Large Outdoor Research Articles

Robot Foraging: Autonomous Sample Return in a Large Outdoor Environment

A fundamental aspect of biological intelligence, from microbes to megafauna, is the ability to forage for the provisions required to sustain life. This sometimes underrated ability to seek out, identify, and use objects of interest in an environment with limited prior knowledge is an important capability that is also needed by robots. Many robotics applications can be modeled as foraging problems, such as search and rescue, wildlife tracking, crop pollination and harvesting, mining and in-situ-resource utilization, and scientific data/sample collection.

Coming Late for Dinner: Localized Digestate Depot Fertilization for Extensive Cultivation of Marginal Soil With Sida hermaphrodita.

Improving fertility of marginal soils for the sustainable production of biomass is a strategy for reducing land use conflicts between food and energy crops. Digestates can be used as fertilizer and for soil amelioration. In order to promote plant growth and reduce potential adverse effects on roots because of broadcast digestate fertilization, we propose to apply local digestate depots placed into the rhizosphere. We grew Sida hermaphrodita in large mesocosms outdoors for three growing seasons and in rhizotrons in the greenhouse for 3 months both filled with marginal substrate, including multiple sampling dates. We compared digestate broadcast application with digestate depot fertilization and a mineral fertilizer control. We show that depot fertilization promotes a deep reaching root system of S. hermaphrodita seedlings followed by the formation of a dense root cluster around the depot-fertilized zone, resulting in a fivefold increased biomass yield. Temporal adverse effects on root growth were linked to high initial concentrations of ammonium and nitrite in the rhizosphere in either fertilizer application, followed by a high biomass increase after its microbial conversion to nitrate. We conclude that digestate depot fertilization can contribute to an improved cultivation of perennial energy-crops on marginal soils.

Research on Unmanned Vehicle Positioning Technology Based on Multi-sensor Fusion

This paper is based on multi-sensor fusion technology of unmanned vehicle position to research and design a kind of scheme could choose to use adaptive visual data, GPS, INS, solved the problem of poor application effect of multiple scenarios on unmanned vehicles. This paper will integrate ORB_SLAM2 monocular vision and INS, compared with the traditional method to IMU and visual data separated filtering, we designed a general nonlinear optimization framework could bring visual feature points and the noise of the IMU data into it to optimize the camera position. Not only could scale and sensor bias be accurately estimated, could also improve the robustness and position precision of the unmanned vehicle. When the GPS signal is better, the algorithm combines the GPS data with the kalman filtering algorithm, which could be used to estimate the position of the GPS data more accurately, and can also assist the construction of visual map. In addition, it also shows good performance in data delay handling. By test in Euroc datasets and real vehicle, effect is good, in large scale outdoor scenarios also has higher position accuracy and robustness, the error is less than 0.1 meters, and has a strong practical value.

Composting – Recent Investigations for Specimen Preparation

Preparators and taxidermists spend a great deal of time preparing osteological materials before these can enter collections. The different preparation methods can have variable results and even the type of specimen being prepared can impact on its overall finish after preparation. This can often result in a lot of extra preparation work to finish or tidy up specimens. Common methods for preparation include maceration, dermestid beetles, burial and composting. Most techniques require initial preparation (flensing) and subsequent work that often introduces more chemicals or handling of the specimens. Each method has uncontrolled elements and difficulties. Dermestids are sometimes temperamental in their preferences and require a lot of care to maintain. Maceration often involves additives like detergents or follow-up chemical treatments. Burial is often highly uncontrolled, leading to problems of drainage and the build-up of unwanted pH environments. Marine mammals or larger specimens present further challenges, being oily or too large to process onsite. When these types of specimens are buried they must often be further processed before entering the collections. All of these different processes can have an impact on the long-term preservation of the individual specimens, which is a concern for conservators. A separate project was set up to investigate how illegally traded bones (tiger in this case) are affected by various environmental (“preparation”) conditions. A series of stations was set up simulating different environments, one being a compost. This started off further investigations into composting as a viable routine preparation technique. We will contrast the recent recovery of three buried beaked whales with composting trials of a frozen unflensed beaked whale skull and a small whole dolphin. The composting techniques seem to allow greater control, and produced excellent results. Our visual results will be complemented with data from the compost site, such as temperature loggers. This is currently an ongoing investigation and it is hoped that further data will be collected over time, such as pH testing of soil samples from burial sites and compost sites. Data from two trials at the Australian Museum – a larger outdoor controlled compost heap and smaller plastic tub composts – will be presented. This project highlights the importance of data collection during specimen preparation. The pathways a specimen goes through before entering a collection have an impact on its long-term preservation and research potential. These data need to be retained.

