A model of the hydrothermal system at Casa Diablo in Long Valley, California, based on resistivity profiles and soil mercury analyses

A description and model of the near-surface hydrothermal system at Casa Diablo, with its implications for the larger-scale hydrothermal system of Long Valley, California, is presented. The data include resistivity profiles with penetrations to three different depth ranges, and analyses of inorganic mercury concentrations in 144 soil samples taken over a 1.3 by 1.7 km area. Analyses of the data together with the mapping of active surface hydrothermal features (fumaroles, mudpots, etc.), has revealed that the relationship between the hydrothermal system, surface hydrothermal activity, and mercury anomalies is strongly controlled by faults and topography. There are, however, more subtle factors responsible for the location of many active and anomalous zones such as fractures, zones of high permeability, and interactions between hydrothermal and cooler groundwater. In addition, the near-surface location of the upwelling from the deep hydrothermal reservoir, which supplies the geothermal power plants at Casa Diablo and the numerous hot pools in the caldera with hydrothermal water, has been detected. The data indicate that after upwelling the hydrothermal water flows eastward at shallow depth for at least 2 km and probably continues another 10 km to the east, all the way to Lake Crowley.

Design and construction of a portable force-reflecting manual controller for teleoperation systems

A man-machine system called teleoperator system has been developed to work in hazardous environments such as nuclear reactor plants. Force reflection is a type of force feedback in which forces experienced by the remote manipulator are fed back to the manual controller. In a force-reflecting teleoperation system, the operator uses the manual controller to direct the remote manipulator and receives visual information from a video image and/or graphical animation on the computer screen. This thesis presents the design of a portable Force-Reflecting Manual Controller (FRMC) for the teleoperation of tasks such as hazardous material handling, waste cleanup, and space-related operations. The work consists of the design and construction of a prototype 1-Degree-of-Freedom (DOF) FRMC, the development of the Graphical User Interface (GUI), and system integration. Two control strategies - PID and fuzzy logic controllers are developed and experimentally tested. The system response of each is analyzed and evaluated. In addition, the concept of a telesensation system is introduced, and a variety of design alternatives of a 3-DOF FRMC are proposed for future development.