, the age of the Mozduran Formation was identified as Upper Jurassic (Kimmerdgian-Tithonian) in the east of Kopet-Dagh basin. According to the magnetite data (total intensity and RTP map), there is a disconformity (low intensity) between the Kashaf-Rood Formation and Mozduran Formation. At the top, where among Mozduran Formation and Shurijeh Formation, is high intensity and a widespread disconformity (high intensity).

Keywords: upper jurassic, magnetometre, mozduran formation, stratigraphy

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Authors: Emily J. Morey, Kevin Galvin, Thomas Riley, R. Eddie Wilson

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The key challenges faced by integrating autonomous rail operations into the existing mainline railway environment have been identified through the understanding and framing of the problem space and stakeholder analysis. This was achieved through the completion of the first four steps of Soft Systems Methodology, where the problem space has been expressed via conceptual models. Having identified these challenges, we investigated one of them, namely capacity, via the use of models and simulation. This paper examines the approach used to move from the conceptual models to a simulation which can determine whether the integration of autonomous trains can plausibly increase capacity. Within this approach, we developed an architecture and converted logical models into physical resource models and associated design features which were used to build a simulator. From this simulator, we are able to analyse mixtures of legacy-autonomous operations and produce fundamental diagrams and trajectory plots to describe the dynamic behaviour of mixed mainline railway operations.

Keywords: autonomy, executable architecture, modelling and simulation, railway capacity

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Authors: Akbarnejad Neda

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A foreign language acquisition occurs when we can tell a joke and understand it. Most jokes are told in slang and common language. In the process of foreign language acquisition, an autonomous learner try to learn the standard language. But there is a colossal divergence between the usage of the different types of language in society. Here, we investigate the french slang and common language and examine the accurate perception of their usage. We illuminate the slang language in the french literature that provide considerably different types of language for an autonomous learner. We provide furthermore evidence from the french novels that demonstrate properly the different types of language and give in one sentence its social meanings. For example, the famous Queneau expression « Doukipudonktant » present the impact of slang language in society. The characters in the novel transfer the slang and the common language and their accurate usages. We present that the language of the autonomous learner depends on the language of the text that is read. Because literature is a vehicle of the culture and the expression demonstrate their real significations and usage in the culture, slang and common language have a crucial role in the culture and all of them are manifested in the oral language.

Keywords: common language, french, humor, slang language

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Authors: Ben Salah Nahla

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The problem of water in Tunisia affects the quality and quantity. Tunisia is in a situation of water shortage. It was estimated that 4.6 Mm3/an. Moreover, the quality of water in Tunisia is also mediocre. In fact, 50% of the water has a high salinity (> 1.5g/l). There are several parameters which affect water quality such as sodium, fluoride. An excess of this parameter may induce some human health. Furthermore, the mining basin area has a problem of industrial waste. This problem may affect the water quality of the groundwater. Therefore, the purpose of this work is to assess the water quality in Basin Mining and the impact of fluorine. For this research, some water samples were done in the field and specific water analysis was implemented in the laboratory. Sampling is carried out on eight drilling in the area of the mining region. In the following, we will look at water view composition, physical and chemical quality. A physical-chemical analysis of water from a survey of the Mining area of Tunisia was performed and showed an excess for the following items: fluorine, sodium, sulfate. So many chemicals may be present in water. However, only a small number of them immediately concern in terms of health in all circumstances. Fluorine (F) is one particular chemical that is considered both necessary for the human body, but an excess of the rate of this chemical causes serious diseases. Sodium fluoride and sodium silicofluoride are more soluble and may spread in animals and plants where their toxicity largest organizations. The more complex particles such as cryolite and fluorite, almost insoluble, are more stable and less toxic. Thereafter, we will study the problem of excess fluorine in the water. The latter intended for human consumption must always comply with the limits for microbiological quality parameters and physical-chemical parameters defined by European standards (1.5 mg/l) and Tunisian (2 mg/l).