Algae Harvesting from Large Outdoor Ponds Using a Novel Parallel Robot System

This paper presents a novel method for effective, economical, energy-efficient algae harvesting from large (1-4 acre) outdoor circulating raceway pond systems: a portable 4-cable-suspended robot. Algae, used as an alternative energy crop to produce biofuels (and other consumer products), still remains too expensive. One of the greatest expenses in processing algae is the harvesting process. To replace the typical energy-intensive pumping of the entire pond water through algae filters, we propose using a cable-suspended robot to collect algae, which largely then drains of water while the robot translates the product to a collection point. An additional benefit of our concept, in additional to lower harvesting cost, is that the algae still growing in the pond is not shocked as in the current pumping process, leading to better, healthier yields. Further, the proposed robot system is portable, capable of harvesting multiple ponds while algae continues to grow.

Large Outdoor Fires and the Built Environment: Objectives and Goals of Permanent IAFSS Working Group.

Large Outdoor Fires and the Built Environment: Objectives and Goals of Permanent IAFSS Working Group.

The WSN Monitoring System for Large Outdoor Advertising Boards Based on ZigBee and MEMS Sensor

With the increase of large outdoor advertising boards, the issues of public safety raised by the collapse of outdoor advertising boards have attracted great public concern. In this paper, a wireless sensor network (WSN) monitoring system is designed for the structural health monitoring of large outdoor advertising boards. By using the WSN technology, this system can judge the security of the outdoor advertising boards and give early warnings when the boards are being in danger. The monitoring system consists of two subsystems, one is the WSN structure system based on ZigBee wireless sensor nodes with a six-axis MEMS motion sensor integrated to capture the movement information, and the other is the monitoring center system controlled by ARM microcontroller for data processing and long-distance wireless communications with remote server through a GPRS module. The simulation model of outdoor advertising board is also built to analyze the deformed shape of the advertising board structure under wind load, and the early warning judgment standard is proposed. The performance of the monitoring system is evaluated through several experiments under the condition of laboratory in different aspects of the comparison experiments. The experimental results indicate that the WSN monitoring system can real timely and accurately monitor the state of the outdoor advertising boards.

基于切片采样和质心距直方图特征的室外大场景三维点云分类

基于切片采样和质心距直方图特征的室外大场景三维点云分类

Outline of Discussion: Pioneering Firebrand Research for Large Outdoor Fire Mitigation

Outline of Discussion: Pioneering Firebrand Research for Large Outdoor Fire Mitigation

Spatio-contextual Gaussian mixture model for local change detection in underwater video

In this article, a local change detection technique for underwater video sequences is proposed to detect the positions of the moving objects. The proposed change detection scheme integrates the Mixture of Gaussian (MoG) process in a Wronskian framework. It uses spatiotemporal modes (an integration of spatio-contextual and temporal modes) arising over the underwater video sequences to detect the local changes. The Wronskian framework takes care of the spatio-contextual modes whereas MoG models the temporal modes arising due to inter-dependency of a pixel in a video. The proposed scheme follows two steps: background construction and background subtraction. It takes initial few frames to construct a background model and thereby detection of the moving objects in the subsequent frames. During background construction stage; the linear dependency test between the region of supports/ local image patch in the target image frame and the reference background model are carried out using the Wronskian change detection model. The pixel values those are linearly dependent are assumed to be generated from an MoG process and are modeled using the same. Once the background is constructed, then the background subtraction and update process starts from the next frame. The efficiency of the proposed scheme is validated by testing it on two benchmark underwater video databases: fish4knowledge and underwaterchangedetection and one large scale outdoor video database: changedetection.net. The effectiveness of the proposed scheme is demonstrated by comparing it with eighteen state-of-the-art local change detection algorithms. The performance of the proposed scheme is carried out using one subjective and three quantitative evaluation measures.

A 3D Human Skeletonization Algorithm for a Single Monocular Camera Based on Spatial–Temporal Discrete Shadow Integration

Three-dimensional (3D) human skeleton extraction is a powerful tool for activity acquirement and analyses, spawning a variety of applications on somatosensory control, virtual reality and many prospering fields. However, the 3D human skeletonization relies heavily on RGB-Depth (RGB-D) cameras, expensive wearable sensors and specific lightening conditions, resulting in great limitation of its outdoor applications. This paper presents a novel 3D human skeleton extraction method designed for the monocular camera large scale outdoor scenarios. The proposed algorithm aggregates spatial–temporal discrete joint positions extracted from human shadow on the ground. Firstly, the projected silhouette information is recovered from human shadow on the ground for each frame, followed by the extraction of two-dimensional (2D) joint projected positions. Then extracted 2D joint positions are categorized into different sets according to activity silhouette categories. Finally, spatial–temporal integration of same-category 2D joint positions is carried out to generate 3D human skeletons. The proposed method proves accurate and efficient in outdoor human skeletonization application based on several comparisons with the traditional RGB-D method. Finally, the application of the proposed method to RGB-D skeletonization enhancement is discussed.

