Search results for: autonomous basin climbing

Authors: Carlos Gordon, Patricio Encalada, Henry Lema, Diego Leon, Dennis Chicaiza

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The following work presents a proposal of autonomous navigation of mobile robots implemented in an omnidirectional robot Kuka Youbot. We have been able to perform the integration of robotic operative system (ROS) and machine learning algorithms. ROS mainly provides two distributions; ROS hydro and ROS Kinect. ROS hydro allows managing the nodes of odometry, kinematics, and path planning with statistical and probabilistic, global and local algorithms based on Adaptive Monte Carlo Localization (AMCL) and Dijkstra. Meanwhile, ROS Kinect is responsible for the detection block of dynamic objects which can be in the points of the planned trajectory obstructing the path of Kuka Youbot. The detection is managed by artificial vision module under a trained neural network based on the single shot multibox detector system (SSD), where the main dynamic objects for detection are human beings and domestic animals among other objects. When the objects are detected, the system modifies the trajectory or wait for the decision of the dynamic obstacle. Finally, the obstacles are skipped from the planned trajectory, and the Kuka Youbot can reach its goal thanks to the machine learning algorithms.

Keywords: autonomous navigation, machine learning, path planning, robotic operative system, open source computer vision library

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Authors: Mirza Mohibulla Baig, Imil Hamda Imran, Tri Bagus Susilo, Sami El Ferik

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The paper deals with system identification and control a nonlinear model of semi-autonomous underwater vehicle (UUV). The input-output data is first generated using the experimental values of the model parameters and then this data is used to compute the estimated parameter values. In this study, we use the semi-autonomous UUV LAURS model, which is developed by the Sensors and Actuators Laboratory in University of Sao Paolo. We applied three methods to identify the parameters: integral method, which is a classical least square method, recursive least square, and weighted recursive least square. In this paper, we also apply three different inputs (step input, sine wave input and random input) to each identification method. After the identification stage, we investigate the control performance of yaw motion of nonlinear semi-autonomous Unmanned Underwater Vehicle (UUV) using feedback linearization-based controller. In addition, we compare the performance of the control with an integral and a non-integral part along with state feedback. Finally, disturbance rejection and resilience of the controller is tested. The results demonstrate the ability of the system to recover from such fault.

Keywords: system identification, underwater vehicle, integral method, recursive least square, weighted recursive least square, feedback linearization, integral error

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Authors: I. Farid, K. Zouari

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An attempt has been made to examine the effect of water storage structures on groundwater recharge in a semi-arid agroclimatic setting in Jeloula Basin (Central Tunisia). In this area, surface water in rivers is seasonal, and therefore groundwater is the perennial source of water supply for domestic and agricultural purposes. Three pumped storage water power plants (PSWPP) have been built to increase the overall water availability in the basin and support agricultural livelihoods of rural smallholders. The scale and geographical dispersion of these multiple lakes restrict the understanding of these coupled human-water systems and the identification of adequate strategies to support riparian farmers. In the present review, hydrochemistry and isotopic tools were combined to get an insight into the processes controlling mineralization and recharge conditions in the investigated aquifer system. This study showed a slight increase in the groundwater level, especially after the artificial recharge operations and a decline when the water volume moves down during drought periods. Chemical data indicate that the main sources of salinity in the waters are related to water-rock interactions. Data inferred from stable isotopes in groundwater samples indicated recharge with modern rainfall. The investigated surface water samples collected from the PSWPP are affected by a significant evaporation and reveal large seasonal variations, which could be controlled by the water volume changes in the open surface reservoirs and the meteorological conditions during evaporation, condensation, and precipitation. The geochemical information is comparable to the isotopic results and illustrates that the chemical and isotopic signatures of reservoir waters differ clearly from those of groundwaters. These data confirm that the contribution of the artificial recharge operations from the PSWPP is very limited.

Keywords: Jeloula basin, recharge, hydrochemistry, isotopes

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Authors: Mehdi Fuladipanah

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Stepped spillway includes several steps from the crest to the toe. The steps of stepped spillway could cause to decrease the energy with making energy distribution in the longitude mode and also to reduce the outcome speed. The aim of this study was to stimulate the stepped spillway combined with stilling basin-step using Fluent model and the turbulent superficial flow using RNG, K-ε. The free surface of the flow was monitored by VOF model. The velocity and the depth of the flow were measured by tail water depth by the numerical model and then the dissipated energy was calculated along the spillway. The results indicated that the stilling basin-step complex may cause energy dissipation increment in the stepped spillway. Also, the numerical model was suggested as an effective method to predict the circular and complicated flows in the stepped spillways.

Keywords: stepped spillway, fluent model, VOF model, K-ε model, energy distribution

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Authors: Ashish Kumar, Munesh Raghuraj Varma, Nisarg Joshi, Gujjula Vishwa Teja, Srikanth Sambi, Arpit Awasthi

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Autonomous driving vehicles are revolutionizing the transportation system of the 21st century. This has been possible due to intensive research put into making a robust, reliable, and intelligent program that can perceive and understand its environment and make decisions based on the understanding. It is a very data-intensive task with data coming from multiple sensors and the amount of data directly reflects on the performance of the system. Researchers have to design the preprocessing pipeline for different datasets with different sensor orientations and alignments before the dataset can be fed to the model. This paper proposes a solution that provides a method to unify all the data from different sources into a uniform format using the intrinsic and extrinsic parameters of the sensor used to capture the data allowing the same pipeline to use data from multiple sources at a time. This also means easy adoption of new datasets or In-house generated datasets. The solution also automates the complete deep learning pipeline from preprocessing to post-processing for various tasks allowing researchers to design multiple custom end-to-end pipelines. Thus, the solution takes care of the input and output data handling, saving the time and effort spent on it and allowing more time for model improvement.

