Development of a robust framework for an outdoor mobile manipulation UAV

There is a growing interest to autonomously collect or manipulate objects in remote or unknown environments, such as mountains, gullies, bush-land, or rough terrain. There are several limitations of conventional methods using manned or remotely controlled aircraft. The capability of small Unmanned Aerial Vehicles (UAV) used in parallel with robotic manipulators could overcome some of these limitations. By enabling the autonomous exploration of both naturally hazardous environments, or areas which are biologically, chemically, or radioactively contaminated, it is possible to collect samples and data from such environments without directly exposing personnel to such risks. This paper covers the design, integration, and initial testing of a framework for outdoor mobile manipulation UAV. The framework is designed to allow further integration and testing of complex control theories, with the capability to operate outdoors in unknown environments. The results obtained act as a reference for the effectiveness of the integrated sensors and low-level control methods used for the preliminary testing, as well as identifying the key technologies needed for the development of an outdoor capable system.

Road kills of amphibians in different land use areas from Sharavathi river basin, central Western Ghats, India

A survey of amphibian mortality on roads was carried out in the Sharavathi river basin in the central Western Ghats. Road kills in three different land use areas: agricultural fields, water bodies and forests were recorded for four days along three 100m stretches in each type of area. One-hundred-and-forty-four individuals belonging to two orders, eight families, 11 genera and 13 species were recorded in the survey. Kills/km observed were: in forest 55, agricultural fields 38 and water bodies 27, for an overall average of 40 kills/km. Kill species compositions varied significantly between land use areas, but not overall kill rates.

Carbon sequestration versus bioenergy: A case study from South India exploring the relative land-use efficiency of two options for climate change mitigation

This case study has been carried out as a comparison between two different land-use strategies for climate change mitigation, with possible application within the Clean Development Mechanisms. The benefits of afforestation for carbon sequestration versus for bioenergy production are compared in the context of development planning to meet increasing domestic and agricultural demand for electricity in Hosahalli village, Karnataka, India. One option is to increase the local biomass based electricity generation, requiring an increased biomass plantation area. This option is compared with fossil based electricity generation where the area is instead used for producing wood for non-energy purposes while also sequestering carbon in the soil and standing biomass. The different options have been assessed using the PRO-COMAP model. The ranking of the different options varies depending on the system boundaries and time period. Results indicate that, in the short term (30 years) perspective, the mitigation potential of the long rotation plantation is largest, followed by the short rotation plantation delivering wood for energy. The bioenergy option is however preferred if a long-term view is taken. Short rotation forests delivering wood for short-lived non-energy products have the smallest mitigation potential, unless a large share of the wood products are used for energy purposes (replacing fossil fuels) after having served their initial purpose. If managed in a sustainable manner all of these strategies can contribute to the improvement of the social and environmental situation of the local community. (C) 2009 Elsevier Ltd. All rights reserved.

Spatial Variation of Physico-Chemical and hydrological Parameters with land-use in Venkatapura Catchment,Karnataka

Social, economic and political development of a region is dependent on the health and quantity of the natural resources. Integrated approaches in the management of natural resources would ensure sustainability, which demands inventorying, mapping and monitoring of resources considering all components of an ecosystem. The monitoring of hydrological and catchment landscape of river resources have a vital role in the conservation and management of aquatic resources. This paper presents a case study Venkatapura river basin in Uttara Kannada district of Karnataka State, India based on stream hydrology and landuse analyses. The results revealed variations in dissolved oxygen and free carbon dioxide according to the flow nature of the water, and increased amount of phosphates and coliform contamination in streams closer to anthropogenic activities.

Biofuel production and implications for land use, food production and environment in India

There is a large interest in biofuels in India as a substitute to petroleum-based fuels, with a purpose of enhancing energy security and promoting rural development. India has announced an ambitious target of substituting 20% of fossil fuel consumption by biodiesel and bioethanol by 2017. India has announced a national biofuel policy and launched a large program to promote biofuel production, particularly on wastelands: its implications need to be studied intensively considering the fact that India is a large developing country with high population density and large rural population depending upon land for their livelihood. Another factor is that Indian economy is experiencing high growth rate, which may lead to enhanced demand for food, livestock products, timber, paper, etc., with implications for land use. Studies have shown that area under agriculture and forest has nearly stabilized over the past 2-3 decades. This paper presents an assessment of the implications of projected large-scale biofuel production on land available for food production, water, biodiversity, rural development and GHG emissions. The assessment will be largely focused on first generation biofuel crops, since the Indian program is currently dominated by these crops. Technological and policy options required for promoting sustainable biofuel production will be discussed. (C) 2010 Elsevier Ltd. All rights reserved.