Soundscape analysis and modeling of outdoor gathering spaces

Case studies of three outdoor gathering spaces will be presented to illustrate the soundscape concepts embodied in each. Case study 1 is an outdoor amphitheater that is located near a residential neighborhood. Concerts at the amphitheater raised concerns from residents about acoustical measuring methods. Case study 2 is a lively restaurant with a large outdoor seating area where guests eat and listen to music played by a single performer or small group. Case study 3 is a series of outdoor restaurants that do not have live entertainment. The use of different types of soundwalks to capture the acoustical signature of these venues; the acoustical communities involved in each situation; taxonomies of the sounds that occur at each; the specific acoustical events that comprise the ambient sound in each case; acoustical measurements and modeling used in the analysis of each venue; the extent of the acoustical rooms for performing and listening; an acoustical calendar; the design of the acoustical interventions; and live experiments to document ranges of conditions to residents are documented and discussed.

Rescuing ethanol photosynthetic production of cyanobacteria in non-sterilized outdoor cultivations with a bicarbonate-based pH-rising strategy

BackgroundEthanol photosynthetic production based on cyanobacteria cell factories utilizing CO2 and solar energy provides an attractive solution for sustainable production of green fuels. However, the scaling up processes of cyanobacteria cell factories were usually threatened or even devastated by biocontaminations, which restricted biomass or products accumulations of cyanobacteria cells. Thus it is of great significance to develop reliable biocontamination-controlling strategies for promoting ethanol photosynthetic production in large scales.ResultsThe scaling up process of a previously developed Synechocystis strain Syn-HZ24 for ethanol synthesis was severely inhibited and devastated by a specific contaminant, Pannonibacter phragmitetus, which overcame the growths of cyanobacteria cells and completely consumed the ethanol accumulation in the cultivation systems. Physiological analysis revealed that growths and ethanol-consuming activities of the contaminant were sensitive to alkaline conditions, while ethanol-synthesizing cyanobacteria strain Syn-HZ24 could tolerate alkaline pH conditions as high as 11.0, indicating that pH-increasing strategy might be a feasible approach for rescuing ethanol photosynthetic production in outdoor cultivation systems. Thus, we designed and evaluated a Bicarbonate-based Integrated Carbon Capture System (BICCS) derived pH-rising strategy to rescue the ethanol photosynthetic production in non-sterilized conditions. In lab scale artificially simulated systems, pH values of BG11 culture medium were maintained around 11.0 by 180 mM NaHCO3 and air steam, under which the infection of Pannonibacter phragmitetus was significantly restricted, recovering ethanol production of Syn-HZ24 by about 80%. As for outdoor cultivations, ethanol photosynthetic production of Syn-HZ24 was also successfully rescued by the BICCS-derived pH-rising strategy, obtaining a final ethanol concentration of 0.9 g/L after 10 days cultivation.ConclusionsIn this work, a novel product-consuming biocontamination pattern in cyanobacteria cultivations, causing devastated ethanol photosynthetic production, was identified and characterized. Physiological analysis of the essential ethanol-consuming contaminant directed the design and application of a pH-rising strategy, which effectively and selectively controlled the contamination and rescued ethanol photosynthetic production. Our work demonstrated the importance of reliable contamination control systems and strategies for large scale outdoor cultivations of cyanobacteria, and provided an inspiring paradigm for targeting effective solutions.

The Experience of a District General Hospital with a Large Outdoor Music Festival in England

Objectives: To assess the impact of the Parklife annual music festival on the local hospital, North Manchester General. Methods: Data was obtained retrospectively by analysis of emergency department records during the weekend of Parklife 2015. Results: 32 patients were identified, 56% reported taking drugs. 34% were admitted for overnight observation. 4 patients presented with methaemoglobinaemia following oral ingestion of amyl nitrate. One patient had a methaemoglobin fraction of 90.6%, which is amongst the most extreme recorded in literature. Conclusion: Music festivals can impose a burden on local health services. Organisers should operate an efficient surveillance system in order to prevent the sale and use of recreational drugs, providing adequate on-site health services and working in collaboration with local emergency services.

On the Durability and Wear Resistance of Transparent Superhydrophobic Coatings

Transparent liquid repellent coatings with exceptional wear and abrasion resistance are very demanding to fabricate. The most important reason for this is the fact that majority of the transparent liquid repellent coatings have so far been fabricated by nanoparticle assembly on surfaces in the form of films. These films or coatings demonstrate relatively poor substrate adhesion and rubbing induced wear resistance compared to polymer-based transparent hydrophobic coatings. However, recent advances reported in the literature indicate that considerable progress has now been made towards formulating and applying transparent, hydrophobic and even oleophobic coatings onto various substrates which can withstand certain degree of mechanical abrasion. This is considered to be very promising for anti-graffiti coatings or treatments since they require resistance to wear abrasion. Therefore, this review intends to highlight the state-of-the-art on materials and techniques that are used to fabricate wear resistant liquid repellent transparent coatings so that researchers can assess various aptitudes and limitations related to translating some of these technologies to large scale stain repellent outdoor applications.

