Search results for: lidar sounding

Authors: Farhan Aljuaidi

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The rapid expansion of Alkarj city, Saudi Arabia, towards the outlet of Wadi AlAin is critical for the planners and decision makers. Nowadays, two major projects such as Salman bin Abdulaziz University compound and new industrial area are developed in this flood prone area where no channels are clear and identified. The main contribution of this study is to divert the flow away from these vital projects by reconstructing new channels. To do so, Lidar data were used to generate contour lines for the actual elevation of the highways and local roads. These data were analyzed and compared to the contour lines derived from the topographical maps 1:50.000. The magnitude of the expected flow was estimated using Snyder's Model based on the morphometric data acquired by DEM of the catchment area. The results indicate that maximum discharge peak reaches 2694,3 m3/sec, the mean is 303,7 m3/sec and the minimum is 74,3 m3/sec. The runoff was estimated at 252,2. 610 m3/s, the mean is 41,5. 610 m3/s and the minimum is 12,4. 610 m3/s.

Keywords: Desert flood, Saudi Arabia, Snyder's Model, flow estimation

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Authors: Shahrzad Maghsoodi, Hamid Reza Ranazi

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This paper is devoted to exploration of Chichak (hematite) deposit, using electrical resistivity, chargeability and statistical methods. Chichak hematite deposit is located in Chichak area west Azarbaijan, northwest of Iran. There are some outcrops of hematite bodies in the area. The goal of this study was to identify the depth, thickness and shape of these bodies and to explore other probabile hematite bodies. Therefore nine profiles were considered to be surveyed by RS and IP method by utilizing an innovative electrode array so called CRSP (Combined Resistivity Sounding and Profiling). IP and RS sections were completed along each profile. In addition, the RS and IP data were analyzed and relation between these two variables was determined by statistical tools. Finally, hematite bodies were identified in each of the sections. The results showed that hematite bodies have a resistivity lower than 125 Ωm and very low chargeability, lower than 8 mV⁄V. After geophysical study some points were proposed for drilling, results obtained from drilling confirm the geophysical results.

Keywords: Hematite deposit, Iron exploration, Electrical resistivity, Chargeability, Iran, Chichak, Statistical, CRSP electrodes array

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Authors: H. A. J. Nguyen, V. A. Pham

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RE:SOUNDING is an ongoing research project and artwork seeking to return the sound and knowledge of Dong Son bronze drums back to contemporary musicians. Colonial collections of ethnographic instruments are problematic in how they commit acts of conceptual, cultural, and acoustic silencing. The collection (or more honestly), the plagiarism, and pillaging of these instruments have systemically separated them from living and breathing cultures. This includes diasporic communities, who have come to resettle in close proximity - but still have little access - to the museums and galleries that display their cultural objects. Despite recent attempts to 'open up' and 'recognise' the tensions and violence of these ethnographic collections, many museums continue to structurally organize and reproduce knowledge with the same procedural distance and limitations of imperial condescension. Impatient with the slowness of these museums, our diaspora led collaborations participated in the opaque economy of the auction market to gain access and begin the process of digitally recording and archiving the actual sounds of the ancient Dong Son drum. This self-directed, self-initiated artwork not only acoustically reinvigorated an ancient instrument but redistributed these sonic materials back to contemporary musicians, composers, and their diasporic communities throughout Vietnam, South East Asia, and Australia. Our methodologies not only highlight the persistent inflexibility of museum infrastructures but demand that museums refrain from their paternalistic practice of risk-averse ownership, to seriously engage with new technologies and political formations that require all public institutions to be held accountable for the ethical and intellectual viability of their colonial collections. The integrated and practical resolve of diasporic artists and their communities are more than capable of working with new technologies to reclaim and reinvigorate what is culturally and spiritually theirs. The motivation to rematriate – as opposed to merely repatriate – the acoustic legacies of these instruments to contemporary musicians and artists is a new model for decolonial and restorative practices. Exposing the inadequacies of western scholarship that continues to treat these instruments as discreet, disembodied, and detached artifacts, these collaborative strategies have thus far produced a wealth of new knowledge – new to the west perhaps – but not that new to these, our own communities. This includes the little-acknowledged fact that the Dong Son drum were political instruments of war and technology, rather than their simplistic description in the museum and western academia as agrarian instruments of fertility and harvest. Through the collective and continued sharing of knowledge and sound materials produced from this research, these drums are gaining a contemporary relevance beyond the cultural silencing of the museum display cabinet. Acknowledgement: We acknowledge the Wurundjeri and Boon Wurrung of the Kulin Nation and the Gadigal of the Eora Nation where we began this project. We pay our respects to the Peoples, Lands, Traditional Custodians, Practices, and Creator Ancestors of these Great Nations, as well as those First Nations peoples throughout Australia, Vietnam, and Indonesia, where this research continues, and upon whose stolen lands and waterways were never ceded.