Co-benefits, trade-offs, barriers and policies for greenhouse gas mitigation in the agriculture, forestry and other land use (AFOLU) sector

The agriculture, forestry and other land use (AFOLU) sector is responsible for approximately 25% of anthropogenic GHG emissions mainly from deforestation and agricultural emissions from livestock, soil and nutrient management. Mitigation from the sector is thus extremely important in meeting emission reduction targets. The sector offers a variety of cost-competitive mitigation options with most analyses indicating a decline in emissions largely due to decreasing deforestation rates. Sustainability criteria are needed to guide development and implementation of AFOLU mitigation measures with particular focus on multifunctional systems that allow the delivery of multiple services from land. It is striking that almost all of the positive and negative impacts, opportunities and barriers are context specific, precluding generic statements about which AFOLU mitigation measures have the greatest promise at a global scale. This finding underlines the importance of considering each mitigation strategy on a case-by-case basis, systemic effects when implementing mitigation options on the national scale, and suggests that policies need to be flexible enough to allow such assessments. National and international agricultural and forest (climate) policies have the potential to alter the opportunity costs of specific land uses in ways that increase opportunities or barriers for attaining climate change mitigation goals. Policies governing practices in agriculture and in forest conservation and management need to account for both effective mitigation and adaptation and can help to orient practices in agriculture and in forestry towards global sharing of innovative technologies for the efficient use of land resources. Different policy instruments, especially economic incentives and regulatory approaches, are currently being applied however, for its successful implementation it is critical to understand how land-use decisions are made and how new social, political and economic forces in the future will influence this process.

Development of a global inundation map at high spatial resolution from topographic downscaling of coarse-scale remote sensing data

Large-scale estimates of the area of terrestrial surface waters have greatly improved over time, in particular through the development of multi-satellite methodologies, but the generally coarse spatial resolution (tens of kms) of global observations is still inadequate for many ecological applications. The goal of this study is to introduce a new, globally applicable downscaling method and to demonstrate its applicability to derive fine resolution results from coarse global inundation estimates. The downscaling procedure predicts the location of surface water cover with an inundation probability map that was generated by bagged derision trees using globally available topographic and hydrographic information from the SRTM-derived HydroSHEDS database and trained on the wetland extent of the GLC2000 global land cover map. We applied the downscaling technique to the Global Inundation Extent from Multi-Satellites (GIEMS) dataset to produce a new high-resolution inundation map at a pixel size of 15 arc-seconds, termed GIEMS-D15. GIEMS-D15 represents three states of land surface inundation extents: mean annual minimum (total area, 6.5 x 10(6) km(2)), mean annual maximum (12.1 x 10(6) km(2)), and long-term maximum (173 x 10(6) km(2)); the latter depicts the largest surface water area of any global map to date. While the accuracy of GIEMS-D15 reflects distribution errors introduced by the downscaling process as well as errors from the original satellite estimates, overall accuracy is good yet spatially variable. A comparison against regional wetland cover maps generated by independent observations shows that the results adequately represent large floodplains and wetlands. GIEMS-D15 offers a higher resolution delineation of inundated areas than previously available for the assessment of global freshwater resources and the study of large floodplain and wetland ecosystems. The technique of applying inundation probabilities also allows for coupling with coarse-scale hydro-climatological model simulations. (C) 2014 Elsevier Inc All rights reserved.