Keywords: water, minier basin, fluorine, silicofluoride

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Authors: Lixin Pei, Zhilong Huang, Wenzhe Gang

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Organic geochemistry of source rocks and oils in the Nanpu Sag, Bohai Bay basin was studied on the basis of the results of Rock-Eval and biomarker. The possible source rocks consist of the third member (Es₃) and the first member (Es₁) of Shahejie formation and the third member of Dongying Formation (Ed₃) in the Nanpu Sag. The Es₃, Es₁, and Ed₃ source rock intervals in the Nanpu Sag all have high organic-matter richness and are at hydrocarbon generating stage, which are regarded as effective source rocks. The three possible source rock intervals have different biomarker associations and can be differentiated by gammacerane/αβ C₃₀ hopane, ETR ([C₂₈+C₂₉]/ [C₂₈+C₂₉+Ts]), C₂₇ diasterane/sterane and C₂₇/C₂₉ steranes, which suggests they deposited in different environments. Based on the oil-source rock correlation, the shallow oils mainly originated from the Es₃ and Es₁ source rocks in the Nanpu Sag. Through hydrocarbon generation and expulsion history of the source rocks, trap development history and accumulation history, the shallow oils mainly originated from paleo-reservoirs in the Es₃ and Es₁ during the period of Neotectonism, and the residual paleo-reservoirs in the Es₃ and Es₁ would be the focus targets in the Nanpu Sag; Bohai Bay Basin.

Keywords: source rock, biomarker association, Nanpu Sag, Bohai Bay Basin

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Authors: Julio Jesus Salazar, Max Jesus De Lama

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The challenges of water management are aggravated by global change, which implies high complexity and associated uncertainty; water management is difficult because water networks cross domains (natural, societal, and political), scales (space, time, jurisdictional, institutional, knowledge, etc.) and levels (area: patches to global; knowledge: a specific case to generalized principles). In this context, we need to apply natural and non-natural measures to manage water and soil. The Basin Management Methodology considers multifunctional measures of natural water retention and erosion control and soil formation to protect water resources and address the challenges related to the recovery or conservation of the ecosystem, as well as natural characteristics of water bodies, to improve the quantitative status of water bodies and reduce vulnerability to floods and droughts. This method of water management focuses on the positive impacts of the chemical and ecological status of water bodies, restoration of the functioning of the ecosystem and its natural services; thus, contributing to both adaptation and mitigation of climate change. This methodology was applied in 7 interventions in the sub-basin of the Shullcas River in Huancayo-Junín-Peru, obtaining great benefits in the framework of the participation of alliances of actors and integrated planning scenarios. To implement the methodology in the sub-basin of the Shullcas River, a process called Climate Smart Territories (CST) was used; with which the variables were characterized in a highly complex space. The diagnosis was then worked using risk management and adaptation to climate change. Finally, it was concluded with the selection of alternatives and projects of this type. Therefore, the CST approach and process face the challenges of climate change through integrated, systematic, interdisciplinary and collective responses at different scales that fit the needs of ecosystems and their services that are vital to human well-being. This methodology is now replicated at the level of the Mantaro river basin, improving with other initiatives that lead to the model of a resilient basin.

Keywords: climate-smart territories, climate change, ecosystem services, natural measures, Climate Smart Territories (CST) approach

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Authors: Dimitris Kokkinos, Panagiotis Prinos

