The rigid-flexible nonlinear robotic manipulator: Modeling and control

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Fluvial transport of lead, zinc and copper contents in polluted mining regions

Ore mines installed in the lower-middle portion of Ribeira de Iguape River (São Paulo State, southeastern Brazil), together with the Panelas Plant are responsible for the contamination of the Iguape-Cananeia-Paranagua lagoon-estuarine complex. The lower-middle portion of Grande Creek Basin, located in the district of Adrianopolis (Parana State, southern Brazil) is under environmental impact because of mining activities. The mines of Perau, at Perau Creek, Canoas at Canoas Creek, and Barrinha at Barrinha Creek and Laranjal Creek have been paralyzed. The transport of lead in fluvial sediments is mainly associated with organic matter, carbonates, the residual fraction, and adsorbables, whereas the transport of zinc is associated with the organic and residual fraction, oxides and hydroxides of iron and manganese, carbonate, and adsorbables. The transport of copper is associated with the residual fraction and oxides and hydroxides of iron and manganese, organic matter, carbonate, and adsorbables.

Flow rate and hydrochemistry in areas of sand mining activities

This investigation reports the results of a study realized in areas related to the development of sand mining activities, which belong to CRS-Mineragao Industria e Comercio Ltd. and Sibelco Mineracao Ltd. Both areas are located around Analandia municipality, nearly in the center of São Paulo State, Brazil. Flow rate and hydrochemical analyses were realized over different periods of time, with the aim of evaluating the possibility of release of several constituents to the liquid phase, which may be a source of pollution of the surface hydrological resources. This is because some tributaries from the Corumbatai River may be suffering contamination, implying on the impoverishment of the water quality that is a very important resource in the region, as it is extensively used for drinking purposes, among others.

Impact of coal mining on water quality of three artificial lakes in Morozini River Basin (Treviso, Santa Catarina State, Brazil)

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Mercury in soils and sediments from gold mining liabilities in Southern Amazonia

The 1980-1990 Amazonian gold rush left an enormous liability that increasingly has been substituted by developing fish aquaculture. This work aimed at the identification of the mercury levels in the environment, associated with fish farms located in the North of Mato Grosso State, Southern Amazon. Sediment and soil samples were analyzed for total organic carbon and total mercury. Results indicate that the chemical characteristics of the sediment largely depend on the management procedures of the fish pond (liming, fish food used and fish population). The soils presented relatively low concentrations when compared with other data from the literature.

Nitrogen assimilation in Citrus based on CitEST data mining

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Laboratory essays on solid residues from an area of sand mining activities at Analandia, São Paulo, Brazil, and implications to the water resources quality

This investigation reports the results of tests performed in a laboratory with solid waste samples from an area belonging to Sibelco Mineracao Ltd., which is located around Analandia municipality, nearly in the center of São Paulo State, Brazil. Dissolution and leaching essays were realized under different experimental conditions in four samples collected from the mining front and decantation pool, with the aim of evaluating the possibility of release of several constituents to the liquid phase.

EthoSeq: A tool for phylogenetic analysis and data mining in behavioral sequences

This article introduces the software program called EthoSeq, which is designed to extract probabilistic behavioral sequences (tree-generated sequences, or TGSs) from observational data and to prepare a TGS-species matrix for phylogenetic analysis. The program uses Graph Theory algorithms to automatically detect behavioral patterns within the observational sessions. It includes filtering tools to adjust the search procedure to user-specified statistical needs. Preliminary analyses of data sets, such as grooming sequences in birds and foraging tactics in spiders, uncover a large number of TGSs which together yield single phylogenetic trees. An example of the use of the program is our analysis of felid grooming sequences, in which we have obtained 1,386 felid grooming TGSs for seven species, resulting in a single phylogeny. These results show that behavior is definitely useful in phylogenetic analysis. EthoSeq simplifies and automates such analyses, uncovers much of the hidden patterns of long behavioral sequences, and prepares this data for further analysis with standard phylogenetic programs. We hope it will encourage many empirical studies on the evolution of behavior.

Dynamic modeling and simulation of a flexible robotic manipulator

This work focuses on the dynamic modeling of a flexible robotic manipulator with two flexible links and two revolute joints, which rotates in the horizontal plane. The dynamic equations are derived using the Newton-Euler formulation and the finite element method, based on elementary beam theory. Computer simulation results are presented to illustrate this study. The dynamic model becomes necessary for use in future design and control applications.

Aircraft interior failure pattern recognition utilizing text mining and neural networks

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Hydrochemistry on a waste disposal area of sand mining activities at Analandia, Sao Paulo State, Brazil, and their implications on the mobilization of uranium

Groundwaters and surface waters from an area of treatment of sand for industrial purposes at Analandia municipality, nearly in the center of Sao Paulo State, Brazil, were chemically and isotopically analyzed with two aims: to evaluate if the anthropogenic activities that has taken place for the last 6 years is affecting the quality of the hydrological resources and to relate the hydrogeochemical behaviour of the uranium isotopes 234U and 238U with the pattern of circulation of groundwaters.

