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IEEE International Conference on Robotics and Automation (ICRA)

作者： Moran Barenboim Amir Degani Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa ISRAEL Faculty of Civil and Environmental Engineering and with the Technion Autonomous Systems Program Technion - Israel Institute of Technology Haifa ISRAEL

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

This paper investigates a burrowing robot that can maneuver and steer while being submerged in a granular medium. The robot locomotes using an internal vibro-impact mechanism and steers using a rotating bevel-tip head. We formulate and investigate a non-holonomic model for the steering mechanism and a hybrid dynamics model for the thrusting mechanism. We perform a numerical analysis of the dynamics of the robot's thrusting mechanism using a simplified, orientation and depth dependent model for the drag forces acting on the robot. We first show, in simulation, that by carefully tuning various control input parameters, the thrusting mechanism can drive the robot both forward and backward. We present several experiments designed to evaluate and verify the simulative results using a proof-of-concept robot. We show that different input amplitudes indeed affect the direction of motion, as suggested by the simulation. We further demonstrate the ability of the robot to perform a simple S-shaped trajectory. These experiments demonstrate the feasibility of the robot's design and fidelity of the model.

关键词： Robot kinematics Needles Numerical models Solid modeling Trajectory Springs

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The diversity of active microbial groups in an activated sludge process treating painting process wastewater 6

The diversity of active microbial groups in an activated slu...

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6th Environmental technology and Management Conference, ETMC 2019

作者： Ariesyady, Herto Dwi Mayanda, Mentari Rizki Ito, Tsukasa Environmental Management Technology Research Group Faculty of Civil and Environmental Engineering Institut Teknologi Bandung Jl. Ganesha 10 Bandung40132 Indonesia Master's Program of Environmental Engineering Institut Teknologi Bandung Jl. Ganesha 10 Bandung40132 Indonesia Department of Environmental Engineering Science Gunma University Kiryu Gunma376-8515 Japan

Activated sludge process is one of the wastewater treatment method that is applied for many wastewater types including painting process wastewater of automotive industry. This wastewater is well-known to have high heavy metals concentration which could deteriorate water environment if appropriate performance of the wastewater treatment could not be achieved. In this study, we monitored microbial community diversity in a Painting Biological Treatment (PBT) system. We applied a combination of cultivation and genotypic biological methods based on 16S rRNA gene sequence analysis to identify the diversity of active microbial community. The results showed that active microbes that could grow in this activated sludge system were dominated by Gram-negative bacteria. Based on 16S rRNA gene sequencing analysis, it was revealed that their microbial diversity has close association with Bacterium strain E286, Isosphaera pallida, Lycinibacillus fusiformis, Microbacterium sp., Orchobactrum sp., Pseudomonas guariconensis, Pseudomonas sp. strain MR84, Pseudomonas sp. MC 54, Serpens sp., Stenotrophomonas acidaminiphila, and Xylella fastidiosa with similarity of 86 - 99%. This findings reflects that microbial community in a Painting Biological Treatment (PBT) system using activated sludge process could adapt with xenobiotics in the wastewater and has a wide range of diversity indicating a complex metabolism mechanism in the treatment process. © 2020 The Authors, published by EDP Sciences.

关键词： Activated sludge process

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Corrigendum to “Development of machine learning methods to predict the compressive strength of fiber-reinforced self-compacting concrete and sensitivity analysis” [Constr. Build. Mater. 367 (2023) 130339]

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Construction and Building Materials 2023年 401卷

作者： Hai-Van Thi Mai May Huu Nguyen Hai-Bang Ly University of Transport Technology Hanoi 100000 Viet Nam Civil and Environmental Engineering Program Graduate School of Advanced Science and Engineering Hiroshima University 1-4-1 Kagamiyama Higashi-Hiroshima Hiroshima 739-8527 Japan

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An Experimental Study of Self-Compacting Concrete Made with Filler from Construction and Demolition Waste

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Open Journal of civil engineering 2020年第4期10卷 364-384页

作者： Mônica Batista Leite Marcela Crusoé Figueiredo Civil and Environmental Engineering Graduate Program Department of Technology State University of Feira de Santana Feira de Santana Brazil UNIFACS Feira de Santana Brazil