Keywords: augmentation, autonomous driving, camera, custom end-to-end pipeline, data unification, lidar, post-processing, preprocessing

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Authors: Kongmeng Ly

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The management of transboundary river basins across developing countries, such as the Lower Mekong River Basin (LMB), is frequently challenging given the development and conservation divergences of the basin countries. Driven by needs to sustain economic performance and reduce poverty, the LMB countries (Cambodia, Lao PDR, Thailand, Viet Nam) are embarking on significant land use changes in the form hydropower dam, to fulfill their energy requirements. This pathway could lead to irreversible changes to the ecosystem of the Mekong River, if not properly managed. Given the uncertain trade-offs of hydropower development and operation, the Lower Mekong River Basin Countries through the technical support of the Mekong River Commission (MRC) Secretariat embarked on decade long the development of Technical Guidelines for Transboundary Environmental Impact Assessment. Through a series of workshops, seminars, national and regional consultations, and pilot studies and further development following the recommendations generated through legal and institutional reviews undertaken over two decades period, the LMB Countries jointly adopted the MRC Technical Guidelines for Transboundary Environmental Impact Assessment (TbEIA Guidelines). These guidelines were developed with particular regard to the experience gained from MRC supported consultations and technical reviews of the Xayaburi Dam Project, Don Sahong Hydropower Project, Pak Beng Hydropower Project, and lessons learned from the Srepok River and Se San River case studies commissioned by the MRC under the generous supports of development partners around the globe. As adopted, the TbEIA Guidelines have been designed as a supporting mechanism to the national EIA legislation, processes and systems in each Member Country. In recognition of the already agreed mechanisms, the TbEIA Guidelines build on and supplement the agreements stipulated in the 1995 Agreement on the Cooperation for the Sustainable Development of the Mekong River Basin and its Procedural Rules, in addressing potential transboundary environmental impacts of development projects and ensuring mutual benefits from the Mekong River and its resources. Since its adoption in 2022, the TbEIA Guidelines have already been voluntary implemented by Lao PDR on its underdevelopment Sekong A Downstream Hydropower Project, located on the Sekong River – a major tributary of the Mekong River. While this implementation is ongoing with results expected in early 2024, the implementation thus far has strengthened cooperation among concerned Member Countries with multiple successful open dialogues organized at national and regional levels. It is hope that lessons learnt from this application would lead to a wider application of the TbEIA Guidelines for future water resources development projects in the LMB.

Keywords: transboundary, EIA, lower mekong river basin, mekong river

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Authors: Chahrazed Salhi, Ayoub Zeroual, Yasmina Hamitouche

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Soil water erosion poses a significant threat to the watersheds in Algeria today. The degradation of storage capacity in large dams over the past two decades, primarily due to erosion, necessitates a comprehensive understanding of the factors that contribute to soil erosion. The Isser watershed, located in the Northwestern region of Algeria, faces additional challenges such as recurrent droughts and the presence of delicate marl and clay outcrops, which amplify its susceptibility to water erosion. This study aims to employ advanced techniques such as Geographic Information Systems (GIS) and Remote Sensing (RS), in conjunction with the Canonical Correlation Analysis (CCA) method and Soil Water Assessment Tool (SWAT) model, to predict specific erosion patterns and analyze the key factors influencing erosion in the Isser basin. To accomplish this, an array of data sources including rainfall, climatic, hydrometric, land use, soil, digital elevation, and satellite data were utilized. The application of the SWAT model to the Isser basin yielded an average annual soil loss of approximately 16 t/ha/year. Particularly high erosion rates, exceeding 12 T/ha/year, were observed in the central and southern parts of the basin, encompassing 41% of the total basin area. Through Canonical Correlation Analysis, it was determined that vegetation cover and topography exerted the most substantial influence on erosion. Consequently, the study identified significant and spatially heterogeneous erosion throughout the study area. The impact of land topography on soil loss was found to be directly proportional, while vegetation cover exhibited an inverse proportional relationship. Modeling specific erosion for the Ladrat dam sub-basin estimated a rate of around 39 T/ha/year, thus accounting for the recorded capacity loss of 17.80% compared to the bathymetric survey conducted in 2019. The findings of this research provide valuable decision-support tools for soil conservation managers, empowering them to make informed decisions regarding soil conservation measures.

