Underground dwellings in the Tajuña valley, Madrid, Spain and their bioclimatic adaptation

Underground dwellings are the maximum example of the vernacular architecture adaptation to the climatic conditions in areas with high annual and daily thermal fluctuations. This paper summarizes the systematic research about the energy performance of this popular architecture and their adaptation to the outdoor conditions in the case of the low area of the River Tajuña and its surroundings. Some considerations on their maintenance and renovation arise from the research.

Las viviendas subterráneas y el riesgo sísmico

Se estima que las viviendas subterráneas a lo largo del mundo albergan entre 40 y 60 millones de personas. Tras un análisis general de las tipologías de viviendas subterráneas, de su localización y de los factores que influyen en su desarrollo se ha introducido el análisis de la vulnerabilidad de este tipo de viviendas ante los riesgos naturales, cuestión que no ha sido estudiada exhaustivamente con anterioridad. Cabe destacar que la localización de las viviendas subterráneas a lo largo del mundo coincide en la mayor parte de los casos con regiones activas sísmicamente, por lo que se lleva a cabo una primera aproximación al estudio de la vulnerabilidad de las viviendas subterráneas frente al riesgo sísmico, teniendo como antecedente el terremoto de la región china de Shaanxi ocurrido en 1556, que afectó a grandes agrupaciones de viviendas subterráneas.

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.

An assessment of timber dwellings typical of the Queenslander era, and constraints associated with their relocation, component and adaptive reuse when considering 'regeneration'

This paper presents an explanation of why the reuse of building components after demolition or deconstruction is critical to the future of the construction industry. An examination of the historical cause and response to climate change sets the scene as to why governance is becoming increasingly focused on the built environment as a mechanism to controlling waste generation associated with the process of demolition, construction and operation. Through an annotated description to the evolving design and construction methodology of a range of timber dwellings (typically 'Queenslanders' during the eras of 1880-1900, 1900-1920 & 1920-1940) the paper offers an evaluation to the variety of materials, which can be used advantageously by those wishing to 'regenerate' a Queenslander. This analysis of 'regeneration' details the constraints when considering relocation and/ or reuse by adaption including deconstruction of building components against the legislative framework requirements of the Queensland Building Act 1975 and the Queensland Sustainable Planning Act 2009, with a specific examination to those of the Building Codes of Australia. The paper concludes with a discussion of these constraints, their impacts on 'regeneration' and the need for further research to seek greater understanding of the practicalities and drivers of relocation, adaptive and building components suitability for reuse after deconstruction.