This study evaluated the influence of the Portland cement replacement by 0, 5%, 10%, 15% and 20% of Construction and Demolition Waste (CDW) filler contents in the production of self-compacting concrete (SCC). The SCC mixtures were evaluated on fresh state by slump flow, J-ring, resistance of segregation, specific gravity, and on hardened state by compressive and splitting tensile strength, specific gravity, air voids and absorption rate. The results indicated that all SCC produced with CDW filler met the limits established at any level of substitution without changes of the w/c ratio or superplasticizer content. It was possible to verify that the presence of CDW filler, in substitution of cement, by volume, improves the resistance to segregation and up to 5% of CDW filler decreases the loss of fluidity with time as compared to reference. It was found that all SCC mixtures, at 28 days, had the average compressive strength above 50 MPa, without showing significant loss with up to 20% of CDW filler. For splitting tensile strength, SCC recycled mixtures reached up to 92.5% of the SCC used as referenc

关键词： Self-Compacting Concrete Construction and Demolition Waste Filler Mineral Admixtures Slump Flow

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The analysis of mortar concrete with the variety of sands in jepara (keling sand, bangsri sand) using strong pressure method 1

The analysis of mortar concrete with the variety of sands in...

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1st Workshop on Environmental Science, Society, and technology, WESTECH 2018

作者： Saputro, Yayan Adi Mudiyono, Rachmat Antonius Magister of Civil Engineering Faculty of Engineering Islamic University of Sultan Agung Semarang Semarang Indonesia Civil Engineering Program Study Faculty of Science and Technology Islamic University of Nahdlatul Ulama Jepara Central Java Indonesia

Along with the increasing of infrastructure development in Indonesia especially in jepara, so the necessary of material also increase, for example: sand. Nowadays, muntilan is the sand that often be used in making infrastructure in the government because it is considered that it has the good quality, whereas in the other hand the river sand is also abundant, but the government perverted mintilan sand as the development material. River sand is usually used by the middle to lower county because the house because the price is cheaper than muntilan sand. After doing this research we hope that: can know the quality of the river sand if it is used in infeastructure, knowing the river sand in jepara that have the good quality, such as: keling sand, bangsri sand, The stages of this research are: preparation, sand inspection (mud content and organic faces, filter analysis, moister content and weight, and specific gravity), making spacimens based on SKSNI 03-6825-2002 ASTM C 305, making compressive strength test. The test result show that at 3,7,14,21,28 days old show that keling sand (93,2 kg/cm2), bangsri sand (135,2 kg/cm2). The use of river sand as the construction material by the government and community will have consequence on the balance kf muntilan sand and river sand. The specific treatment on the river sand will that quality that is almost same as muntilan sand. © Published under licence by IOP Publishing Ltd.

关键词： Sand

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Initial Analysis of Plastic Debris Accumulation in the Estuary of Wonorejo River, Surabaya, Indonesia 6

Initial Analysis of Plastic Debris Accumulation in the Estua...

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6th Environmental technology and Management Conference, ETMC 2019

作者： Kurniawan, Setyo Budi Imron, Muhammad Fauzul Department of Chemical and Bioprocess Engineering Faculty of Engineering and Built Environment Universiti Kebangsaan Malaysia Bangi Selangor43600 Malaysia Department of Environmental Engineering Faculty of Civil Environmental and Geo Engineering Institut Teknologi Sepuluh Nopember Kampus ITS Keputih Sukolilo Surabaya60111 Indonesia Study Program of Environmental Engineering Department of Biology Faculty of Science and Technology Universitas Airlangga Kampus C UNAIR Jalan Mulyorejo Surabaya60115 Indonesia

The purpose of this research was to investigate the accumulation of plastic debris in the Wonorejo River Estuary, Surabaya, Indonesia. Visible plastic debris were collected from three (3) sampling points along the intertidal area of Wonorejo River Estuary. The correlation between sampling points (SPs) and the amount of the collected plastic debris (CPD) was analysed using one-way ANOVA. Result of one-way ANOVA showed that the sampling point was significantly affect the amount of the collected plastic debris (p2 from SP1, 375.97±16.72 g dry weight/m2 from SP2, and 291.13±36.28 g dry weight/m2 from SP3. The highest percentage of collected debris item was plastic bags (up to 57.90%), followed by bottle caps (up to 16.65%). The most identified plastic types were Low-Density Polyethylene (LDPE) (up to 73.13%), followed by Polypropylene (PP) (up to 17.22%). Understanding the accumulation of plastic debris in estuary is a fundamental requirement to conduct an advance research related to the marine plastic pollution and to determine further actions to solve this problem. © 2020 The Authors, published by EDP Sciences.