Keywords: Isser watershed, RS, CCA, SWAT, vegetation cover, topography

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Authors: Sadeg M. Ghnia, Mahmud Alghattawi

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The NC-210 study area is located in Atshan Saddle between both Ghadamis and Murzuq basins, west Libya. The preserved Palaeozoic successions are predominantly clastics reaching thickness of more than 20,000 ft in northern Ghadamis Basin depocenter. The Carboniferous series consist of interbedded sandstone, siltstone, shale, claystone and minor limestone deposited in a fluctuating shallow marine to brackish lacustrine/fluviatile environment which attain maximum thickness of over 5,000ft in the area of Atshan Saddle and recorded 3,500 ft. in outcrops of Murzuq Basin flanks. The Carboniferous strata was uplifted and eroded during Late Paleozoic and early Mesozoic time in northern Ghadamis Basin and Atshan Saddle. The M'rar Formation age is Tournaisian to Late Serpukhovian based on palynological markers and contains about 12 cycles of sandstone and shale deposited in shallow to outer neritic deltaic settings. The hydrocarbons in the M'rar reservoirs possibly sourced from the Lower Silurian and possibly Frasinian radioactive hot shales. The M'rar Formation lateral, vertical and thickness distribution is possibly influenced by the reactivation of Tumarline Strik-Slip fault and its conjugate faults. A pronounced structural paleohighs and paleolows, trending SE & NW through the Gargaf Saddle, is possibly indicative of the present of two sub-basins in the area of Atshan Saddle. A number of identified seismic reflectors from existing 2D seismic covering Atshan Saddle reflect M’rar deltaic 12 sandstone cycles. M’rar7, M’rar9, M’rar10 and M’rar12 are characterized by high amplitude reflectors, while M’rar2 and M’rar6 are characterized by medium amplitude reflectors. These horizons are productive reservoirs in the study area. Available seismic data in the study area contributed significantly to the identification of M’rar potential traps, which are prominently 3- way dip closure against fault zone. Also seismic data indicates the presence of a significant strikeslip component with the development of flower-structure. The M'rar Formation hydrocarbon discoveries are concentrated mainly in the Atshan Saddle located in southern Ghadamis Basin, Libya and Illizi Basin in southeast of Algeria. Significant additional hydrocarbons may be present in areas adjacent to the Gargaf Uplift, along structural highs and fringing the Hoggar Uplift, providing suitable migration pathways.

Keywords: hydrocarbon potential, stratigraphy, Ghadamis basin, seismic, well data integration

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Authors: Christopher Baiyegunhi, Oswald Gwavava

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The location/source of the Beattie magnetic anomaly (BMA) and interconnectivity of geologic structures at depth have been a topic of investigation for over 30 years. Up to now, no relationship between geological structures (interconnectivity of dolerite intrusions) at depth has been established. Therefore, the environmental impact of fracking the Karoo for shale gas could not be assessed despite the fact that dolerite dykes are groundwater localizers in the Karoo. In this paper, we shed more light to the unanswered questions concerning the possible location of the source of the BMA, the connectivity of geologic structures like dolerite dykes and sills at depth and this relationship needs to be established before the tectonic evolution of the Karoo basin can be fully understood and related to fracking of the Karoo for shale gas. The result of the magnetic investigation and modelling of four gravity profiles that crosses the BMA in the study area reveals that the anomaly, which is part of the Beattie magnetic anomaly tends to divide into two anomalies and continue to trend in an NE-SW direction, the dominant gravity signatures is of long wavelength that is due to a deep source/interface inland and shallows towards the coast, the average depth to the top of the shallow and deep magnetic sources was estimated to be approximately 0.6 km and 15 km, respectively. The BMA become stronger with depth which could be an indication that the source(s) is deep possibly a buried body in the basement. The bean-shaped anomaly also behaves in a similar manner like the BMA thus it could possibly share the same source(s) with the BMA.

Keywords: Beattie magnetic anomaly, magnetic sources, modelling, Karoo Basin

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Authors: Junjie Liu, David Selby, Mark Obermajer, Andy Mort

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The inaugural application of Re-Os dating, which is based on the beta decay of 187Re to 187Os with a long half-life of 41.577 ± 0.12 Byr and initially used for sulphide minerals and organic rich rocks, to petroleum systems was performed on bitumen of the Polaris Mississippi Valley Type Pb-Zn deposit, Canada. To further our understanding of the Re-Os system and its application to petroleum systems, here we present a study on Duvernay Petroleum System, Western Canadian Sedimentary Basin. The Late Devonian Duvernay Formation organic-rich shales are the only source of the petroleum system. The Duvernay shales reached maturation only during the Laramide Orogeny (80 – 35 Ma) and the generated oil migrated short distances into the interfingering Leduc reefs and overlying Nisku carbonates with no or little secondary alteration post oil-generation. Although very low in Re and Os, the asphaltenes of Duvernay-sourced Leduc and Nisku oils define a Laramide Re-Os age. In addition, the initial Os isotope compositions of the oil samples are similar to that of the Os isotope composition of the Duvernay Formation at the time of oil generation, but are very different to other oil-prone intervals of the basin, showing the ability of the Os isotope composition as an inorganic oil-source correlation tool. In summary, the ability of the Re-Os geochronometer to record the timing of oil generation and trace the source of an oil is confirmed in the Re-Os study of Duvernay Petroleum System.

Keywords: Duvernay petroleum system, oil generation, oil-source correlation, Re-Os

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Authors: Samart Porncharoen, Nisa Pakvilai