Keywords: acoustic archaeology, decolonisation, museum collections, rematriation, repatriation, Dong Son, experimental music, digital recording

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Authors: Fadwa Alaskar, Fang-Chieh Chou, Carlos Flores, Xiao-Yun Lu, Alexandre M. Bayen

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This article proposes a perception model for enhancing the accuracy and stability of car-following control of a longitudinally automated truck. We applied a fusion-based tracking algorithm on measurements of a single preceding vehicle needed for car-following control. This algorithm fuses two types of data, radar and LiDAR data, to obtain more accurate and robust longitudinal perception of the subject vehicle in various weather conditions. The filter’s resulting signals are fed to the gap control algorithm at every tracking loop composed by a high-level gap control and lower acceleration tracking system. Several highway tests have been performed with two trucks. The tests show accurate and fast tracking of the target, which impacts on the gap control loop positively. The experiments also show the fulfilment of control design requirements, such as fast speed variations tracking and robust time gap following.

Keywords: object tracking, perception, sensor fusion, adaptive cruise control, cooperative adaptive cruise control

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Authors: M. C. Akay, A. Aybakan, H. Temeltas

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Aerial and ground robots have various advantages of usage in different missions. Aerial robots can move quickly and get a different sight of view of the area, but those vehicles cannot carry heavy payloads. On the other hand, unmanned ground vehicles (UGVs) are slow moving vehicles, since those can carry heavier payloads than unmanned aerial vehicles (UAVs). In this context, we investigate the performances of various Similarity Metrics to provide a common map for Heterogeneous Robot Team (HRT) in complex environments. Within the usage of Lidar Odometry and Octree Mapping technique, the local 3D maps of the environment are gathered.  In order to obtain a common map for HRT, informative theoretic similarity metrics are exploited. All types of these similarity metrics gave adequate as allowable simulation time and accurate results that can be used in different types of applications. For the heterogeneous multi robot team, those methods can be used to match different types of maps.

Keywords: common maps, heterogeneous robot team, map matching, informative theoretic similarity metrics

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Authors: Moroof, O. Oloruntola, Sunday Oladele, Daniel, O. Obasaju, Victor, O Ojekunle, Olateju, O. Bayewu, Ganiyu, O. Mosuro

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Integrated geophysical methods involving Vertical Electrical Sounding (VES) and 2D resistivity survey were deployed to gain an insight into the influence of the two varying rock types (mica-schist and granite gneiss) underlying the road alignment to the incessant highway failure along Ajaokuta-Anyigba, North-central Nigeria. The highway serves as a link-road for the single largest cement factory in Africa (Dangote Cement Factory) and two major ceramic industries to the capital (Abuja) via Lokoja. 2D Electrical Resistivity survey (Dipole-Dipole Array) and Vertical Electrical Sounding (VES) (Schlumberger array) were employed. Twenty-two (22) 2D profiles were occupied, twenty (20) conducted about 1 m away from the unstable section underlain by mica-schist with profile length each of approximately 100 m. Two (2) profiles were conducted about 1 m away from the stable section with a profile length of 100 m each due to barriers caused by the drainage system and outcropping granite gneiss at the flanks of the road. A spacing of 2 m was used for good image resolution of the near-surface. On each 2D profile, a range of 1-3 VES was conducted; thus, forty-eight (48) soundings were acquired. Partial curve matching and WinResist software were used to obtain the apparent and true resistivity values of the 1D survey, while DiprofWin software was used for processing the 2-D survey. Two exposed lithologic sections caused by abandoned river channels adjacent to two profiles as well as the knowledge of the geology of the area helped to constrain the VES and 2D processing and interpretation. Generally, the resistivity values obtained reflect the parent rock type, degree of weathering, moisture content and competency of the tested area. Resistivity values < 100; 100 – 950; 1000 – 2000 and > 2500 ohms-m were interpreted as clay, weathered layer, partly weathered layer and fresh basement respectively. The VES results and 2-D resistivity structures along the unstable segment showed similar lithologic characteristics and sequences dominated by clayey substratum for depths range of 0 – 42.2 m. The clayey substratum is a product of intensive weathering of the parent rock (mica-schist) and constitutes weak foundation soils, causing highway failure. This failure is further exacerbated by several heavy-duty trucks which ply the section round the clock due to proximity to two major ceramic industries in the state and lack of drainage system. The two profiles on the stable section show 2D structures that are remarkably different from those of the unstable section with very thin topsoils, higher resistivity weathered substratum (indicating the presence of coarse fragments from the parent rock) and shallow depth to the basement (1.0 – 7. 1 m). Also, the presence of drainage and lower volume of heavy-duty trucks are contributors to the pavement stability of this section of the highway. The resistivity surveys effectively delineated two contrasting soil profiles of the subbase/subgrade that reflect variation in the mineralogy of underlying parent rocks.

Keywords: clay, geophysical methods, pavement, resistivity

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Authors: Aghbalou Nihad, Charki Abderafi, Saida Rahali, Reklaoui Kamal

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Maximize the benefit from the wind energy potential is the most interest of the wind power stakeholders. As a result, the wind tower size is radically increasing. Nevertheless, choosing an appropriate wind turbine for a selected site require an accurate estimate of vertical wind profile. It is also imperative from cost and maintenance strategy point of view. Then, installing tall towers or even more expensive devices such as LIDAR or SODAR raises the costs of a wind power project. Various models were developed coming within this framework. However, they suffer from complexity, generalization and lacks accuracy. In this work, we aim to investigate the ability of neural network trained using the Bayesian Regularization technique to estimate wind speed profile up to height of 100 m based on knowledge of wind speed lower heights. Results show that the proposed approach can achieve satisfactory predictions and proof the suitability of the proposed method for generating wind speed profile and probability distributions based on knowledge of wind speed at lower heights.

