Robust bucket position tracking for a large hydraulic excavator

The device we study is the excavation arm of a large hydraulic mining shovel having a multi-loop kinematic form. We describe an iterative algorithm that allows the position of the bucket to be tracked from measurements of the linear actuator extensions. The important characteristic of this algorithm is that it is numerically well-behaved when the linkage is close to singular configurations. While we focus on a specific device, the algorithm is easy to adapt to other multi-loop linkages. (C) 2004 Elsevier Ltd. All rights reserved.

Submerged and unsubmerged natural hydraulic jumps in a bedrock step-pool mountain channel (Fig. 1 Classical hydraulic jump with partially developed inflow conditions)

Fig. 1. Classical hydraulic jump with partially developed inflow conditions. F1 = 13.6, V1 = 4.7 m/s, B = 0.25 m, h = 0.020 mm, d1 = 0.012 mm, Q = 14 L/s. Photo courtesy of Dr. Hubert Chanson. published in: Geomorphology Volume 82, Issues 1-2, 6 December 2006, Pages 146-159 The Hydrology and Geomorphology of Bedrock Rivers doi:10.1016/j.geomorph.2005.09.024 Submerged and unsubmerged natural hydraulic jumps in a bedrock step-pool mountain channel Brett L. Vallé and Gregory B. Pasternacka

Public perception of carbon capture and storage in relation to hydraulic fracturing: content analyses, survey results, and policy proposals

Carbon capture and storage (CCS) can contribute significantly to addressing the global greenhouse gas (GHG) emissions problem. Despite widespread political support, CCS remains unknown to the general public. Public perception researchers have found that, when asked, the public is relatively unfamiliar with CCS yet many individuals voice specific safety concerns regarding the technology. We believe this leads many stakeholders conflate CCS with the better-known and more visible technology hydraulic fracturing (fracking). We support this with content analysis of media coverage, web analytics, and public lobbying records. Furthermore, we present results from a survey of United States residents. This first-of-its-kind survey assessed participants’ knowledge, opinions and support of CCS and fracking technologies. The survey showed that participants had more knowledge of fracking than CCS, and that knowledge of fracking made participants less willing to support CCS projects. Additionally, it showed that participants viewed the two technologies as having similar risks and similar risk intensities. In the CCS stakeholder literature, judgment and decision-making (JDM) frameworks are noticeably absent, and public perception is not discussed using any cognitive biases as a way of understanding or explaining irrational decisions, yet these survey results show evidence of both anchoring bias and the ambiguity effect. Public acceptance of CCS is essential for a national low-carbon future plan. In conclusion, we propose changes in communications and incentives as programs to increase support of CCS.

CHARACTERIZATION AND THERMAL-HYDRAULIC MODELING OF ENGINEERED BARRIERS FOR A CANADIAN DEEP GEOLOGICAL REPOSITORY FOR USED NUCLEAR FUEL

Within Canada there are more than 2.5 million bundles of spent nuclear fuel with another approximately 2 million bundles to be generated in the future. Canada, and every country around the world that has taken a decision on management of spent nuclear fuel, has decided on long-term containment and isolation of the fuel within a deep geological repository. At depth, a deep geological repository consists of a network of placement rooms where the bundles will be located within a multi-layered system that incorporates engineered and natural barriers. The barriers will be placed in a complex thermal-hydraulic-mechanical-chemical-biological (THMCB) environment. A large database of material properties for all components in the repository are required to construct representative models. Within the repository, the sealing materials will experience elevated temperatures due to the thermal gradient produced by radioactive decay heat from the waste inside the container. Furthermore, high porewater pressure due to the depth of repository along with possibility of elevated salinity of groundwater would cause the bentonite-based materials to be under transient hydraulic conditions. Therefore it is crucial to characterize the sealing materials over a wide range of thermal-hydraulic conditions. A comprehensive experimental program has been conducted to measure properties (mainly focused on thermal properties) of all sealing materials involved in Mark II concept at plausible thermal-hydraulic conditions. The thermal response of Canada’s concept for a deep geological repository has been modelled using experimentally measured thermal properties. Plausible scenarios are defined and the effects of these scenarios are examined on the container surface temperature as well as the surrounding geosphere to assess whether they meet design criteria for the cases studied. The thermal response shows that if all the materials even being at dried condition, repository still performs acceptably as long as sealing materials remain in contact.

Spatial variability of satured soil hydraulic conductivity in the region of Araguaia River - Brazil.

This study evaluates the spatial variability of saturated hydraulic conductivity in the soil in an area of 51,850 ha at the headwaters of the Araguaia River MT/GO. This area is highly vulnerable because it is a location of recharging through natural water infiltration of the Guarani Aquifer System and an area of intense increases in agriculture since its adoption by growers in the last 30 years. Soil samples were collected at 383 points, geographically located by GPS. The samples were collected from depths of 0 - 20 cm and 60 - 80 cm. Exploratory statistics and box-plot were used in the descriptive analysis and semivariogram were constructed to determine the spatial model. The exploratory analysis showed that the mean hydraulic conductivity in the superficial layer was less than at the level of 60-80 cm; however, the greatest variability evaluated with a coefficient of variation also was from this layer. Data tended towards a normal distribution. These results can be explained by the greater soil compaction in the superficial layer. The semivariogram models, adjusted for the two layers, were exponential and demonstrated moderate and strong dependence, with ranges of 5000 and 3000 utm respectively. It was concluded that soil use is influencing the spatial distribution model of the hydraulic conductivity in the region.

Spatial variability of satured soil hydraulic conductivity in the region of Araguaia River - Brazil.

2008