关键词： Analysis of variance (ANOVA)

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Impacts of bridge piers on water level during ice jammed period in bend channel——An experimental study

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Journal of Hydrodynamics 2018年第1期30卷 160-168页

作者：王军李淑祎陈胖胖汪涛 Jueyi Sui College of Civil and Hydraulic Engineering Hefei University of Technology Environmental Sciences and Engineering Program University of Northern British Columbia

Experiments are carried out in an ＂S-shaped＂ flume in the laboratory under both open flow and ice-jammed conditions to study the impacts of bridge piers in a bend channel on the variation of the water level. The variations of the water level under the ice jammed condition with bridge piers are compared to those without bridge piers in an 180° bend channel. Results indicate that the bridge piers in the S-shaped channel have obvious impacts on the ice accumulation and the water level. The increment of the water level with the presence of the bridge piers is less than that without the bridge piers in the channel. Different arrangements of the bridge piers result in different increments of the water level. When one bridge pier is installed in the straight section of the channel（between 2 bends） and another one at the bend apex（for a convex bank）, the increment of the water level during the equilibrium ice jammed period is between that with a single bridge pier located in the straight section of the bend channel and that with a single bridge pier located at the bend apex. It is also shown that the increment of the water level during the equilibrium ice jammed period increases with the increase of the average thickness of the ice jams.

关键词： Ice jam bend channel bridge pier increment of water level

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Impacts Due to Foundation Piling Work

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Journal of Physics: Conference Series 2021年第1期1726卷

作者： O L Sari A A I Saputra A Subhakti A P Putri C C S Khala Civil Engineering Study Program Kalimantan Institute of Technology Balikpapan Indonesia

The foundation erection work is a job that has a high enough complexity. In making the decision of the type of pile and the method of erection, practitioners have many choices with various conditions in the field. Decision making will result in an impact during the foundation erection process. This study aims to analyze what are the impacts caused by the choice of pole type and piling method. A preliminary survey was conducted together with four experts to verify and reduce the 11 impact indicators obtained from the literature study, obtained 6 impact indicators which are quite relevant according to experts and will be used in the questionnaire survey. The questionnaire survey was conducted on 45 practitioner respondents who had carried out foundation building work. Data analysis validity and reliability tests were carried out on the questionnaire data. It was concluded that there were three main impacts that occurred due to the choice of the type of foundation pile and the piling method, namely environmental impact, economic impact, and social impact. The main impacts are broken down into six impacts including the use of fuel, ground vibration, fuel and material costs, equipment and labor costs, workplace safety, and noise.

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The influence in selection of pile type and foundation piling method

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IOP Conference Series: Materials Science and engineering 2021年第1期1087卷

作者： O L Sari A A I Saputra A Subhakti A P Putri C C S Khala Civil Engineering Study Program Kalimantan Institute of Technology Balikpapan Indonesia

One of the jobs that have a high complexity in civil works is foundation pile work. Practitioners are often faced with many choices and various conditions in the field in making decisions about the types of piles and methods of piling. The selection of the type of piles and the method of piling will have environmental, economic and social impacts. Many conditions need to be considered when making this selection. This paper presents a literature review in the study of influence in the selection of pile type and foundation piling method in problem identification and approaches. The results of this study support the influence factor used by case studies of decision-making taking into triple constraint in project management.