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The elevated levels of air pollutants in regional atmospheric environments is a significant problem that affects human health in Thailand, particularly in the Chao Phraya River Basin. Of concern are issues surrounding ambient air pollution such as particulate matter, gaseous pollutants and more specifically concerning air pollution along the river. Therefore, the spatio-temporal study of air pollution in this real environment can gain more accurate air quality data for making formalized environmental policy in river basins. In order to inform such a policy, a study was conducted over a period of January –December, 2015 to continually collect measurements of various pollutants in both urban and regional locations in the Chao Phraya River Basin. This study investigated the air pollutants in many diverse environments along the Chao Phraya River Basin, Thailand in 2015. Multivariate Analysis Techniques such as Principle Component Analysis (PCA) and Path analysis were utilised to classify air pollution in the surveyed location. Measurements were collected in both urban and rural areas to see if significant differences existed between the two locations in terms of air pollution levels. The meteorological parameters of various particulates were collected continually from a Thai pollution control department monitoring station over a period of January –December, 2015. Of interest to this study were the readings of SO2, CO, NOx, O3, and PM10. Results showed a daily arithmetic mean concentration of SO2, CO, NOx, O3, PM10 reading at 3±1 ppb, 0.5± 0.5 ppm, 30±21 ppb, 19±16 ppb, and 40±20 ug/m3 in urban locations (Bangkok). During the same time period, the readings for the same measurements in rural areas, Ayutthaya (were 1±0.5 ppb, 0.1± 0.05 ppm, 25±17 ppb, 30±21 ppb, and 35±10 ug/m3respectively. This show that Bangkok were located in highly polluted environments that are dominated source emitted from vehicles. Further, results were analysed to ascertain if significant seasonal variation existed in the measurements. It was found that levels of both gaseous pollutants and particle matter in dry season were higher than the wet season. More broadly, the results show that levels of pollutants were measured highest in locations along the Chao Phraya. River Basin known to have a large number of vehicles and biomass burning. This correlation suggests that the principle pollutants were from these anthropogenic sources. This study contributes to the body of knowledge surrounding ambient air pollution such as particulate matter, gaseous pollutants and more specifically concerning air pollution along the Chao Phraya River Basin. Further, this study is one of the first to utilise continuous mobile monitoring along a river in order to gain accurate measurements during a data collection period. Overall, the results of this study can be used for making formalized environmental policy in river basins in order to reduce the physical effects on human health.

Keywords: air pollution, Chao Phraya river basin, meteorology, seasonal variation, principal component analysis

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Authors: Do-Jin Jang, Sung-Ah Kim

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A kinetic façade responds to user requirements and environmental conditions.  In designing a kinetic façade, kinetic patterns play a key role in determining its performance. This paper proposes a biomimetic method for the multi-objective optimization for kinetic façade design. The autonomous decentralized control system is combined with flocking algorithm. The flocking agents are autonomously reacting to sensor values and bring about kinetic patterns changing over time. A series of experiments were conducted to verify the potential and limitations of the flocking based decentralized control. As a result, it could show the highest performance balancing multiple objectives such as solar radiation and openness among the comparison group.

Keywords: biomimicry, flocking algorithm, autonomous decentralized control, multi-objective optimization

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Authors: Anil Ranjitbhai Patel, Clement John Shaji, Peter Liggesmeyer

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Safety and security of autonomous vehicles (AVs) is a growing concern, first, due to the increased number of safety-critical functions taken over by automotive embedded systems; second, due to the increased exposure of the software-intensive systems to potential attackers; third, due to dynamic interaction in an uncertain and unknown environment at runtime which results in changed functional and non-functional properties of the system. Frequently occurring environmental uncertainties, random component failures, and compromise security of the AVs might result in hazardous events, sometimes even in an accident, if left undetected. Beyond these technical issues, we argue that the safety and security of AVs against accidental and deliberate faults are poorly understood and rarely implemented. One possible way to overcome this is through a well-known diversity approach. As an effective approach to increase safety and security, diversity has been widely used in the aviation, railway, and aerospace industries. Thus, the paper proposes fault-tolerance by diversity model takes into consideration the mitigation of accidental and deliberate faults by application of structure and variant redundancy. The model can be used to design the AVs with various types of diversity in hardware and software-based multi-version system. The paper evaluates the presented approach by employing an example from adaptive cruise control, followed by discussing the case study with initial findings.

Keywords: autonomous vehicles, diversity, fault-tolerance, adaptive cruise control, safety, security

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Authors: Camila Lozano-Vivas, Camila Quevedo-Villamil, Ingrid Munoz-Quijano, Diego Loaiza

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Colombia's limited oil reserves make the finding of new fields of extraction or the potentiate of the existing ones a more important task to do every day; the exploration projects that allow to have a better knowledge of the oil basins are essential. The upper Magdalena Valley basin - VSM, whose reserves are limited, has been one of the first basins for the exploration and production of hydrocarbons in Colombia. The Hondita and Lomagorda formations were deposited in the Late Cretaceous Middle Albian to the Coniacian and are characterized by being the hydrocarbon-generating rocks in the VSM basin oil system along with the Shale de Bambucá; therefore multiple studies have been made. In the oil industry, geochemical properties are used to understand the origin, migration, accumulation, and alteration of hydrocarbons and, in general, the evolution of the basin containing them. One of the most important parameters to understand this evolution is the formation temperature of the oil system. For this reason, a microthermometric study of fluid inclusions was carried out to recognize formation temperatures and to determine certain basic physicochemical variables, homogenization temperature, pressure, density and salinity of the fluid at the time of entrapment, providing evidence on the history of different events in different geological environments in the evolution of a sedimentary basin. Prior to this study, macroscopic and microscopic petrographic analyses of the samples collected in the field were performed. The results of the mentioned properties of the fluid inclusions in the different samples analyzed have salinities ranging from 20.22% to 26.37% eq. by weight NaCl, similar densities found in the ranges of 1.05 to 1.16 g/cc and an average homogenization temperature at 142.92°C, indicating that, at the time of their entanglement, the rock was in the window of generation of medium hydrocarbons –light with fragile characteristics of the rock that would make it useful to treat them as naturally fractured reservoirs.