Keywords: bayesian regularization, neural network, wind shear, accuracy

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Authors: S. Vavias, T. R. Brewer, T. S. Farewell

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Coastal floods have been identified as an important natural hazard that can cause significant damage to the populated built-up areas, related infrastructure and also ecosystems and habitats. This study attempts to fill the gap associated with the development of preliminary assessments of coastal flood vulnerability for compliance with the EU Directive on the Assessment and Management of Flood Risks (2007/60/EC). In this context, a methodology has been created by taking into account three major parameters; the maximum wave run-up modelled from historical weather observations, the highest tide according to historic time series, and the sea level rise projections due to climate change. A high resolution digital terrain model (DTM) derived from LIDAR data has been used to integrate the estimated flood events in a GIS environment. The flood vulnerability map created shows potential risk areas and can play a crucial role in the coastal zone planning process. The proposed method has the potential to be a powerful tool for policy and decision makers for spatial planning and strategic management.

Keywords: coastal floods, vulnerability mapping, climate change, extreme weather events

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Authors: Hai Nguyen Tien

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On the basis of the structure of alluvial sediments explained by echo sounding data and remote sensing images, the following results can be given: The estuary of Lam river (from Ben Thuy bridge to Cua Hoi) is divided into 3 channel (location is calculated according to the river bank on the Nghe An province) : i) channel I (from Ben Thuy bridge to Hung Hoa) is the branching river; ii) channel II (from Hung Hoa to Nghi Thai is a channel develops in a meandering direction with a concave side toward Ha Tinh province; iii) channel III, from Nghi Thai to Cua Hoi is a channel develops in a meandering direction with a concave side toward Nghe An province. This estuary area is formed in the period from after the sea level dropped below 0m (current water level) to the present: i) Chanel II developed moving towards Ha Tinh provnce; ii) Chanel III developed moving towards Nghe An province; iii) In chanel I, a second river branch is formed because the flow of river cuts through the Hong Lam- Hong Nhat mudflat, at the same time creating an island. Morphological characteristics of the estuary area of Lam River are the main result of erosion and deposition activities corresponding to two water levels: low water level below 0 m and water level 0 m (current water level). Characteristics of the sediment layers on the riverbed in the estuary can be used to determine the sea levels in Late Holocene–Present.

Keywords: Lam River, development, Cua Hoi, river morphology

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Authors: Kobid Panthi, Suttisak Soralump, Suriyon Prempramote

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In June 27, 2014 slope movement was observed in upstream side of Khlong Pa Bon Dam, Thailand. The slide did not have any major catastrophic impact on the dam structure but raised a very important question; why did the slide occur after 10 years of operation? Various site investigations (Bore Hole Test, SASW, Echo Sounding, and Geophysical Survey), laboratory analysis and numerical modelling using SIGMA/W and SLOPE/W were conducted to determine the cause of slope movement. It was observed that the dam had undergone the greatest differential drawdown in its operational history in the year 2014 and was termed as the major cause of movement. From the laboratory tests, it was found that the shear strength of clay had decreased with a period of time and was near its residual value. The cyclic movement of water, i.e., reservoir filling and emptying was coined out to be the major cause for the reduction of shear strength. The numerical analysis was carried out using a modified cam clay (MCC) model to determine the strain softening behavior of the clay. The strain accumulation was observed in the slope with each reservoir cycle triggering the slope failure in 2014. It can be inferred that if there was no major drawdown in 2014, the slope would not have failed but eventually would have failed after a long period of time. If there was no major drawdown in 2014, the slope would not have failed. However, even if there hadn’t been a drawdown, it would have failed eventually in the long run.

Keywords: slope movement, strain softening, residual strength, modified cam clay

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Authors: F. A. Hassona, M. M. Abu-Heleika, M. A. Hassan, A. E. Sidhom

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Application of electrical measurements to evaluate engineering properties of soils has gained a wide, promising field of research in recent years. So, understanding of the relation between in-situ electrical resistivity of clay soil, and their mechanical and physical properties consider a promising field of research. This would assist in introducing a new technique for the determination of soil properties based on electrical resistivity. In this work soil physical and mechanical properties of clayey soil have been determined by experimental tests and correlated with the in-situ electrical resistivity. The research program was conducted through measuring fifteen vertical electrical sounding stations along with fifteen selected boreholes. These samples were analyzed and subjected to experimental tests such as physical tests namely bulk density, water content, specific gravity, and grain size distribution, and Attereberg limits tests. Mechanical test was also conducted such as direct shear test. The electrical resistivity data were interpreted and correlated with each one of the measured experimental parameters. Based on this study mathematical relations were extracted and discussed. These results exhibit an excellent match with the results reported in the literature. This study demonstrates the utility of the developed methodology for determining the mechanical properties of soils easily and rapidly depending on their electrical resistivity measurements.