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In the last three decades, climate change has been studied extensively from scientific community, and its consequences are more than clear all around the world. Most countries have carried out a great effort to reduce global warming rates with the ratification and implementation of several international treaties. Moreover, many of them have already adopted national plans in order to adapt to climate change effects and mitigate human and economic losses. Coastal environments, with their inherent physical sensitivity, will face important challenges as a result of projected changes in climate conditions and hundreds of millions of people will be affected. Coastal zones are of high social and economic value and this research focuses on the Mediterranean basin, which is a densely populated and highly urbanized area. With 40% of its land used for human activity and the inevitability of the impacts of the climate change, it is obvious that some form of adaptation measures will be necessary. In this regard, the EU tools, policies and legislation concerning adaptation to climate change are presented. Additionally, the National Adaptation Strategies of State members of the Mediterranean basin are compared and analyzed concerning the coastal areas, along with an overview of projects and programs results focused on coastal issues at different spatial scales. The purpose of this research is to stress the differences between Mediterranean State members at methodologies implemented, to highlight the possible gaps in co-ordination and to emphasize on research initiatives that EU can build upon moving towards an integrated adaptation planning on a region-wide basis.

Keywords: coastal adaptation, Mediterranean Basin, climate change, coastal environments

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Authors: Mohammad Moonesun, Ehsan Asadi Asrami, Julia Bodnarchuk

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In the case of Solar Autonomous Underwater Vehicle, which uses photovoltaic panels to provide its required power, due to limitation of energy, accurate estimation of resistance and energy has major sensitivity. In this work, hydrodynamic calculations by numerical method for a solar autonomous underwater vehicle equipped by two 50 W photovoltaic panels has been studied. To evaluate the required power and energy, hull hydrodynamic resistance in several velocities should be taken into account. To do this assessment, the ANSYS FLUENT 18 applied as Computational Fluid Dynamics (CFD) tool that solves Reynolds Average Navier Stokes (RANS) equations around AUV hull, and K-ω SST is used as turbulence model. To validate of solution method and modeling approach, the model of Myring submarine that it’s experimental data was available, is simulated. There is good agreement between numerical and experimental results. Also, these results showed that the K-ω SST Turbulence model is an ideal method to simulate the AUV motion in low velocities.

Keywords: underwater vehicle, hydrodynamic resistance, numerical modelling, CFD, RANS

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Authors: Abolghasem Akbari

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The Natural Resources Conservation Service Curve Number (NRCS-CN) method is widely used for predicting direct runoff from rainfall. It employs the hydrologic soil groups and land use information along with period soil moisture conditions to derive NRCS-CN. This method has been well documented and available in popular rainfall-runoff models such as HEC-HMS, SWAT, SWMM and much more. Despite all benefits and advantages of this well documented and easy-to-use method, it does not take into account the effect of terrain slope and drainage area. This study aimed to first investigate the effect of slope on CN and then slope-adjusted runoff potential map is generated for Kuantan River Basin, Malaysia. The Hanng method was used to adjust CN values provided in National Handbook of Engineering and The Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) Global Digital Elevation Model (GDEM) version 2 is used to derive slope map with the spatial resolution of 30 m for Kuantan River Basin (KRB). The study significantly enhanced the application of GIS tools and recent advances in earth observation technology to analyze the hydrological process.

Keywords: Kuantan, ASTER-GDEM, SCS-CN, runoff

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Authors: Espen Oland

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This paper presents a solution to the problem of autonomous rendezvous for spacecraft equipped with one main thruster for translational control and three reaction wheels for rotational control. With fewer actuators than degrees of freedom, this constitutes an underactuated control problem, requiring a coupling between the translational and rotational dynamics to facilitate control. This paper shows how to obtain this coupling, and applies the results to autonomous rendezvous between a follower spacecraft and a leader spacecraft. Additionally, since the thrust is constrained between zero and an upper bound, no negative forces can be generated to slow down the speed of the spacecraft. A combined speed and attitude control logic is therefore created that can be divided into three main phases: 1) The orbital velocity vector is pointed towards the desired position and the thrust is used to obtain the desired speed, 2) during the coasting phase, the attitude is changed to facilitate deceleration using the main thruster, 3) the speed is decreased as the spacecraft reaches its desired position. The results are validated through simulations, showing the capabilities of the proposed approach.

