Detection and Tracking of Dynamic Objects. A MultiRobot approach to Critical Infrastructures Surveillance.

Despite that Critical Infrastructures (CIs) security and surveillance are a growing concern for many countries and companies, Multi Robot Systems (MRSs) have not been yet broadly used in this type of facilities. This dissertation presents a novel study of the challenges arisen by the implementation of this type of systems and proposes solutions to specific problems. First, a comprehensive analysis of different types of CIs has been carried out, emphasizing the influence of the different characteristics of the facilities in the design of a security and surveillance MRS. One of the most important needs for the surveillance of a CI is the detection of intruders. From a technical point of view this problem can be abstracted as equivalent to the Detection and Tracking of Mobile Objects (DATMO). This dissertation proposes algorithms to solve this specific problem in a CI environment. Using 3D range images of the environment as input data, two detection algorithms for ground robots have been developed. These detection algorithms provide a list of moving objects in the robot detection area. Direct image differentiation and computer vision techniques are used when the robot is static. Alternatively, multi-layer ground reconstructions are compared to detect the dynamic objects when the robot is moving. Since CIs usually spread over large areas, it is very useful to incorporate aerial vehicles in the surveillance MRS. Therefore, a moving object detection algorithm for aerial vehicles has been also developed. This algorithm compares the real optical flow obtained from a down-face oriented camera with an artificial optical flow computed using a RANSAC based homography matrix. Two tracking algorithms have been developed to follow the moving objects trajectories. These algorithms can efficiently handle occlusions and crossings, as well as exchange information among robots. The multirobot tracking can be applied to any type of communication structure: centralized, decentralized or a combination of both. Even more, the developed tracking algorithms are independent of the detection algorithms and could be potentially used with other detection procedures or even with static sensors, such as cameras. In addition, using the 3D point clouds available to the robots, a relative localization algorithm has been developed to improve the position estimation of a given robot with observations from other robots. All the developed algorithms have been extensively tested in different simulated CIs using the Webots robotics simulator. Furthermore, the algorithms have also been validated with real robots operating in real scenarios. In conclusion, this dissertation presents a multirobot approach to Critical Infrastructure Surveillance, mainly focusing on Detecting and Tracking Dynamic Objects.

Improving the photoactivity of bismuth vanadate thin film photoanodes through doping and surface modification strategies

Currently, one of the most attractive and desirable ways to solve the energy challenge is harvesting energy directly from the sunlight through the so-called artificial photosynthesis. Among the ternary oxides based on earth–abundant metals, bismuth vanadate has recently emerged as a promising photoanode. Herein, BiVO4 thin film photoanodes have been successfully synthesized by a modified metal-organic precursor decomposition method, followed by an annealing treatment. In an attempt to improve the photocatalytic properties of this semiconductor material for photoelectrochemical water oxidation, the electrodes have been modified (i) by doping with La and Ce (by modifying the composition of the BiVO4 precursor solution with the desired concentration of the doping element), and (ii) by surface modification with Au nanoparticles potentiostatically electrodeposited. La and Ce doping at concentrations of 1 and 2 at% in the BiVO4 precursor solution, respectively, enhances significantly the photoelectrocatalytic performance of BiVO4 without introducing important changes in either the material structure or the electrode morphology, according to XRD and SEM characterization. In addition, surface modification of the electrodes with Au nanoparticles further enhances the photocurrent as such metallic nanoparticles act as co-catalysts, promoting charge transfer at the semiconductor/solution interface. The combination of these two complementary ways of modifying the electrodes has resulted in a significant increase in the photoresponse, facilitating their potential application in artificial photosynthesis devices.

Geochemistry of recent marine sediments, interstitial water, and sea water from the West African continental margin

Carbon dioxide, ammonia, and reactive phosphate in the interstitial water of three sediment cores of the West African continental margin result from oxidation of sedimentary organic matter by bacterial sulfate reduction. The proposed model is a modification of one initially suggested by Richards (1965) for processes in anoxic waters: (CH2O)106 (NH3)8 (H3PO4) (0.7-0.2) + 53 SO4**2- =106 CO2 + 106 H20 + 8 NH3 + (0.7 - 0.2) H3PO4 + 53 S**2- The amount of reduced interstitial sulfate, the carbon-to-nitrogen-to-phosphorus atomic ratio of the sedimentary organic matter, as well as small amounts of carbon dioxide, which precipitated as interstitial calcium carbonate, are included in the general oxidation-reduction reaction. Preferential loss of nitrogen and phosphorus from organic matter close to the surface was recorded in both the interstitial water and sediment composition. It appeared that in deeper sections of the core organic carbon compounds were oxidized which were probably in an even lower oxidation state than that indicated by the proposed model. An estimated 2 % of the amount of organic matter still present was oxidized after it became incorporated into the sediment; whereas sulfide sulfur contents indicate that a much larger percentage (15-20%) seemed to have been subject to bacterial oxidation during the Pleistocene period, when a very thin oxidizing layer on the sediment allowed the above decomposition process to start relatively early favoured by almost fresh organic matter, and by almost unrestricted exchange of sulfate with the overlying water.