Keywords: electrical resistivity, clayey soil, physical properties, shear properties

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Authors: Simon R. Melchioly, Ibrahimu C. Mjemah, Isaac M. Marobhe

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The main objective of this research was to identify new potential sources of groundwater resources using geophysical methods and also to demarcate the saltwater - freshwater interface. Kilwa Kisiwani Island geologically is covered mostly by Quaternary alluvial sediments, sand, and gravel. The geophysical techniques employed during the research include Vertical Electrical Sounding (VES), Earth Resistivity Tomography (ERT), and Transient Electromagnetics (TEM). Two-dimensional interpolated geophysical results show that there exist freshwater lenses formations that are potential aquifers on the Island with resistivity values ranging from 11.68 Ωm to 46.71 Ωm. These freshwater lenses are underlain by formation with brackish water in which the resistivity values are varying between 3.89 Ωm and 1.6 Ωm. Saltwater with resistivity less than 1 Ωm is found at the bottom being overlaid by brackish saturated formation. VES resistivity results show that 89% (16 out of 18) of the VES sites are potential for groundwater resources drilling while TEM results indicate that 75% (12 out of 16) of TEM sites are potential for groundwater borehole drilling. The recommended drilling depths for potential sites in Kilwa Kisiwani Island show that the maximum depth is 25 m and the minimum being 10 m below ground surface. The aquifer structure in Kilwa Kisiwani Island is a shallow, unconfined freshwater lenses floating above the seawater and the maximum thickness of the aquifer is 25 m for few selected VES and TEM sites while the minimum thickness being 10 m.

Keywords: groundwater, hydrogeophysical, Kilwa Kisiwani, freshwater, saltwater, resistivity

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Authors: Faisal Alsaaq

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Hydrographic surveys have traditionally relied on the availability of tide information for the reduction of sounding observations to a common datum. In most cases, tide information is obtained from tide gauge observations and/or tide predictions over space and time using local, regional or global tide models. While the latter often provides a rather crude approximation, the former relies on tide gauge stations that are spatially restricted, and often have sparse and limited distribution. A more recent method that is increasingly being used is Global Navigation Satellite System (GNSS) positioning which can be utilised to monitor height variations of a vessel or buoy, thus providing information on sea level variations during the time of a hydrographic survey. However, GNSS heights obtained under the dynamic environment of a survey vessel are affected by “non-tidal” processes such as wave activity and the attitude of the vessel (roll, pitch, heave and dynamic draft). This research seeks to examine techniques that separate the tide signal from other non-tidal signals that may be contained in GNSS heights. This requires an investigation of the processes involved and their temporal, spectral and stochastic properties in order to apply suitable recovery techniques of tide information. In addition, different post-mission and near real-time GNSS positioning techniques will be investigated with focus on estimation of height at ocean. Furthermore, the study will investigate the possibility to transfer the chart datums at the location of tide gauges.

Keywords: hydrography, GNSS, datum, tide gauge

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Authors: Rayleigh Dada Abu, Halilu Ahmad Shaba

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Siltation is a serious problem that affects public water supply infrastructures such as dams and reservoirs. It is a major problem which threatens the performance and sustainability of dams and reservoirs. It reduces the dam capacity for flood control, potable water supply, changes water stage, reduces water quality and recreational benefits. The focus of this study is the Lower Usuma reservoir. At completion the reservoir had a gross storage capacity of 100 × 106 m3 (100 million cubic metres), a maximum operational level of 587.440 m a.s.l., with a maximum depth of 49 m and a catchment area of 241 km2 at dam site with a daily designed production capacity of 10,000 cubic metres per hour. The reservoir is 1,300 m long and feeds the treatment plant mainly by gravity. The reservoir became operational in 1986 and no survey has been conducted to determine its current storage capacity and rate of siltation. Hydrographic survey of the reservoir by integrated acoustic echo-sounding technique was conducted in November 2012 to determine the level and rate of siltation. The result obtained shows that the reservoir has lost 12.0 meters depth to siltation in 26 years of its operation; indicating 24.5% loss in installed storage capacity. The present bathymetric survey provides baseline information for future work on siltation depth and annual rates of storage capacity loss for the Lower Usuma reservoir.

Keywords: sedimentation, lower Usuma reservoir, acoustic echo sounder, bathymetric survey

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Authors: Nuno M. Pereira

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In the last thirty years, European cities have been addressing global climate change and its local impacts by implementing mitigation and adaptation strategies. Lisbon Downtown is no exception with 10 plans under implementation since 2010 with completion scheduled for 2030 valued 1 billion euros of public investment. However, the gap between mitigation and adaptation strategies is not yet sufficiently studied alongside with its nuances- vulnerability and risk mitigation, resilience and adaptation. In Lisbon Downtown, these plans are being implemented separately, therefore compromising the effectiveness of public investment. The research reviewed the common ground of mitigation and adaptation strategies of the theoretical framework and analyzed the current urban development actions in Lisbon Downtown in order to identify potential conflicts and synergies. The empirical fieldwork supported by a sounding board of experts has been developed during two years and the results suggest that the largest public investment in Lisbon on flooding mitigation will conflict with the new Cruise ship terminal and old Downton building stock, therefore increasing risk and vulnerability factors. The study concludes that the Lisbon Downtown blue infrastructure plan should be redesigned in some areas in a trans- disciplinary and holistic approach and that the current theoretical framework on climate change should focus more on mitigation and adaptation synergies articulating the gray, blue and green infrastructures, combining old knowledge tested by resilient communities and new knowledge emerging from the digital era.

