Aplicação e análise de metodologia de deterioração ambiental em micro-bacia do seridó potiguar

In the contemporary world to the deterioration of semi-arid areas of the planet has been the focus of media attention and the scientific community. Brazil has a semiarid, considered the most problematic of the world, either by pressure from physical factors, whether as a result of misguided public policies, has over time been suffering from the consequences of a deterioration that expands over the years. Methodologies, that amidst the problems of semi-arid, come against the deteriorating local, have a good chance to be reapplied in other contexts around the world. This research, based on methodological model for analyzing environmental deterioration, introduced and examined the applicability of the methodology in the semi-arid region of Rio Grande do Norte - Brazil. Although the results provide guidelines for the introduction of underground dams, the application of the methodology was ineffective, given the high rates of forest cover that gave low values for the physical diagnosis conservationist

Avaliação das barragens subterrâneas no regime de um curso d água na região do semi-árido do RN

The Serido is a region of northeastern Brazil highlighted by its problems related to water scarcity because of its semi-arid region, large rates of evaporation and rainfall irregular and scarce. Thus, the underground dams, become a strategically important resource with a simple and inexpensive technique for storage of water. They act in a positive way in the development of inland cities that suffer from drought, because in addition to exercise a great improvement in the social role of these families, can enjoy the type of soil (silt) and provides water for both irrigation and for human consumption throughout the year. Is therefore essential to its monitoring and studies to assess its effectiveness in accordance with its purposes, along with their wells Amazons, as can occur in conditions of physical degradation, chemical and microbiological appropriate, according to the Ordinance No 518/04 Ministry of Health, however, the proposed work aims to analyze the underground dams in the municipality of Sierra Negra North-RN (semi-arid region) as to their uses and their influences on the quality and quantity of water in periods of drought and rain. Analyzing monthly these parameters: determination of pH, conductivity, calcium, magnesium, sodium, potassium, chloride, sulfate, RAS (sodium adsorption ratio), turbidity, total iron, nitrite, nitrate, total dissolved solids (STD), bicarbonate (HCO3), fecal coliform and pesticides compared to the standards allowed by the Ordinance in force for quality for human consumption. While at the risk of salinity and sodicity on the model proposed by the United Salinity Laboratory (USSL). Although efficient, it was found that results varied annually on water quality which may influence their specific uses, whether or irrigation water supply in the city

A Guide to Surface Features Related to Underground Coal Mining

The purpose of this guide is to assist investigators conducting geologic hazard assessments with the understanding, detection, and characterization of surface features related to subsidence from underground coal mining. Subsidence related to underground coal mining can present serious problems to new and/or existing infrastructure, utilities, and facilities. For example, heavy equipment driving over the ground surface during construction processes may punch into voids created by sinkholes or cracks, resulting in injury to persons and property. Abandoned underground mines also may be full of water, and if punctured, can flood nearby areas. Furthermore, the integrity of rigid structures such as buildings, dams and bridges may be compromised if mining subsidence results in differential movement at the ground surface. Subsidence of the ground surface is a phenomenon associated with the removal of material at depth, and may occur coincident with mining, gradually over time, or sometimes suddenly, long after mining operations have ceased (Gray and Bruhn, 1984). The spatial limits of underground coal mines may extend for great distances beyond the surface operations of a mine, in some cases more than 10 miles for an individual mine. When conducting geologic hazard assessments, several remote investigation methods can be used to observe surface features related to underground mining subsidence. LiDAR-derived DEMs are generally the most useful method available for identifying these features because the bare earth surface can be viewed. However, due to limitations in the availability of LiDAR data, other methods often need to be considered when investigating surface features related to underground coal mining subsidence, such as Google Earth and aerial imagery. Mine maps, when available, can be viewed in tandem with these datasets, potentially improving the confidence of any possible mining subsidence-related features observed remotely. However, maps for both active and abandoned mines may be incomplete or unavailable. Therefore, it is important to be able to recognize possible surface features related to underground mining subsidence. This guide provides examples of surface subsidence features related to the two principal underground coal mining methods used in the United States: longwall mining and room and pillar mining. The depth and type of mining, geologic conditions, hydrologic conditions, and time are all factors that may influence the type of features that manifest at the surface. This guide provides investigators a basic understanding about the size, character and conditions of various surface features that occur as a result of underground mining subsidence.

Automation of an underground mining vehicle using reactive navigation and opportunistic localization

This paper describes the implementation of an autonomous navigation system onto a 30 tonne Load-Haul-Dump truck. The control architecture is based on a robust reactive wall-following behaviour. To make it purposeful we provide driving hints derived from an approximate nodal-map. For most of the time, the vehicle is driven with weak localization (odometry). This need only be improved at intersections where decisions must be made - a technique we refer to as opportunistic localization. The truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine.

Autonomous control of underground mining vehicles using reactive navigation

Describes how many of the navigation techniques developed by the robotics research community over the last decade may be applied to a class of underground mining vehicles (LHDs and haul trucks). We review the current state-of-the-art in this area and conclude that there are essentially two basic methods of navigation applicable. We describe an implementation of a reactive navigation system on a 30 tonne LHD which has achieved full-speed operation at a production mine.

Reactive navigation and opportunistic localization for autonomous underground mining vehicles

This paper describes an autonomous navigation system for a large underground mining vehicle. The control architecture is based on a robust reactive wall-following behaviour. To make it purposeful we provide driving hints derived from an approximate nodal-map. For most of the time, the vehicle is driven with weak localization (odometry). This need only be improved at intersections where decisions must be made – a technique we refer to as opportunistic localization. The paper briefly reviews absolute and relative navigation strategies, and describes an implementation of a reactive navigation system on a 30 tonne Load-Haul-Dump truck. This truck has achieved full-speed autonomous operation at an artificial test mine, and subsequently, at a operational underground mine.