Ice rafted debris, planktic foraminifera and reconstructed sea surface temperatures from site GIK23414

Planktic foraminiferal census data, faunal sea surface temperatures (SSTs) and oxygen isotopic and lithic records from a site in the northeast Atlantic were analyzed to study the interglacial dynamics of Marine Isotope Stage (MIS) 11, a period thought to closely resemble the Holocene on the basis of orbital forcing. Interglacial conditions during MIS 11 persisted for approximately 26 ka. After the main deglacial meltwater processes ceased, a 10- to 12-ka-long transitional period marked by significant water mass circulation changes occurred before surface waters finally reached their thermal maximum. This SST peak occurred between 400 and 397 ka, inferred from the abundance of the most thermophilic foraminiferal species and was coincident with lowest sea level according to benthic isotope values. The ensuing stepwise SST decrease characterizes the overall climate deterioration preceding the increase in global ice volume by ab. 3 ka. This cooling trend was followed by a more pronounced cold event that began at 388 ka, and that terminated in the recurrence of icebergs at the site around 382 ka. Because the water mass configuration of early MIS 11 evolved quite differently from that of the early Holocene, there is little evidence that MIS 11 can serve as an appropriate analogue for a future Holocene climate, despite the similarity in some orbital parameters.

Radium in Arctic surface water

The transpolar drift is strongly enriched in 228Ra accumulated on the wide Arctic shelves with subsequent rapid offshore transport. We present new data of Polarstern expeditions to the central Arctic and to the Kara and Laptev seas. Because 226Ra activities in Pacific waters are 30% higher than in Atlantic waters, we correct 226Ra for the Pacific admixture when normalizing 228Ra with 226Ra. The use of 228Ra decay as age marker critically depends on the constancy in space and time of the source activity, a condition that has not yet adequately been tested. While 228Ra decays during transit over the central basin, ingrowth of 228Th could provide an alternative age marker. The high 228Th/228Ra activity ratio (AR = 0.8-1.0) in the central basins is incompatible with a mixing model based on horizontal eddy diffusion. An advective model predicts that 228Th grows to an equilibrium AR, the value of which depends on the scavenging regime. The low AR over the Lomonosov Ridge (AR = 0.5) can be due to either rapid transport (minimum age without scavenging 1.1 year) or enhanced scavenging. Suspended particulate matter load (derived from beam transmission and particulate 234Th) and total 234Th depletion data show that scavenging, although extremely low in the central Arctic, is enhanced over the Lomonosov Ridge, making an age of 3 years more likely. The combined data of 228Ra decay and 228Th ingrowth confirm the existence of a recirculating gyre in the surface water of the eastern Eurasian Basin with a river water residence time of at least 3 years.

Radionuclides measured in surface water samples from the South Atlantic

In the nutrient-rich Southern Ocean, Fe is a vital constituent controlling the growth of phytoplankton. Despite much effort, the origin and transport of Fe to the oceans are not well understood. In this study we address the issue with geochemical data and Nd isotopic compositions of suspended particle samples collected from 1997 to 1999 in the South Atlantic Sector of the Southern Ocean. Al, Th, and rare earth element (REE) concentrations as well as 143Nd/144Nd isotopic ratios in acetic acid-leached particle samples representing the lithogenic fraction delineate three major sources: (1) Patagonia and the Antarctic Peninsula provide material with eNd > -4 that is transported toward the east with the polar and subpolar front jets, (2) the south African shelf, although its influence is limited by the circumpolar circulation and wind direction, can account for material with eNd of -12 to -14 adjacent to South Africa, and (3) East Antarctica provides material with eNd of -10 to -15 to the eastern Weddell Sea and adjacent Antarctic Circumpolar Current. For this region we interpret the Nd isotopic evidence in combination with oceanographic/atmospheric constraints as evidence for supply of significant amounts of terrigenous detritus by icebergs.

Surface water quality parameters for monitoring oil shale development /

Mode of access: Internet.

Index of surface-water records.

Mode of access: Internet.

Summary of records of surface water supply of South Carolina, 1884-1946.

Mode of access: Internet.

Surface water of Little River Basin in southeastern Oklahoma,

Cover title.

Quality of surface water before implementation of a flood-control project in Chaska, Minnesota /

Mode of access: Internet.

Evaluation of selected surface-water-quality stations in Wyoming /

Shipping list no.: 87-459-P.

Surface water records of Florida.

Report year ends Sept. 30.