Keywords: attitude control, spacecraft rendezvous, translational control, underactuated rigid body

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Authors: Mohammed Qasim, Kyoung-Dae Kim

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In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: artificial potential function, autonomous collision avoidance, teleoperation, quadrotor

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Authors: Sagar Shiwakoti, Narendra Man Shakya

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The lumped conceptual hydrological model HBV is applied to the Karnali River Basin to estimate runoff at several gauging stations and to analyze the changes in catchment hydrology and future flood magnitude due to climate change. The performance of the model is analyzed to assess its suitability to simulate streamflow in snow fed mountainous catchments. Due to the structural complexity, the model shows difficulties in modeling low and high flows accurately at the same time. It is observed that the low flows were generally underestimated and the peaks were correctly estimated except for some sharp peaks due to isolated precipitation events. In this study, attempt has been made to evaluate the importance of snow melt discharge in the runoff regime of the basin. Quantification of contribution of snowmelt to annual, summer and winter runoff has been done. The contribution is highest at the beginning of the hot months as the accumulated snow begins to melt. Examination of this contribution under conditions of increased temperatures indicate that global warming leading to increase in average basin temperature will significantly lead to higher contributions to runoff from snowmelt. Forcing the model with the output of HadCM3 GCM and the A1B scenario downscaled to the station level show significant changes to catchment hydrology in the 2040s. It is observed that the increase in runoff is most extreme in June - July. A shift in the hydrological regime is also observed.

Keywords: hydrological modeling, HBV light, rainfall runoff modeling, snow melt, climate change

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Authors: Ronald Mraz, Gary C. Kessler, Ethan Gold, John G. Cline

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The International Ice Patrol (IIP) continually monitors iceberg activity in the North Atlantic by direct observation using ships, aircraft, and satellite imagery. Daily reports detailing navigational boundaries of icebergs have significantly reduced the risk of iceberg contact. What is currently lacking is formatting this data for automatic transmission and display of iceberg navigational boundaries in commercial navigation equipment. This paper describes the methodology and implementation of a system to format iceberg limit information for dissemination through existing radio network communications. This information will then automatically display on commercial navigation equipment. Additionally, this information is reformatted for Google Earth rendering of iceberg track line limits. Having iceberg limit information automatically available in standard navigation equipment will help support full autonomous operation of sailing vessels.

Keywords: iceberg, iceberg risk, iceberg track lines, AIS messaging, international ice patrol, North American ice service, google earth, autonomous surface vessels

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Authors: Punitha Periyasamy, Mahalingam Sudalaimuthu, Sachikanta Nanda, Arasu Sundaram

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India holds 17.5% of the world’s population but has only 2% of the total geographical area of the world where 27.35% of the area is categorized as wasteland due to lack of or less groundwater. So there is a demand for excessive groundwater for agricultural and non agricultural activities to balance its growth rate. With this in mind, an attempt is made to find the groundwater potential zone in Gomukhi river sub basin of Vellar River basin, TamilNadu, India covering an area of 1146.6 Sq.Km consists of 9 blocks from Peddanaickanpalayam to Villupuram fall in the sub basin. The thematic maps such as Geology, Geomorphology, Lineament, Landuse, and Landcover and Drainage are prepared for the study area using IRS P6 data. The collateral data includes rainfall, water level, soil map are collected for analysis and inference. The digital elevation model (DEM) is generated using Shuttle Radar Topographic Mission (SRTM) and the slope of the study area is obtained. ArcGIS 10.1 acts as a powerful spatial analysis tool to find out the ground water potential zones in the study area by means of weighted overlay analysis. Each individual parameter of the thematic maps are ranked and weighted in accordance with their influence to increase the water level in the ground. The potential zones in the study area are classified viz., Very Good, Good, Moderate, Poor with its aerial extent of 15.67, 381.06, 575.38, 174.49 Sq.Km respectively.