Keywords: homogenization temperature, fluid inclusions, microthermometry, salinity

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Authors: Koichi Yonemoto, Hiroshi Yamasaki, Masatomo Ichige, Yusuke Ura, Guna S. Gossamsetti, Takumi Ohki, Kento Shirakata, Ahsan R. Choudhuri, Shinji Ishimoto, Takashi Mugitani, Hiroya Asakawa, Hideaki Nanri

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This paper presents the strategic development plan of winged rockets WIRES (WInged REusable Sounding rocket) aiming at unmanned suborbital winged rocket for demonstrating future fully reusable space transportation technologies, such as aerodynamics, Navigation, Guidance and Control (NGC), composite structure, propulsion system, and cryogenic tanks etc., by universities in collaboration with government and industries, as well as the past and current flight test results.

Keywords: autonomous guidance and control, reusable rocket, space transportation system, suborbital vehicle, winged rocket

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Authors: Mahmoud Zakeri Niri, Saber Moazami, Arman Abdollahipour, Hossein Ghalkhani

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The objective of this research is to hydrological evaluation of four widely-used satellite precipitation products named PERSIANN, TMPA-3B42V7, TMPA-3B42RT, and CMORPH over Zarinehrood basin in Iran. For this aim, at first, daily streamflow of Sarough-cahy river of Zarinehrood basin was simulated using IHACRES rainfall-runoff model with daily rain gauge and temperature as input data from 1988 to 2008. Then, the model was calibrated in two different periods through comparison the simulated discharge with the observed one at hydrometric stations. Moreover, in order to evaluate the performance of satellite precipitation products in streamflow simulation, the calibrated model was validated using daily satellite rainfall estimates from the period of 2003 to 2008. The obtained results indicated that TMPA-3B42V7 with CC of 0.69, RMSE of 5.93 mm/day, MAE of 4.76 mm/day, and RBias of -5.39% performs better simulation of streamflow than those PERSIANN and CMORPH over the study area. It is noteworthy that in Iran, the availability of ground measuring station data is very limited because of the sparse density of hydro-meteorological networks. On the other hand, large spatial and temporal variability of precipitations and lack of a reliable and extensive observing system are the most important challenges to rainfall analysis, flood prediction, and other hydrological applications in this country.

Keywords: hydrological evaluation, IHACRES, satellite precipitation product, streamflow simulation

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Authors: Ahmad Helman Hamdani, Diana Putri Hamdiana

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The Sajau coal measures of Berau Basin, northeastern Kalimantan were deposited within a range of facies associations spanning a spectrum of settings from fluvial to marine. The transitional to terrestrial coal measures are dominated by siliciclastics, but they also contain three laterally extensive marine bands (mudstone). These bands act as marker horizons that enable correlation between fully marine and terrestrial facies. Examination of this range of facies and their sedimentology has enabled the development of a high-resolution sequence stratigraphic framework. Set against the established backdrop of third-order Sajau transgression, nine fourth-order sequences are recognized. Results show that, in the composite sequences, peat accumulation predominantly correlates in transitional areas with early transgressive sequence sets (TSS) and highstand sequence set (HSS), while in more landward areas it correlates with the middle TSS to late highstand sequence sets (HSS). Differences in peat accumulation regimes within the sequence stratigraphic framework are attributed to variations in subsidence and background siliciclastic input rates in different depositional settings, with these combining to produce differences in the rate of accommodation change. The preservation of coal resources in the middle to late HSS in this area was most likely related to the rise of the regional base level throughout the Sajau.

Keywords: sequence stratigraphy, coal, Pliocene, Berau basin

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Authors: Miloud M. Abugares

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This study concentrates on the facies analysis, cyclicity and depositional environment of the Upper Cretaceous (Cenomanian) carbonate ramp deposits of the Lidam Formation. Core description, petrographic analysis data from five wells in Hamid and 3V areas in the SE Sirt Basin, Libya were studied in detail. The Lidam Formation is one of the main oil producing carbonate reservoirs in Southeast Sirt Basin and this study represents one of the key detailed studies of this Formation. In this study, ten main facies have been identified. These facies are; Chicken-Wire Anhydrite Facies, Fine Replacive Dolomite Facies, Bioclastic Sandstone Facies, Laminated Shale Facies, Stromatolitic Laminated Mudstone Facies, Ostracod Bioturbated Wackestone Facies, Bioturbated Mollusc Packstone Facies, Foraminifera Bioclastic Packstone/Grainstone Facies Peloidal Ooidal Packstone/Grainstone Facies and Squamariacean/Coralline Algae Bindstone Facies. These deposits are inferred to have formed in supratidal sabkha, intertidal, semi-open restricted shallow lagoon and higher energy shallow shoal environments. The overall depositional setting is interpreted as have been deposited in inner carbonate ramp deposits. The best reservoir quality is encountered in Peloidal- Ooidal Packstone/Grainstone facies, these facies represents storm - dominated shoal to back shoal deposits and constitute the inner part of carbonate ramp deposits. The succession shows a conspicuous hierarchical cyclicity. Porous shoal and backshoal deposits form during maximum transgression system and early regression hemi-cycle of the Lidam Fm. However; oil producing from shoal and backshoal deposits which only occur in the upper intervals 15 - 20 feet, which forms the large scale transgressive cycle of the Upper Lidam Formation.