Isolating the impacts of land use and climate change on streamflow

Quantifying the isolated and integrated impacts of land use (LU) and climate change on streamflow is challenging as well as crucial to optimally manage water resources in river basins. This paper presents a simple hydrologic modeling-based approach to segregate the impacts of land use and climate change on the streamflow of a river basin. The upper Ganga basin (UGB) in India is selected as the case study to carry out the analysis. Streamflow in the river basin is modeled using a calibrated variable infiltration capacity (VIC) hydrologic model. The approach involves development of three scenarios to understand the influence of land use and climate on streamflow. The first scenario assesses the sensitivity of streamflow to land use changes under invariant climate. The second scenario determines the change in streamflow due to change in climate assuming constant land use. The third scenario estimates the combined effect of changing land use and climate over the streamflow of the basin. Based on the results obtained from the three scenarios, quantification of isolated impacts of land use and climate change on streamflow is addressed. Future projections of climate are obtained from dynamically downscaled simulations of six general circulation models (GCMs) available from the Coordinated Regional Downscaling Experiment (CORDEX) project. Uncertainties associated with the GCMs and emission scenarios are quantified in the analysis. Results for the case study indicate that streamflow is highly sensitive to change in urban areas and moderately sensitive to change in cropland areas. However, variations in streamflow generally reproduce the variations in precipitation. The combined effect of land use and climate on streamflow is observed to be more pronounced compared to their individual impacts in the basin. It is observed from the isolated effects of land use and climate change that climate has a more dominant impact on streamflow in the region. The approach proposed in this paper is applicable to any river basin to isolate the impacts of land use change and climate change on the streamflow.

Imminent Geologic and Hydrologic Hazards on Fort Ord BLM Land

The Bureau of Land Management acquired 7,500 acres of land as part of the re-use of the decommissioned Fort Ord Army base. A variety of geologic hazards exist on the landscape including gully erosion, mass wasting, and decaying earthen dams. This short report highlights a few critical areas that deserve closer evaluation and remediation. Of particular concern are decaying earthen dams and mass wasting of tall stream banks that may impact BLM infrastructure or adjacent urban development. (Document contains 13 paGES)

Support for Integrated Ecosystem Assessments of NOAA’s National Estuarine Research Reserves System (NERRS), Volume I: The Impacts of Coastal Development on the Ecology and Human Well-being of Tidal Creek Ecosystems of the US Southeast

A study was conducted, in association with the Sapelo Island and North Carolina National Estuarine Research Reserves (NERRs), to evaluate the impacts of coastal development on sentinel habitats (e.g., tidal creek ecosystems), including potential impacts to human health and well-being. Uplands associated with southeastern tidal creeks and the salt marshes they drain are popular locations for building homes, resorts, and recreational facilities because of the high quality of life and mild climate associated with these environments. Tidal creeks form part of the estuarine ecosystem characterized by high biological productivity, great ecological value, complex environmental gradients, and numerous interconnected processes. This research combined a watershed-level study integrating ecological, public health and human dimension attributes with watershed-level land use data. The approach used for this research was based upon a comparative watershed and ecosystem approach that sampled tidal creek networks draining developed watersheds (e.g., suburban, urban, and industrial) as well as undeveloped sites. The primary objective of this work was to clearly define the relationships between coastal development with its concomitant land use changes and non-point source pollution loading and the ecological and human health and well-being status of tidal creek ecosystems. Nineteen tidal creek systems, located along the southeastern United States coast from southern North Carolina to southern Georgia, were sampled during summer (June-August), 2005 and 2006. Within each system, creeks were divided into two primary segments based upon tidal zoning: intertidal (i.e., shallow, narrow headwater sections) and subtidal (i.e., deeper and wider sections), and watersheds were delineated for each segment. In total, we report findings on 24 intertidal and 19 subtidal creeks. Indicators sampled throughout each creek included water quality (e.g., dissolved oxygen concentration, salinity, nutrients, chlorophyll-a levels), sediment quality (e.g., characteristics, contaminants levels including emerging contaminants), pathogen and viral indicators, and abundance and genetic responses of biological resources (e.g., macrobenthic and nektonic communities, shellfish tissue contaminants, oyster microarray responses). For many indicators, the intertidally-dominated or headwater portions of tidal creeks were found to respond differently than the subtidally-dominated or larger and deeper portions of tidal creeks. Study results indicate that the integrity and productivity of headwater tidal creeks were impaired by land use changes and associated non-point source pollution, suggesting these habitats are valuable early warning sentinels of ensuing ecological impacts and potential public health threats. For these headwater creeks, this research has assisted the validation of a previously developed conceptual model for the southeastern US region. This conceptual model identified adverse changes that generally occurred in the physical and chemical environment (e.g., water quality indicators such as indicator bacteria for sewage pollution or sediment chemical contamination) when impervious cover levels in the watershed reach 10-20%. Ecological characteristics responded and were generally impaired when impervious cover levels exceed 20-30%. Estimates of impervious cover levels defining where human uses are impaired are currently being determined, but it appears that shellfish bed closures and the flooding vulnerability of headwater regions become a concern when impervious cover values exceed 10-30%. This information can be used to forecast the impacts of changing land use patterns on tidal creek environmental quality as well as associated human health and well-being. In addition, this study applied tools and technologies that are adaptable, transferable, and repeatable among the high quality NERRS sites as comparable reference entities to other nearby developed coastal watersheds. The findings herein will be of value in addressing local, regional and national needs for understanding multiple stressor (anthropogenic and human impacts) effects upon estuarine ecosystems and response trends in ecosystem condition with changing coastal impacts (i.e., development, climate change). (PDF contaions 88 pages)