Keywords: adaptation, climate change, conflict, Lisbon Downtown, mitigation, synergy

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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: Leonie Laskowitz

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A self-confident appearance is a basic prerequisite for success in the world of work 4.0. Within a few seconds, people convey a first impression that usually lasts. Artificial intelligence is making it increasingly important how our virtual selves appear and communicate (nonverbally) in digital worlds such as the metaverse. In addition to the modified creation of an avatar, the field of photogrammetry is developing fast, creating exact likenesses of ourselves in virtual environments. Given the importance of self-representation in virtual space for future collaborations, it is important to investigate the impact of phenotype in virtual worlds and how an avatar type can profitably be used situationally. We analyzed the effect of self-similar versus desirable self-presentation as an avatar on one's self-awareness, considering various theoretical constructs in the area of self-awareness and stress stimuli. The avatars were arbitrarily created on the one hand and scanned on the other hand with the help of a lidar sensor, the state-of-the-art photogrammetry method. All subjects were exposed to the established Trier Social Stress Test. The results showed that especially insecure people prefer to create rather than be scanned when confronted with a stressful work situation. (1) If they are in a casual work environment and a relaxed situation, they prefer a 3D photorealistic avatar that reflects them in detail. (2) Confident people will give their avatar their true appearance in any situation, while insecure people would only do so for honesty and authenticity. (3) Thus, the choice of avatar type has considerable impact on self-confidence in different situations.

Keywords: avatar, virtual identity, self-presentation, metaverse, virtual reality, self-awareness

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Authors: Syed Muzyan Shahzad, Liu Jianxin, Asim Shahzad, Muhammad Sharjeel Raza, Sun Ya, Fanidi Meryem

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Electrical resistivity investigation was conducted in vicinity of Tarbela Ghazi, in order to study the subsurface layer with a view of determining the depth to the aquifer and thickness of groundwater potential zones. Vertical Electrical Sounding (VES) using Schlumberger array was carried out at 16 VES stations. Well logging data at four tube wells have been used to mark the super saturated zones with great discharge rate. The present paper shows a geoelectrical identification of the lithology and an estimate of the relationship between the resistivity and Dar Zarrouk parameters (transverse unit resistance and longitudinal unit conductance). The VES results revealed both homogeneous and heterogeneous nature of the subsurface strata. Aquifer is unconfined to confine in nature, and at few locations though perched aquifer has been identified, groundwater potential zones are developed in unconsolidated deposits layers and more than seven geo-electric layers are observed at some VES locations. Saturated zones thickness ranges from 5 m to 150 m, whereas at few area aquifer is beyond 150 m thick. The average anisotropy, transvers resistance and longitudinal conductance values are 0.86 %, 35750.9821 Ω.m², 0.729 Siemens, respectively. The transverse unit resistance values fluctuate all over the aquifer system, whereas below at particular depth high values are observed, that significantly associated with the high transmissivity zones. The groundwater quality in all analyzed samples is below permissible limit according to World Health Standard (WHO).

Keywords: aquifer, Dar Zarrouk parameters, geoelectric layers, Tarbela Ghazi

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Authors: Benhammadi Hocine, Djamel Boubaya, Chaffai Hicham

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Meskiana Area is characterized by a semi-arid climate where the water supply for irrigation and industry is not sufficient as the priority goes for domestic use. To meet the increasing population growth and development, the authorities have considered building a new water retaining structure on some major temporary water streams. For this purpose Chebabta site on Oued Meskiana was chosen as the future dam site. It is large enough to store the desired volume of water. This study comes to investigate the conditions of the site and the adequacy of the ground as a foundation for the projected dam. The conditions of the site include the geological structure and mainly the presence of discontinuities in the formation on which the dam will be built, the nature of the lithologies under the foundation and the future lake, and the presence of any hazard. This site characterization is usually carried out using different methods in order to highlight any underground buried problematic structure. In this context, the different geophysical technics remain the most used ones. Three geophysical methods were used in the case of the Chebabta dam site, namely, electric survey, seismic refraction, and tomography. The choice of the technics and the location of the scan line was made on the basis of the available geological data. In this sense, profiles have been established on both banks of Oued Meskiana. The obtained results have allowed a better characterization of the geological structure, defining the limit between the surface cover and the bedrock, which is, in other words, the limit between the weathered zone and the bedrock. Their respective thicknesses were also determined by seismic refraction and electrical resistivity sounding. However, the tomography imaging technic has succeeded in positioning a fault structure passing through the right bank of the wadi.

Keywords: dam site, fault, geophysic, investigation, Meskiana

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Authors: Caner Koc, Dilara Gerdan Koc, Emrah Saka, H. Ibrahim Karagol

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The use of pesticides in agricultural activities is the most harmful to the environment and farmers' health, and it also has the greatest input prices, along with fertilizers. In this study, an electric, electrostatically charged, autonomous agricultural robot was developed, modeled, and prototyped and manufactured. It allows for sensitive pesticide applications with variable levels, has controllable spray nozzles, and uses camera distance sensors to detect and spray into tree canopies. The created prototype was produced with flexibility in mind. Two stages of prototype manufacture were completed. The initial stage involved designing and producing the flexible primary body of the autonomous vehicle. Detachable hanger assemblies are employed so that the main body robot can perform a variety of agricultural tasks. The design of the spraying devices and their fitting to the autonomous vehicle was completed as the second stage of the prototype. The built prototype spraying robot's itinerary was planned using the free, open-source program Mission Planner. PX4, telemetry, and RTK GPS are used to maneuver the autonomous car along the designated path. To avoid potential obstructions, the robot uses ultrasonic and lidar sensors. The developed autonomous vehicle's energy needs are intended to be met entirely by electric batteries. In the event that the batteries run out of power, the sockets are set up to be recharged both by using the generator and the main power source through the specifically constructed panel.