Keywords: ArcGIS, DEM, groundwater, recharge, weighted overlay

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Authors: Dawei Cai

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In this paper, we present an autonomous guidance service by combining the position information from NFC and the orientation information from a 6 axis acceleration and terrestrial magnetism sensor. We developed an algorithm to calculate the device orientation based on the data from acceleration and terrestrial magnetism sensor. If visitors want to know some explanation about an exhibit in front of him, what he has to do is just lift up his mobile device. The identification program will automatically identify the status based on the information from NFC and MEMS, and start playing explanation content for him. This service may be convenient for old people or disables or children.

Keywords: NFC, ubiquitous computing, guide sysem, MEMS

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Authors: Ruslan Salmurzauli, Sabir Nurtazin, Buho Hoshino, Niels Thevs, A. B. Yeszhanov, Aiman Imentai

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This article presents the results of a research on the transformation of the diverse ecosystems of the Ili delta during the period 1979-2014 based on the analysis of the hydrological regime dynamics, weather conditions and satellite images. Conclusions have been drawn on the decisive importance of the water runoff of the Ili River in the negative changes and environmental degradation in delta areas over the past forty-five years. The increase of water consumption in the Chinese and Kazakhstan parts of the Ili-Balkhash basin caused desiccation and desertification of many hydromorphic delta ecosystems and the reduction of water flow into Lake Balkhash. We demonstrate that a significant reduction of watering of the delta areas could drastically accelerate the aridization and degradation of the hydromorphic ecosystems. Under runoff decrease, a transformation process of the delta ecosystems begins from the head part and gradually spread northward to the periphery of the delta. The desertification is most clearly expressed in the central and western parts of the delta areas.

Keywords: Ili-Balkhash basin, Ili river delta, runoff, hydrological regime, transformation of ecosystems, remote sensing

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Authors: Jonqlan Lin, C. Y. Tasi, K. H. Lin

Abstract:

This paper addresses the issue of the autonomous mobile robot (AMR) navigation task based on the hybrid control modes. The novel hybrid control mode, based on multi-sensors information by using the fuzzy approach, has been presented in this research. The system operates in real time, is robust, enables the robot to operate with imprecise knowledge, and takes into account the physical limitations of the environment in which the robot moves, obtaining satisfactory responses for a large number of different situations. An experiment is simulated and carried out with a pioneer mobile robot. From the experimental results, the effectiveness and usefulness of the proposed AMR obstacle avoidance and navigation scheme are confirmed. The experimental results show the feasibility, and the control system has improved the navigation accuracy. The implementation of the controller is robust, has a low execution time, and allows an easy design and tuning of the fuzzy knowledge base.

Keywords: autonomous mobile robot, obstacle avoidance, MEMS, hybrid control mode, navigation control

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Authors: Enze Zhang

Abstract:

Large numbers of inter-basin water transfer (IBWT) projects are constructed or proposed all around the world as solutions to water distribution and supply problems. Nowadays, as climate change warms the atmosphere, alters the hydrologic cycle, and perturbs water availability, large scale IBWTs which are sensitive to these water-related changes may carry significant risk. Given this reality, IBWTs have elicited great controversy and assessments of vulnerability to climate change are urgently needed worldwide. In this paper, we consider the South-to-North Water Transfer Project (SNWTP) in China as a case study, and introduce a bottom-up vulnerability assessment framework. Key hazards and risks related to climate change that threaten future water availability for the SNWTP are firstly identified. Then a performance indicator is presented to quantify the vulnerability of IBWT by taking three main elements (i.e., sensitivity, adaptive capacity, and exposure degree) into account. A probabilistic Budyko model is adapted to estimate water availability responses to a wide range of possibilities for future climate conditions in each region of the study area. After bottom-up quantifying the vulnerability based on the estimated water availability, our findings confirm that SNWTP would greatly alleviate geographical imbalances in water availability under some moderate climate change scenarios but raises questions about whether it is a long-term solution because the donor basin has a high level of vulnerability due to extreme climate change.