Transforming open mining pits into fish farms: Moving towards sustainability

The legacy of mining activities has typically been land 'returned to wildlife', or, at some sites, degraded to such an extent that it is unsuitable for any alternate use. Progress towards sustainability is made when value is added in terms of the ecological, social and economic well-being of the community. In keeping with the principles of sustainable development, the innovative use of flooded open pits and tailings impoundments as commercial, recreational or ornamental fish farms should be considered in some locations, as it could make a significant contribution to the social equity, economic vitality and environmental integrity of mining communities. This article highlights the growing significance of aquaculture and explores the benefits and barriers to transforming flooded pits and impoundments into aquaculture operations. Among other benefits, aquaculture may provide a much-needed source of revenue, employment and, in some cases, food to communities impacted by mine closure. Further, aquaculture in a controlled closed environment may be more acceptable to critics of fish farming who are concerned about fish escapes and viral transmissions to wild populations. Despite the potential benefits, aquaculture in flooded pits and impoundments is not without its complications - it requires a site-specific design approach that must consider issues ranging from metals uptake by fish, to the long-term viability of the aquatic system as fish habitat, to the overall contribution of aquaculture to sustainability. © 2004 United Nations. Published by Blackwell Publishing.

Diagnosis of a compacted area for mining through the mechanical resistance to the penetration using geostatistical methods in the Amazon Forest

The mining process promotes land modification and complete landscape alteration. Those alterations in the surface are shown more obviously in the aesthetical aspect as the visual elements of form, texture, climbs, complexity and color which composes the landscape. As a consequence, mining has impacts on the topography, in the soil, in the vegetation and in the area's drainage, with a direct influence on the enterprise. A quite common problem in the recovery of degraded areas in mineral exploration is the compaction of the soil due to the intense traffic of machines and earth movement. The most common problem of the compaction of a degraded surface is an increase of the mechanical resistance to the penetration of plant roots, a reduction of the aeration, an alteration of the flow of water and heat, also in the availability of water and nutrients. Thus, the present work had the basic objective of diagnosing the compaction of an area degraded by mining in a spacial way, through the mechanical resistance and the penetration, to guide the future subsoiling in the area requiring recovery. Through the studies, it was concluded that the krigagem method in agreement with the space variation allows the division of the area under study into sub areas facilitating a future work to reduce costs and unnecessary interference to the atmosphere. The method was shown to be quite appropriate and it can be used in the diagnosis of compaction in a degraded area by mining, foreseeing the subsoiling requirement.

Sustainable Development in Latin America and the Caribbean: Trends, Progress, and Challenges in Sustainable Consumption and Production, Mining, Transport, Chemicals and Waste Management

Includes bibliography

Environmental solutions of recovery of Amazonian forest mining operations

In order for the projects of recovery of degraded areas to be successful, it is necessary to have a perfect recovery of the soil where the revegetation will be implanted as an initial action in the recovery of the whole process. The use of native forest species fully adapted to these types of terrain is another aspect of great importance, once the non-selection of these species, even if abundant in the surrounding areas, as it is in our case, implies great mortality of individuals during the planting and their low fixation during the process. The establishment of a monitoring program that contemplates the advancements obtained in the soil, the vegetation and the return of wild animals also collaborate in the evaluation of the success of the process. And, finally, the effective participation of the mining company, accepting and applying the techniques tested and indicated by research, even if, initially, the return time is longer than expected, also guarantees the success of the process. The mining company not only implemented a partnership with important universities in Brazil to obtain solutions for the environmental problems but also applied the developed techniques and the monitoring program. In the present work, we have attempted to summarize important aspects to evaluate the advancements in the rehabilitation plan for those areas, being here presented some results of the monitoring of areas under different levels of recovery, in accordance with the techniques adopted. Biological parameters of the soil were used to verify the efficiency of these different techniques in the recovery process. This work is part of the monitoring program of areas in rehabilitation by the mining company, implemented as of 1999 and in partnership with universities. The microbial activity was determined through the quantification of the carbon and nitrogen microbial biomass (BMC and BMN) and the activity of the dehydrogenase evaluated in the mining floor and tailing areas in different levels of soil preparation and planting of native species. The analysis of the parameters studied revealed that the preparation of the soil, following the three years proposed by the methodology, was important for the success in establishing the rehabilitation process. Some of the areas analyzed already show some parameters with values close or superior to those found in the capoeira (secondary forest), the latter being the non-treated area. © 2010 WIT Press.