Keywords: autonomous agricultural robot, pesticide, smart farming, spraying, variable rate application

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Authors: Asmamaw Yehun, Tsegaye Kassa, Addisu Hunegnaw, Martin Vermeer

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There are various models to estimate the neutral atmospheric parameter values, such as in-suite and reanalysis datasets from numerical models. Accurate estimated values of the atmospheric parameters are useful for weather forecasting and, climate modeling and monitoring of climate change. Recently, Global Navigation Satellite System (GNSS) measurements have been applied for atmospheric sounding due to its robust data quality and wide horizontal and vertical coverage. The Global Positioning System (GPS) solutions that includes tropospheric parameters constitute a reliable set of data to be assimilated into climate models. The objective of this paper is, to estimate the neutral atmospheric parameters such as Wet Zenith Delay (WZD), Precipitable Water Vapour (PWV) and Total Zenith Delay (TZD) using six selected GPS stations in the equatorial regions, more precisely, the Ethiopian GPS stations from 2012 to 2015 observational data. Based on historic estimated GPS-derived values of PWV, we forecasted the PWV from 2015 to 2030. During data processing and analysis, we applied GAMIT-GLOBK software packages to estimate the atmospheric parameters. In the result, we found that the annual averaged minimum values of PWV are 9.72 mm for IISC and maximum 50.37 mm for BJCO stations. The annual averaged minimum values of WZD are 6 cm for IISC and maximum 31 cm for BDMT stations. In the long series of observations (from 2012 to 2015), we also found that there is a trend and cyclic patterns of WZD, PWV and TZD for all stations.

Keywords: atmosphere, GNSS, neutral atmosphere, precipitable water vapour

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Authors: Egor Atan Obeten, Abong Augustine Agwul, Bissong A. Samson

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The position of the aquifer, its protective capability, and the quality of the groundwater beneath the dumpsite were all investigated. The techniques employed were laboratory, tritium tagging, electrical resistivity tomography (ERT), and vertical electrical sounding (VES). With a maximum electrode spacing of 500 meters, fifteen VES stations were used, and IPI2win software was used to analyze the data collected. The resistivity map of the dumpsite was determined by deploying six ERT stations for the 2 D survey. To ascertain the degree of soil infiltration beneath the dumpsite, the tritium tagging method was used. Using a conventional laboratory procedure, groundwater samples were taken from neighboring boreholes and examined. The findings showed that there were three to five geoelectric layers, with the aquifer position being inferred to be between 24.2 and 75.1 meters deep in the third, fourth, and fifth levels. Siemens with values in the range of 0.0235 to 0.1908 for the load protection capacity were deemed to be, at most, weakly and badly protected. The obtained porosity values ranged from 44.45 to 89.75. Strong calculated values for transmissivity and porosity indicate a permeable aquifer system with considerable storativity. The area has an infiltration value between 8 and 22 percent, according to the results of the tritium tagging technique, which was used to evaluate the level of infiltration from the dumpsite. Groundwater samples that have been analyzed reveal levels of NO2, DO, Pb2+, magnesium, and cadmium that are higher than what the NSDWQ has approved. Overall analysis of the results from the above-described methodologies shows that the study area's aquifer system is porous and that contaminants will circulate through it quickly if they are contaminated.

Keywords: aquifer, transmissivity, dumpsite, groundwater

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Authors: Omer Altaf, Liam Wotherspoon, Rolando Orense

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The Wairau Plains are located in the north-east of the South Island of New Zealand in the region of Marlborough. The region is cut by many active crustal faults such as the Wairau, Awatere, and Clarence faults, which give rise to frequent seismic events. This paper presents the preliminary results of the overall project in which liquefaction-induced ground damage maps are developed in the Wairau Plains based on the Ministry of Business, Innovation and Employment NZ guidance. A suite of maps has been developed in relation to the level of details that was available to inform the liquefaction hazard mapping. Maps at the coarsest level of detail make use of regional geologic information, applying semi-quantitative criteria based on geological age, design peak ground accelerations and depth to the water table. The next level of detail incorporates higher resolution surface geomorphologic characteristics to better delineate potentially liquefiable and non-liquefiable deposits across the region. The most detailed assessment utilised CPT sounding data to develop ground damage response curves for areas across the region and provide a finer level of categorisation of liquefaction vulnerability. Linking these with design level earthquakes defined through NZGS guidelines will enable detailed classification to be carried out at CPT investigation locations, from very low through to high liquefaction vulnerability. To update classifications to these detailed levels, CPT investigations in geomorphic regions are grouped together to provide an indication of the representative performance of the soils in these areas making use of the geomorphic mapping outlined above.