Keywords: Lidam Fm. Sirt Basin, Wackestone Facies, petrographic, intertidal

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Authors: Aly Elshafei, Daniela Romano

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With the development of autonomous vehicles, a human-machine interaction (HMI) system is needed for a safe transition of control when a takeover request (TOR) is required. An important part of the HMI system is the ability to monitor the level of situational awareness (SA) of any driver in real-time, in different scenarios, and without any pre-calibration. Presenting state-of-the-art machine learning models used to measure SA is the purpose of this systematic review. Investigating the limitations of each type of sensor, the gaps, and the most suited sensor and computational model that can be used in driving applications. To the author’s best knowledge this is the first literature review identifying online and offline classification methods used to measure SA, explaining which measurements are subject or session-specific, and how many classifications can be done with each classification model. This information can be very useful for researchers measuring SA to identify the most suited model to measure SA for different applications.

Keywords: situational awareness, autonomous driving, gaze metrics, EEG, ECG

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Authors: Sandro Bartolini, Alessandro Mecocci, Alessio Medaglini

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The growing popularity of systems based on unmanned aerial vehicles (UAVs) is highlighting their vulnerability, particularly in relation to the positioning system used. Typically, UAV architectures use the civilian GPS, which is exposed to a number of different attacks, such as jamming or spoofing. This is why it is important to develop alternative methodologies to accurately estimate the actual UAV position without relying on GPS measurements only. In this paper, we propose a position estimate method for UAVs based on monocular visual odometry. We have developed a flight control system capable of keeping track of the entire trajectory travelled, with a reduced dependency on the availability of GPS signals. Moreover, the simplicity of the developed solution makes it applicable to a wide range of commercial drones. The final goal is to allow for safer flights in all conditions, even under cyber-attacks trying to deceive the drone.

Keywords: visual odometry, autonomous uav, position measurement, autonomous outdoor flight

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Authors: Tahereh Habibi

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The Oligocene carbonates are widespread along Fars Province, Zagros Basin, SW Iran. Distribution of planktonic and larger benthic foraminfera, stratal patterns and facies architecture are used as a tool to define microfacies and foraminiferal associations of these strata at Kavar Section. The presence of Nummulites spp. indicated the age of the sequence as Rupelian-Chattian (Nummulites vascus-Nummulites fichteli and Archaias asmaricus/hensoni-Miogypsinoides complanatus assemblage zones). The paleoenvironmental setting is interpreted as a homoclinal ramp environment according to the recognition of eight microfacies types. Four foraminiferal associations are recognized in the investigated ramp setting. They represent a salinity of 34-40 to 50 psu and higher than 50 psu in more restricted conditions. The depth ranges from 200 m as evidenced by the presence of planktonic foraminifera and to less than 30m in the more restricted inner ramp environment. Warm tropical and subtropical water with temperature of 18-25° C is proposed.

Keywords: foraminiferal associations, microfacies, oligocene, paleoecology

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Authors: H. H. Elewa, E. M. Ramadan, A. M. Nosair

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Rainfall water harvesting is considered as an important tool for overcoming water scarcity in arid and semi-arid region. Wadi Watir in the southeastern part of Sinai Peninsula is considered as one of the main and active basins in the Gulf of Aqaba drainage system. It is characterized by steep hills mainly consist of impermeable rocks, whereas the streambeds are covered by a highly permeable mixture of gravel and sand. A comprehensive approach involving the integration of geographic information systems, remote sensing and watershed modeling was followed to identify the RWH capability in this area. Eight thematic layers, viz volume of annual flood, overland flow distance, maximum flow distance, rock or soil infiltration, drainage frequency density, basin area, basin slope and basin length were used as a multi-parametric decision support system for conducting weighted spatial probability models (WSPMs) to determine the potential areas for the RWH. The WSPMs maps classified the area into five RWH potentiality classes ranging from the very low to very high. Three performed WSPMs' scenarios for W. Watir reflected identical results among their maps for the high and very high RWH potentiality classes, which are the most suitable ones for conducting surface water harvesting techniques. There is also a reasonable match with respect to the potentiality of runoff harvesting areas with a probability of moderate, low and very low among the three scenarios. WSPM results have shown that the high and very high classes, which are the most suitable for the RWH are representing approximately 40.23% of the total area of the basin. Accordingly, several locations were decided for the establishment of water harvesting dams and cisterns to improve the water conditions and living environment in the study area.

Keywords: Sinai, Wadi Watir, remote sensing, geographic information systems, watershed modeling, runoff water harvesting

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Authors: Auday Al-Mayyahi, Phil Birch, William Wang

Abstract:

A vision system-based navigation for autonomous ground vehicle (AGV) equipped with a single camera in an indoor environment is presented. A proposed navigation algorithm has been utilized to detect obstacles represented by coloured mini- cones placed in different positions inside a corridor. For the recognition of the relative position and orientation of the AGV to the coloured mini cones, the features of the corridor structure are extracted using a single camera vision system. The relative position, the offset distance and steering angle of the AGV from the coloured mini-cones are derived from the simple corridor geometry to obtain a mapped environment in real world coordinates. The corridor is first captured as an image using the single camera. Hence, image processing functions are then performed to identify the existence of the cones within the environment. Using a bounding box surrounding each cone allows to identify the locations of cones in a pixel coordinate system. Thus, by matching the mapped and pixel coordinates using a projection transformation matrix, the real offset distances between the camera and obstacles are obtained. Real time experiments in an indoor environment are carried out with a wheeled AGV in order to demonstrate the validity and the effectiveness of the proposed algorithm.