大規模地図構築のためのランドマークを用いた自動地図統合

A map integrating approach is proposed in this paper for solving the problem of labor saving. When constructing a large-scale map using multiple robots, the coordinate system of each maps created, must be unified into one coordinate system. Since the area where the robot is active has a large scale, both outdoors and indoors, a map building method which can correspond to any environment is necessary. We propose a method to integrate plural maps, each having different coordinate systems by using informations such as combining landmarks and road shapes. An optimization process is performed on a map created by multiple robots, thereby realizing constructions of a map with a higher accuracy. In order to show the usefulness of this method, we will conduct a map building experiment in the area, which includes indoors.

A Ground-Based Near Infrared Camera Array System for UAV Auto-Landing in GPS-Denied Environment.

This paper proposes a novel infrared camera array guidance system with capability to track and provide real time position and speed of a fixed-wing Unmanned air vehicle (UAV) during a landing process. The system mainly include three novel parts: (1) Infrared camera array and near infrared laser lamp based cooperative long range optical imaging module; (2) Large scale outdoor camera array calibration module; and (3) Laser marker detection and 3D tracking module. Extensive automatic landing experiments with fixed-wing flight demonstrate that our infrared camera array system has the unique ability to guide the UAV landing safely and accurately in real time. Moreover, the measurement and control distance of our system is more than 1000 m. The experimental results also demonstrate that our system can be used for UAV automatic accurate landing in Global Position System (GPS)-denied environments.

Full‐field deformation measurements during seismic loading of masonry buildings

Summary This article demonstrates the potential of the digital image correlation (DIC) method to provide accurate full-field deformation measurements and successfully monitor the development of damage during seismic excitation of a partially grouted reinforced masonry building. The building was subjected to a sequence of earthquake ground motion records using the Large High Performance Outdoor Shake Table at the University of California, San Diego. The DIC setup was capable of measuring surface deformations of the single-story building with high frame rate cameras located at a distance greater than 50 ft away. The accuracy of the measurements was assessed with data obtained using mounted displacement transducers. The full-field deformation data collected by the DIC system was capable to detect strain localization patterns associated with the onset of wall cracking before it could be shown by the displacement sensor data or by post mortem visual inspection. The research findings reported herein demonstrate, for the first time to the authors' best knowledge, the potential of in situ monitoring of actual structures for damage induced by non-stationary loading profiles using optical metrology. Copyright © 2016 John Wiley & Sons, Ltd.

A tool for determining sheltering efficiency of mechanically ventilated buildings against outdoor hazardous agents

Sudden large scale outdoor releases of toxic materials may require protective actions in the affected areas, and one option is to shelter indoors. Mechanically ventilated buildings provide protection against outdoor hazardous particulate materials with varying efficiency depending mainly on the properties of the HVAC system of the building, air leakage, and the nature of the outdoor release. A tool for modelling the indoor concentrations due to outdoor contaminants has been developed and presented. The tool solves numerically the simplified mass balance equation describing the size-resolved behaviour of airborne particles and uses as input experimentally obtained data on particle concentrations outdoors, in the supply air, and indoors. By eliminating the effect of indoor sources the size-resolved indoor/outdoor (I/O) ratio for fine particles can be determined accurately, thus giving detailed information on the buildings protective capability and thereby quantitative knowledge to support emergency managers decision making.

Culture modes and financial evaluation of two oleaginous microalgae for biodiesel production in desert area with open raceway pond

Cultivation modes of autotrophic microalgae for biodiesel production utilizing open raceway pond were analyzed in this study. Five before screened good microalgae were tested their lipid productivity and biodiesel quality again in outdoor 1000L ORP. Then, Chlorella sp. L1 and Monoraphidium dybowskii Y2 were selected due to their stronger environmental adaptability, higher lipid productivity and better biodiesel properties. Further scale up cultivation for two species with batch and semi-continuous culture was conducted. In 40,000L ORP, higher lipid productivity (5.15 versus 4.06gm−2d−1 for Chlorella sp. L1, 5.35 versus 3.00gm−2d−1 for M. dybowskii Y2) was achieved in semi-continuous mode. Moreover, the financial costs of 14.18$gal−1 and 13.31$gal−1 for crude biodiesel in two microalgae with semi-continuous mode were more economically feasible for commercial production on large scale outdoors.