Keywords: hazard, liquefaction, mapping, seismicity

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Authors: Abhishek Saha, Serene Tay, Gerard Pijcke

Abstract:

The availability of high-resolution topography and rainfall information in urban areas has made it necessary to revise modeling approaches used for simulating flood risk assessments. Lidar derived elevation models that have 1m or lower resolutions are becoming widely accessible. The classical approaches of 1D-2D flow models where channel flow is simulated and coupled with a coarse resolution 2D overland flow models may not fully utilize the information provided by high-resolution data. In this context, a study was undertaken to compare three different modeling approaches to simulate flooding in an urban area. The first model used is the base model used is Sobek, which uses 1D model formulation together with hydrologic boundary conditions and couples with an overland flow model in 2D. The second model uses a full 2D model for the entire area with shallow water equations at the resolution of the digital elevation model (DEM). These models are compared against another shallow water equation solver in 2D, which uses a subgrid method for grid refinement. These models are simulated for different horizontal resolutions of DEM varying between 1m to 5m. The results show a significant difference in inundation extents and water levels for different DEMs. They are also sensitive to the different numerical models with the same physical parameters, such as friction. The study shows the importance of having reliable field observations of inundation extents and levels before a choice of model and data can be made for spatial flood risk assessments.

Keywords: flooding, DEM, shallow water equations, subgrid

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Authors: Chia-Yi Liu, Bo-Bin Xiao, Wen-Bin Lin, Hsiang-Ning Wu, Liang-Hsun Huang

Abstract:

In order to reduce the risk of radiation damage that personnel may suffer during operations in the radiation environment, the use of automated guided vehicles to assist or replace on-site personnel in the radiation environment has become a key technology and has become an important trend. In this paper, we demonstrate our proof of concept for autonomous self-learning radiation source searcher in an unknown environment without a map. The research uses GPU version of Asynchronous Advantage Actor-Critic network (GA3C) of deep reinforcement learning to search for radiation sources. The searcher network, based on GA3C architecture, has self-directed learned and improved how search the anomalous radiation source by training 1 million episodes under three simulation environments. In each episode of training, the radiation source position, the radiation source intensity, starting position, are all set randomly in one simulation environment. The input for searcher network is the fused data from a 2D laser scanner and a RGB-D camera as well as the value of the radiation detector. The output actions are the linear and angular velocities. The searcher network is trained in a simulation environment to accelerate the learning process. The well-performance searcher network is deployed to the real unmanned vehicle, Dashgo E2, which mounts LIDAR of YDLIDAR G4, RGB-D camera of Intel D455, and radiation detector made by Institute of Nuclear Energy Research. In the field experiment, the unmanned vehicle is enable to search out the radiation source of the 18.5MBq Na-22 by itself and avoid obstacles simultaneously without human interference.

Keywords: deep reinforcement learning, GA3C, source searching, source detection

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Authors: Marco Lopes, Pedro D. Gaspar, Maria P. Simões

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This paper reviews the different concepts that have been investigated concerning the mechanization of fruit thinning as well as multiple working principles and solutions that have been developed for feature extraction of horticultural products, both in the field and industrial environments. The research should be committed towards selective methods, which inevitably need to incorporate some kinds of sensor technology. Computer vision often comes out as an obvious solution for unstructured detection problems, although leaves despite the chosen point of view frequently occlude fruits. Further research on non-traditional sensors that are capable of object differentiation is needed. Ultrasonic and Near Infrared (NIR) technologies have been investigated for applications related to horticultural produce and show a potential to satisfy this need while simultaneously providing spatial information as time of flight sensors. Light Detection and Ranging (LIDAR) technology also shows a huge potential but it implies much greater costs and the related equipment is usually much larger, making it less suitable for portable devices, which may serve a purpose on smaller unstructured orchards. Portable devices may serve a purpose on these types of orchards. In what concerns sensor methods, on-tree fruit detection, major challenge is to overcome the problem of fruits’ occlusion by leaves and branches. Hence, nontraditional sensors capable of providing some type of differentiation should be investigated.

Keywords: fruit thinning, horticultural field, portable devices, sensor technologies

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Authors: Siwei Chang, Heng Li, Haitao Wu, Xin Fang

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Construction robots are receiving more and more attention as a promising solution to the manpower shortage issue in the construction industry. The development of intelligent control techniques that assist in controlling the robots to avoid transparency and reflected building obstacles is crucial for guaranteeing the adaptability and flexibility of mobile construction robots in complex construction environments. With the boom of computer vision techniques, a number of studies have proposed vision-based methods for transparent obstacle avoidance to improve operation accuracy. However, vision-based methods are also associated with disadvantages such as high computational costs. To provide better perception and value evaluation, this study aims to analyze the performance of vision-based techniques for avoiding transparent building obstacles. To achieve this, commonly used sensors, including a lidar, an ultrasonic sensor, and a USB camera, are equipped on the robotic platform to detect obstacles. A Raspberry Pi 3 computer board is employed to compute data collecting and control algorithms. The turtlebot3 burger is employed to test the programs. On-site experiments are carried out to observe the performance in terms of success rate and detection distance. Control variables include obstacle shapes and environmental conditions. The findings contribute to demonstrating how effectively vision-based obstacle avoidance strategies for transparent building obstacle avoidance and provide insights and informed knowledge when introducing computer vision techniques in the aforementioned domain.