Keywords: autonomous ground vehicle, navigation, obstacle avoidance, vision system, single camera, image processing, ultrasonic sensor

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Authors: Himanshu Kumar Gupta

Abstract:

The Jaisalmer Basin is one of the parts of the Rajasthan basin in northwestern India. The presence of five major unconformities/hiatuses of varying span i.e. at the top of Archean basement, Cambrian, Jurassic, Cretaceous, and Eocene have created the foundation for constructing a sequence stratigraphic framework. Based on basin formative tectonic events and their impact on sedimentation processes three first-order sequences have been identified in Rajasthan Basin. These are Proterozoic-Early Cambrian rift sequence, Permian to Middle-Late Eocene shelf sequence and Pleistocene - Recent sequence related to Himalayan Orogeny. The Permian to Middle Eocene I order sequence is further subdivided into three-second order sequences i.e. Permian to Late Jurassic II order sequence, Early to Late Cretaceous II order sequence and Paleocene to Middle-Late Eocene II order sequence. In this study, Late Jurassic to Early Cretaceous sequence was identified and log-based interpretation of smaller order T-R cycles have been carried out. A log profile from eastern margin to western margin (up to Shahgarh depression) has been taken. The depositional environment penetrated by the wells interpreted from log signatures gave three major facies association. The blocky and coarsening upward (funnel shape), the blocky and fining upward (bell shape) and the erratic (zig-zag) facies representing distributary mouth bar, distributary channel and marine mud facies respectively. Late Jurassic Formation (Baisakhi-Bhadasar) and Early Cretaceous Formation (Pariwar) shows a lesser number of T-R cycles in shallower and higher number of T-R cycles in deeper bathymetry. Shallowest well has 3 T-R cycles in Baisakhi-Bhadasar and 2 T-R cycles in Pariwar, whereas deeper well has 4 T-R cycles in Baisakhi-Bhadasar and 8 T-R cycles in Pariwar Formation. The Maximum Flooding surfaces observed from the stratigraphy analysis indicate major shale break (high shale content). The study area is dominated by the alternation of shale and sand lithologies, which occurs in an approximate ratio of 70:30. A seismo-geological cross section has been prepared to understand the stratigraphic thickness variation and structural disposition of the strata. The formations are quite thick to the west, the thickness of which reduces as we traverse towards the east. The folded and the faulted strata indicated the compressional tectonics followed by the extensional tectonics. Our interpretation is supported with seismic up to second order sequence indicates - Late Jurassic sequence is a Highstand Systems Tract (Baisakhi - Bhadasar formations), and the Early Cretaceous sequence is Regressive to Lowstand System Tract (Pariwar Formation).

Keywords: Jaisalmer Basin, sequence stratigraphy, system tract, T-R cycle

Procedia PDF Downloads 107

Authors: Leonard Mike McNelly Longwa, Divine Kusosa Musiku, D. Nahum Kabeya

Abstract:

In this paper the bifurcation analysis of oilfield in Democratic Republic of Congo is presented in order to enhance petroleum production in an intense tectonic evolution characterized by distinct compressive and extensive phases and the digenetic transformation in the reservoirs during burial geological configuration. The use of porous media in Makelekese MS-25 field has been established to simulate the boundaries within 3 sedimentary basins open to exploration including the coastal basin with an area of 5992 km2, a central basin with an area of 800,000 km2, the western branch of the East African Rift in which there are 50,000 km2. The fractal characterization of complex hydro-dynamic fractures in oilfield is developed to facilitate oil production process based on reservoirs bifurcation model.

Keywords: reservoir bifurcation, fractal characterisation, permeability, conductivity, skin effect

Procedia PDF Downloads 152

Authors: Abd-Alrahman Embaby, Ayman Abu Halawa, Medhat Ramadan

Abstract:

The infiltrated water into the subsurface activates expansive soil in localized manner, leading to the differential heaving and destructive of the construction. The Watershed Modeling System (WMS) and Hydrologic Engineering Center (HEC-1) are used to delineate and identify the drainage system and basin morphometry in Tabuk area, where flash floods and accumulation of water may take place. Eight drainage basins effect on Tabuk city. Three of them are expected to be high. The flash floods and surface runoff behavior in these basins are important for any protection projects. It was found that the risky areas that contain Tabuk shale could be expanded when exposed to flash floods and/or surface runoff. The resident neighborhoods in the middle of Tabuk city and affected by surface runoff of the tributaries of the basin of Wadi Abu Nishayfah, Na'am and Atanah outlet, represent high-risk zones. These high-risk neighborhoods are Al Qadsiyah, Al Maseif, Arrwdah, Al Nakhil and Al Rajhi. It can be avoided new constructions on these districts. The low or very low-risk zones include the western and the eastern districts. The western side of the city is lying in the upstream of the small basin. It is suitable for a future urban extension. The direction of surface runoff flow or storm water drain discharge should be away from Tabuk city. The quicker the water can flow out, the better it is.