Keywords: vulnerability, climate change, inter-basin water transfer, bottom-up

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Authors: René A. Sørensen, Søren Skovsen, Peter Christiansen, Henrik Karstoft

Abstract:

Autonomous agricultural machines act in stochastic surroundings and therefore, must be able to perceive the surroundings in real time. This perception can be achieved using image sensors combined with advanced machine learning, in particular Deep Learning. Deep convolutional neural networks excel in labeling and perceiving color images and since the cost of high-quality RGB-cameras is low, the hardware cost of good perception depends heavily on memory and computation power. This paper investigates the possibility of designing lightweight convolutional neural networks for semantic segmentation (pixel wise classification) with reduced hardware requirements, to allow for embedded usage in autonomous agricultural machines. Using compression techniques, a lightweight convolutional neural network is designed to perform real-time semantic segmentation on an embedded platform. The network is trained on two large datasets, ImageNet and Pascal Context, to recognize up to 400 individual classes. The 400 classes are remapped into agricultural superclasses (e.g. human, animal, sky, road, field, shelterbelt and obstacle) and the ability to provide accurate real-time perception of agricultural surroundings is studied. The network is applied to the case of autonomous grass mowing using the NVIDIA Tegra X1 embedded platform. Feeding case-specific images to the network results in a fully segmented map of the superclasses in the image. As the network is still being designed and optimized, only a qualitative analysis of the method is complete at the abstract submission deadline. Proceeding this deadline, the finalized design is quantitatively evaluated on 20 annotated grass mowing images. Lightweight convolutional neural networks for semantic segmentation can be implemented on an embedded platform and show competitive performance with regards to accuracy and speed. It is feasible to provide cost-efficient perceptive capabilities related to semantic segmentation for autonomous agricultural machines.

Keywords: autonomous agricultural machines, deep learning, safety, visual perception

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Authors: Hang Ju, Changmin Zhu

Abstract:

The development level of the BeiDou Navigation Satellite System (BDS) can strongly reflect national defense strength as an important spatial information infrastructure. BDS can be not only used for military purposes, such as intelligence gathering, nuclear explosion monitoring, emergency communications, but also for location services, transportation, mapping, precision agriculture. In order to ensure the national defense security and the wide application of BDS in civil and military areas, BDS must be autonomous and controllable. As a complex system of knowledge-intensive, knowledge transformation runs through the whole process of research and development, production, operation, and maintenance of BDS. Based on the perspective of knowledge transformation, this paper expounds on the meaning of socialization, externalization, combination, and internalization of knowledge transformation, and the coupling relationship of autonomy and control on the basis of analyzing the status quo and problems of the autonomy and control of BDS. The autonomous and controllable framework of BDS based on knowledge transformation is constructed from six dimensions of management capability, R&D capability, technical capability, manufacturing capability, service support capability, and application capability. It can provide support for the smooth implementation of information security policy, provide a reference for the autonomy and control of the upstream and downstream industrial chains in Beidou, and provide a reference for the autonomous and controllable research of aerospace components, military measurement test equipment, and other related industries.

Keywords: knowledge transformation, BeiDou Navigation Satellite System, autonomy and control, framework

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Authors: Indraj Singh, Xuan Lee, Yu-Chieh Cheng

Abstract:

Scientists are very keen on biomimetic research that mimics biological species to micro-robotic devices with the novel functionalities and accessibility. The source of inspiration is the complexity, sophistication, and intelligence of the biological systems. In this work, we design a light-driven star-shaped microgripper, an autonomous soft device which can change the shape under the external stimulus such as light. The design is based on light-responsive Liquid Crystal Elastomers which fabricated onto the polymer coated aligned substrate. The change in shape, controlled by the anisotropicity and the molecular orientation of the Liquid Crystal Elastomer, based on the external stimulus. This artificial star-shaped microgripper is capable of autonomous closure and capable to grab the objects in response to an external stimulus. This external stimulus-responsive materials design, based on soft active smart materials, provides a new approach to autonomous, self-regulating optical systems.

Keywords: liquid crystal elastomers, microgripper, smart materials, robotics

Procedia PDF Downloads 111