Keywords: construction robot, obstacle avoidance, computer vision, transparent obstacle

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Authors: Charles Koduru, Parth Patel, M. Hassan Tanveer

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In this paper, the communication between a team of robots is used to sanitize an environment with germs is proposed. We introduce capabilities from a team of robots (most likely heterogeneous), a wheeled robot named ROSbot 2.0 that consists of a mounted LiDAR and Kinect sensor, and a modified prototype design of a unicycle-drive Roomba robot called the UV robot. The UV robot consists of ultrasonic sensors to avoid obstacles and is equipped with an ultraviolet light system to disinfect and kill germs, such as bacteria and viruses. In addition, the UV robot is equipped with disinfectant spray to target hidden objects that ultraviolet light is unable to reach. Using the sensors from the ROSbot 2.0, the robot will create a 3-D model of the environment which will be used to factor how the ultraviolet robot will disinfect the environment. Together this proposed system is known as the RME assistive robot device or RME system, which communicates between a navigation robot and a germ disinfecting robot operated by a user. The RME system includes a human-machine interface that allows the user to control certain features of each robot in the RME assistive robot device. This method allows the cleaning process to be done at a more rapid and efficient pace as the UV robot disinfects areas just by moving around in the environment while using the ultraviolet light system to kills germs. The RME system can be used in many applications including, public offices, stores, airports, hospitals, and schools. The RME system will be beneficial even after the COVID-19 pandemic. The Kennesaw State University will continue the research in the field of robotics, engineering, and technology and play its role to serve humanity.

Keywords: multi robot system, assistive robots, COVID-19 pandemic, ultraviolent technology

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Authors: Sylvia Huang

Abstract:

Contemporary Buddhist music has been emerged at the new forms of large-scale public Buddhist ritual ceremonies that may involve up to 10,000 participants at a time. Since 2007, the Buddha’s Birthday ceremony (Sanskrit, Vesak) by the Buddhist Tzu Chi Foundation has being held at major cities in Taiwan and many affiliated Tzu Chi offices around the world. Analysis of this modern and technologically-dependent ceremony sheds new light on the significance of music in contemporary Buddhist ritual, and also on recently enhanced and increasingly intimate connections between music and Buddhism. Through extensive ethnographic research of ten years (2007-2017), the research explores how the form of contemporary Buddhist music relates to the role of music in participants’ experience of the ritual and the way in which they construct meaning. The theoretical approach draws on both ethnomusicology and Buddhist teachings, Dharma. As soundscape is defined as the entire sonic energy produced by a landscape, the concept of soundscape is utilised to examine the contemporary ritual music in the Tzu Chi Vesak ceremony. The analysis opens new territory in exploring how analysis of Buddhist music can benefit from incorporating Buddhist philosophy within the methodological approach. Main findings are: 1) music becomes a method for Buddhist understanding through a focus in particular on how the ceremonial program is followed by music, and 2) participants engage with each other and entrain with music in the Vesak ceremony. As Buddhist sounding, such as scripture reading, liturgical chanting, and ceremonial music singing, is a sonic epistemological knowing of the conditions in which Buddhism is practiced, experienced, and transmigrated, the research concludes by showing that studies of Buddhist music have the potential to reveal distinctively Buddhist concepts, meaning, and values. Certain principles of Buddhist philosophy are adopted within ethnomusicological analysis to further enhance understandings of the crucial function of music within such a ritual context. Finally, the contemporary Buddhist music performance in the ceremony is possessed as a means of direct access to the spiritual experience in Buddhism.

Keywords: buddhist music, Taiwan, soundscape, Vesak ceremony

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Authors: Sofia Ait Bouazza

Abstract:

We consider the problem of finding a minimum identifying code in a graph. This problem was initially introduced in 1998 and has been since fundamentally connected to a wide range of applications (fault diagnosis, location detection …). Suppose we have a building into which we need to place fire alarms. Suppose each alarm is designed so that it can detect any fire that starts either in the room in which it is located or in any room that shares a doorway with the room. We want to detect any fire that may occur or use the alarms which are sounding to not only to not only detect any fire but be able to tell exactly where the fire is located in the building. For reasons of cost, we want to use as few alarms as necessary. The first problem involves finding a minimum domination set of a graph. If the alarms are three state alarms capable of distinguishing between a fire in the same room as the alarm and a fire in an adjacent room, we are trying to find a minimum locating domination set. If the alarms are two state alarms that can only sound if there is a fire somewhere nearby, we are looking for a differentiating domination set of a graph. These three areas are the subject of much active research; we primarily focus on the third problem. An identifying code of a graph G is a dominating set C such that every vertex x of G is distinguished from other vertices by the set of vertices in C that are at distance at most r≥1 from x. When only vertices out of the code are asked to be identified, we get the related concept of a locating dominating set. The problem of finding an identifying code (resp a locating dominating code) of minimum size is a NP-hard problem, even when the input graph belongs to a number of specific graph classes. Therefore, we study this problem in some restricted classes of undirected graphs like split graph, line graph and path in a directed graph. Then we present some results on the identifying code by giving an exact value of upper total locating domination and a total 2-identifying code in directed and undirected graph. Moreover we determine exact values of locating dominating code and edge identifying code of thin headless spider and locating dominating code of complete suns.

Keywords: identiying codes, locating dominating set, split graphs, thin headless spider

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