Valuing a Natura 2000 network site to inform land use options using a discrete choice experiment: An illustration from the Basque Country

One of the main problems that public institutions face in the management of protected areas, such as the European Natura 2000 network, is determining how to design and implement sustainable management plans that account for the wide range of marketed and non-marketed benefits they provide to society. This paper presents an application of a stated preference valuation approach aimed at evaluating the social preferences of the population of the Basque Country, Spain, for the key attributes of a regional Natura 2000 network site. According to our results, individuals’ willingness-to-pay (WTP) is higher for attributes associated with non-use values (native tree species and biodiversity conservation) than for attributes associated with use values (agricultural development and commercial forestry). The paper concludes that management policies related to Natura 2000 network sites should account for both for the importance of non-use values and the heterogeneity of the population's preferences in order to minimize potential land use conflicts.

Sustainable management of water bodies for small-scale fisheries resorces research and development

Abstract The rapid growth of both formal and informal high density urban settlements around major water resources has led to increased pollution of streams, rivers, lakes and estuaries, due to contaminated runoff from these developments. The paper identified major contaminants to be : organic waste (sewage), industrial effluent, pesticides and litter. Pollutant loads vary depending on the hydrology of the urban area, local topography and soil conditions. In some instances, severe pollution of neighbouring and downstream water courses has been observed. The management of catchment land uses, riparian zones, in stream habitat, as well as in stream water flow patterns and quality are necessary in order to sustain the integrity and "health" of water resources, for fisheries and other developments. As such, attempts to ensure a certain level of water quality without attention to other aspects will not automatically ensure a "healthy" ecosystem even as fish habitat. Proper management leads to better water quality and conducive environment for increased fish production

Encouraging sustainable development in a coastal community: New Hanover County, North Carolina's exceptional design zoning district

While New Hanover County is the second smallest county in North Carolina, it is also the second most densely populated with approximately 850 people per square mile. Nestled between the Cape Fear River and Atlantic Ocean with surrounding barrier island beach communities, the County’s geographic location provides a prime vacation destination, as well as an ideal location for residents who wish to live at the water’s edge. Wilmington is the largest city in the County with a population just under 200,000. Most of the Wilmington metropolitan area is developed, creating intense development pressures for the remaining undeveloped land in the unincorporated County. In order to provide development opportunities for mixed use or high density projects within unincorporated New Hanover County where appropriate urban features are in place to support such projects without the negative effects of urban sprawl, County Planning Staff recently developed an Exceptional Design Zoning District (EDZD). Largely based on the LEED for Neighborhood Development program, the EDZD standards were scaled to fit the unique conditions of the County with the goal of encouraging sustainable development while providing density incentives to entice the use of the voluntary district. The incentive for the voluntary zoning district is increased density in areas where the density may not be allowed under normal circumstances. The rationale behind allowing for higher density projects is that development can be concentrated in areas where appropriate urban features are in place to support such projects, and the tendency toward urban sprawl can be minimized. With water quality being of high importance, it is perceived that higher density development will better protect water quality then lower density projects. (PDF contains 4 pages)