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Artificial intelligence for geoscience:Progress,challenges,and perspectives

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The Innovation 2024年第5期5卷 136-160,135页

作者： Tianjie Zhao Sheng Wang Chaojun Ouyang Min Chen Chenying Liu Jin Zhang Long Yu Fei Wang Yong Xie Jun Li Fang Wang Sabine Grunwald Bryan MWong Fan Zhang Zhen Qian Yongjun Xu Chengqing Yu Wei Han Tao Sun Zezhi Shao Tangwen Qian Zhao Chen Jiangyuan Zeng Huai Zhang Husi Letu Bing Zhang Li Wang Lei Luo Chong Shi Hongjun Su Hongsheng Zhang Shuai Yin Ni Huang Wei Zhao Nan Li Chaolei Zheng Yang Zhou Changping Huang Defeng Feng Qingsong Xu Yan Wu Danfeng Hong Zhenyu Wang Yinyi Lin Tangtang Zhang Prashant Kumar Antonio Plaza Jocelyn Chanussot Jiabao Zhang Jiancheng Shi Lizhe Wang Aerospace Information Research Institute Chinese Academy of SciencesBeijing 100094China School of Computer Science China University of GeosciencesWuhan 430078China State Key Laboratory of Mountain Hazards and Engineering Resilience Institute of Mountain Hazards and EnvironmentChinese Academy of SciencesChengdu 610299China Key Laboratory of Virtual Geographic Environment(Ministry of Education of PRC) Nanjing Normal UniversityNanjing 210023China Data Science in Earth Observation Technical University of Munich80333 MunichGermany The National Key Laboratory of Water Disaster Prevention Yangtze Institute for Conservation and DevelopmentHohai UniversityNanjing 210098China Institute of Computing Technology Chinese Academy of SciencesBeijing 100190China School of Geographical Sciences Nanjing University of Information Science and TechnologyNanjing 210044China State Key Laboratory of Soil and Sustainable Agriculture Institute of Soil ScienceChinese Academy of SciencesNanjing 210008China Soil Water and Ecosystem Sciences DepartmentUniversity of FloridaPO Box 110290GainesvilleFLUSA Materials Science Engineering Program Cooperating Faculty Member in the Department of Chemistry and Department of Physics Astronomy University of CaliforniaCaliforniaRiversideCA 92521USA Institute of Remote Sensing and Geographical Information System School of Earth and Space SciencesPeking UniversityBeijing 100871China Key Laboratory of Computational Geodynamics University of Chinese Academy of SciencesBeijing 100049China International Research Center of Big Data for Sustainable Development Goals Beijing 100094China College of Geography and Remote Sensing Hohai UniversityNanjing 211100China Department of Geography The University of Hong KongHong Kong 999077SARChina Jiangsu Key Laboratory of Atmospheric Environment Monitoring and Pollution Control Nanjing 210044China School of Environmental Science and Engineering Nanjing University of Information Science&TechnologyNanjing 210044China Collaborative Inno

This paper explores the evolution of geoscientific inquiry,tracing the progression from traditional physics-based models to modern data-driven approaches facilitated by significant advancements in artificial intelligence(AI)and data collection *** models,which are grounded in physical and numerical frameworks,provide robust explanations by explicitly reconstructing underlying physical ***,their limitations in comprehensively capturing Earth’s complexities and uncertainties pose challenges in optimization and real-world *** contrast,contemporary data-driven models,particularly those utilizing machine learning(ML)and deep learning(DL),leverage extensive geoscience data to glean insights without requiring exhaustive theoretical *** techniques have shown promise in addressing Earth science-related ***,challenges such as data scarcity,computational demands,data privacy concerns,and the“black-box”nature of AI models hinder their seamless integration into *** integration of physics-based and data-driven methodologies into hybrid models presents an alternative *** models,which incorporate domain knowledge to guide AI methodologies,demonstrate enhanced efficiency and performance with reduced training data *** review provides a comprehensive overview of geoscientific research paradigms,emphasizing untapped opportunities at the intersection of advanced AI techniques and *** examines major methodologies,showcases advances in large-scale models,and discusses the challenges and prospects that will shape the future landscape of AI in *** paper outlines a dynamic field ripe with possibilities,poised to unlock new understandings of Earth’s complexities and further advance geoscience exploration.

关键词： Earth utilizing landscape

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