The current state and future outlook of rescue robotics

Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly relevant target for applying such technologies, due to the challenging conditions faced by rescue workers and the possibility to increase their efficacy while decreasing the risks they face. However, field‐deployable technologies for rescue work have requirements for robustness, speed, versatility, and ease of use that may not be matched by the state of the art in robotics research. This paper aims to survey the current state of the art in ground and aerial robots, marine and amphibious systems, and human–robot control interfaces and assess the readiness of these technologies with respect to the needs of first responders and disaster recovery efforts. We have gathered expert opinions from emergency response stakeholders and researchers who conduct field deployments with them to understand these needs, and we present this assessment as a way to guide future research toward technologies that will make an impact in real‐world disaster response and recovery.     

Terahertz time-domain spectroscopy and the quantitative monitoring of mechanochemical cocrystal formation

Terahertz (THz) radiation probes intermolecular interactions through crystal lattice vibrations, allowing the characterization of solid materials. Thus, THz spectroscopy is a promising alternative to mainstream solid-state analytical tools such as X-ray diffraction or thermal analysis. The method provides the benefits of online measurement, remote sampling and three-dimensional imaging, all of which are attractive for quality control and security applications. In the context of pharmaceutical solids, THz spectroscopy can differentiate and quantify different forms of active pharmaceutical ingredients. Here, we apply this technique to monitor a dynamic process involving two molecular crystals. In particular, we follow the mechanochemical construction of a two-component cocrystal by grinding together phenazine (phen) and mesaconic acid (mes). To rationalize the observed changes in the spectra, we conduct lattice dynamics calculations that lead to the tentative assignment of at least one feature in the cocrystal THz spectrum.     

Visual Target Localization with the Spincopter

The goal of the Spincopter project was to design an energy efficient aircraft capable of autorotation glide that could be used for both indoor and outdoor surveillance. This paper demonstrates how to utilize the self-rotating capability of the Spincopter in order to acquire a 3D image of its environment and localize predefined object(s). The omnidirectional capabilities of such an UAV extends the otherwise very limited field of view of conventional cameras usually used for aerial photography and surveillance. The paper presents the theoretical background and the actual implementation of such a system. It presents the resulting images and offers a brief survey of the image quality.     

Deflections of concrete beams reinforced with FRP bars

The aim of this study is to experimentally and theoretically investigate the flexural behavior of concrete beams reinforced with fiber reinforced polymer (FRP) bars. In this research, three types of experiments were made. First, the tensile properties of FRP and steel bars were tested, then the bond-slip behavior between bars and concrete was tested on standard specimens and, in the end, three series of concrete beams reinforced with GFRP, CFRP and steel bars were tested up to failure. The theoretical model for calculating deflections was developed, which included bond-slip behavior of FRP bars. The theoretical results were compared to the test results of beam deflections, as well to deflection results obtained by theoretical models developed by other authors.     

Radioactive contamination in Croatia by phosphate fertilizer production

The contents of natural radionuclides (radium, uranium and potassium) were measured in the area of a phosphate fertilizer factory in central Croatia, as a part of extended and still ongoing monitoring program of radioactive contamination of human environment in Croatia that is performed by the Radiation Protection Unit of the Institute for Medical Research and Occupational Health in Zagreb. Activity concentrations in all analysed media (waste water, trickling water from piezometers, phosphogypsum deposit and final products) considerably fluctuated, especially in phosphogypsum and waste water. Mean (226)Ra activity concentration in waste phosphogypsum was measured to be 483+/-190 Bqkg(-1). Based on that value, it was estimated that 4 million m(3) of phosphogypsum that have been deposited up to now contain about 4.3 x 10(12) Bq, i.e. about 200 g of (226)Ra. However, effective dose for an adult that would be incurred by consumption of water from nearby wells was estimated to be 5.3+/-1.3 microSv. The results show that (226)Ra activities cause effective doses, which are below the recommended maximum as the estimated annual (226)Ra effective dose does not exceed 0.1 mSv as recommended by the World Health Organization.     

High exposure to arsenic from drinking water at several localities in eastern Croatia

This study investigated the relationship between arsenic concentrations in drinking water in four towns/villages in eastern Croatia and corresponding hair arsenic concentrations of residents. The mean arsenic concentrations in community drinking water samples were 0.14, 37.88, 171.60, and 611.89 microg/l. The corresponding mean concentrations of the element in hair samples of subjects residing in each of the localities were 0.07 (n=11), 0.26 (n=17), 1.74 (n=11), and 4.31 microg/g (n=23). Chronic exposures to arsenic levels estimated in three investigated locations could present a serious health threat to around 3% of Croatian population.     

Transparent exopolymeric particles' distribution in the northern Adriatic and their relation to microphytoplankton biomass and composition

Transparent exopolymer particles (TEP) are generated during transformation processes within the non-living organic matter continuum in the seawater. Seasonal dynamics of TEP along the Po River Delta-Rovinj transect was followed during the 3-year period, using a spectrophotometric method of determination of TEP. Relationships between TEP and phytoplankton biomass (chlorophyll a), abundance and composition, as well as phaeophytin, were analysed. Microphytoplankton spring blooms are confirmed to be an important source of TEP, with some species more related to TEP concentration dynamics, such as Chaetoceros sp. and Skeletonema costatum. Notable spatial west to east gradient of autotrophic biomass and consequently of TEP was observed, as well as gradual decrease with depth. In addition, TEP concentration increments were observed up to 2 months before the mucilage events followed by the decrease of TEP concentration during the event itself. Pattern of TEP dynamics in the years with mucilage events was the most pronounced in 2002, when the event was spatially and temporally the most extended.