Keywords: digital elevation model (DEM), flash floods, Saudi Arabia, Tabuk City, watershed modeling system (WMS)

Procedia PDF Downloads 238

Authors: Claudineia Brazil, Elison Eduardo Bierhals, Francisco Pereira, José Leandro Néris, Matheus Rippel, Luciane Salvi

Abstract:

The global concern about climate change has been increasing, since the emission of gases from human activities contributes to the greenhouse effect in the atmosphere, indicating significant impacts to the planet in the coming years. The study of precipitation regime is fundamental for the development of research in several areas. Among them are hydrology, agriculture, and electric sector. Using the climatic projections of the models belonging to the CMIP5, the main objective of the paper was to present an analysis of the impacts of climate change without rainfall in the Uruguay River basin. After an analysis of the results, it can be observed that for the future climate, there is a tendency, in relation to the present climate, for larger numbers of dry events, mainly in the winter months, changing the pluviometric regime for wet summers and drier winters. Given this projected framework, it is important to note the importance of adequate management of the existing water sources in the river basin, since the value of rainfall is reduced for the next years, it may compromise the dynamics of the ecosystems in the region. Facing climate change is fundamental issue for regions and cities all around the world. Society must improve its resilience to phenomenon impacts, and spreading the knowledge among decision makers and citizens is also essential. So, these research results can be subsidies for the decision-making in planning and management of mitigation measures and/or adaptation in south Brazil.

Keywords: climate change, hydrological potential, precipitation, mitigation

Procedia PDF Downloads 317

Authors: Tingyu Zhang

Abstract:

The cross-basin ecological compensation mechanism is key to stimulating active participation in ecological protection across the entire basin. This study constructs an evolutionary game model of cross-basin ecological compensation in the Yangtze River Economic Belt (YREB), introducing a central government constraint and incentive mechanism (CGCIM) to explore the conditions for achieving strategies of protection and compensation that meet societal expectations. Furthermore, using a water quality-water quantity model combined with factual data from the YREB in 2020, the amount of ecological compensation is calculated. The results indicate that the stability of the evolutionary game model of the upstream and downstream governments in the YREB is closely related to the CGCIM. When the sum of the central government's reward amount to the upstream government and the penalty amount to both sides simultaneously is greater than 39.948 billion yuan, and the sum of the reward amount to the downstream government and the penalty amount to only the lower reaches is greater than 1.567 billion yuan, or when the sum of the reward amount to the downstream government and the penalty amount to both sides simultaneously is greater than 1.567 billion yuan, and the sum of the reward amount to the upstream government and the penalty amount to only the upstream government is greater than 399.48 billion yuan, the protection and compensation become the only evolutionarily stable strategy for the evolutionary game system composed of the upstream and downstream governments in the YREB. At this point, the total ecological compensation that the downstream government of the YREB should pay to the upstream government is 1.567 billion yuan, with Hunan paying 0.03 billion yuan, Hubei 2.53 billion yuan, Jiangxi 0.18 billion yuan, Anhui 1.68 billion yuan, Zhejiang 0.75 billion yuan, Jiangsu 6.57 billion yuan, and Shanghai 3.93 billion yuan. The research results can provide a reference for promoting the improvement and perfection of the cross-basin ecological compensation system in the YREB.

Keywords: ecological compensation, evolutionary game model, central government constraint and incentive mechanism, Yangtze river economic belt

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Authors: Leonard Mike McNelly Longwa, Divine Kusosa Musiku, Dieudonne Nahum Kabeya

Abstract:

In this paper, the bifurcation analysis of oilfields in the Democratic Republic of Congo is presented in order to enhance petroleum production in an intense tectonic evolution characterized by distinct compressive and extensive phases and the digenetic transformation in the reservoirs during burial geological configuration. The use of porous media in the Makelekese MS-25 field has been established to simulate the boundaries within 3 sedimentary basins open to exploration including the coastal basin with an area of 5992 km², a central basin with an area of 800,000 km², the western branch of the East African Rift in which there are 50,000 km². The fractal characterization of complex hydro-dynamic fractures in oilfields is developed to facilitate the oil production process based on the reservoirs bifurcation model.

Keywords: reservoir bifurcation, fractal characterization, permeability, conductivity, skin effect

Procedia PDF Downloads 100

Authors: Samuel Quick

Abstract:

The purpose of this paper is to examine future urban street design in the context of developing technologies, evolving street typologies, and projected transportation trends. The goal was to envision a future urban street in the year 2060 that addresses the advent and implementation of autonomous vehicles, the promotion of new street typologies, and the projection of current transportation trends. Using a hierarchy of functional needs for urban streets, the future street was designed and evaluated based on the functions the street provides to the surrounding community. The site chosen for the future street design is an eight-block section of West North Avenue in the city of Baltimore, Maryland. Three different conceptual designs were initially completed and evaluated leading to a master plan for West North Avenue as well as street designs for connecting streets that represent different existing street types. Final designs were compared with the existing street design and evaluated with the adapted ‘Hierarchy of Needs’ theory. The review of the literature and the results from this paper indicate that urban streets will have to become increasingly multi-functional to meet the competing needs of the environment and community. Future streets will have to accommodate multimodal transit which will include mass transit, walking, and biking. Furthermore, a comprehensive implementation of green infrastructure within the urban street will provide access to nature for urban communities and essential stormwater management. With these developments, the future of an urban street will move closer to a greenway typology. Findings from this study indicate that urban street design will have to be policy-driven to promote and implement autonomous bus-rapid-transit in order to conserve street space for other functions. With this conservation of space, urban streets can then provide more functions to the surrounding community, taking a holistic approach to urban street design.

Keywords: autonomous vehicle, greenway, green infrastructure, multi-modality, street typology

Procedia PDF Downloads 150