Investigation on the evolution of an indoor robotic localization system based on wireless networks

This work addresses the evolution of an artificial neural network (ANN) to assist in the problem of indoor robotic localization. We investigate the design and building of an autonomous localization system based on information gathered from wireless networks (WN). The article focuses on the evolved ANN, which provides the position of a robot in a space, as in a Cartesian coordinate system, corroborating with the evolutionary robotic research area and showing its practical viability. The proposed system was tested in several experiments, evaluating not only the impact of different evolutionary computation parameters but also the role of the transfer functions on the evolution of the ANN. Results show that slight variations in the parameters lead to significant differences on the evolution process and, therefore, in the accuracy of the robot position.

Recharge Areas and Geochemical Evolution of Groundwater in an Alluvial Aquifer System in the Sultanate of Oman

A regional hydrogeochemical model was developed to evaluate the geochemical evolution of different groundwaters in an alluvial aquifer system in the Interior of Oman. In combination with environmental isotopes the model is able to extract qualitative and quantitative information about recharge, groundwater flow paths and hydraulic connections between different aquifers. The main source of water to the alluvial aquifer along the flow paths ofWadi Abyadh andWadi M’uaydin in the piedmont is groundwater from the high-altitude areas of the Jabal Akhdar and local infiltration along the wadi channels. In contrast, the piedmont alluvial aquifer alongWadi Halfayn is primarily replenished by lateral recharge from the ophiolite foothills to the east besides smaller contributions from the Jabal Akhdar and local infiltration. Further down gradient in the Southern Alluvial Plain aquifer a significant source of recharge is direct infiltration of rain and surface runoff, originating from a moisture source that approaches Oman from the south. The model shows that the main geochemical evolution of the alluvial groundwaters occurs along the flow path from the piedmont to the Southern Alluvial Plain, where dedolomitization is responsible for the observed changes in the chemical and carbon isotope composition in these waters.