A framework for rapid local area modeling for construction automation

Rapid 3D positioning and modeling in construction can be used to more effectively plan, visualize, and communicate operations before execution. It can also help to optimize equipment operations, significantly improve safety, and enhance a remote operator's spatial perception of the workspace. A new framework for rapid local area sensing and 3D modeling for better planning and control of construction equipment operation is described and demonstrated. By combining human-assisted graphical workspace modeling with pre-stored Computer-Aided Design (CAD) models and simple sensors (such as single-axis laser rangefinders and remote video cameras), modeling time can be significantly reduced while potentially increasing modeling accuracy.     

The use of roughness to produce high reynolds number flows around circular cylinders at lower reynolds numbers

It has long been stated that the pressure distribution around a circular cylinder at high values of Reynolds number can be reproduced at lower values of Reynolds number by a suitable roughening of the surface of the cylinder. This paper shows that this is indeed possible and explains the problems.     

Finite element modelling of plate girders with web openings

This paper is concerned with a finite element model to predict the behaviour and ultimate load of plate girders with web openings. The finite element package is used to model the plate girders with web openings. Accuracy of the model is assessed by applying it to plate girders tested earlier by other researchers. Comparison of analytical results with the available experimental results for yielding patterns, ultimate load values and load–deflection relationships show good agreement between the finite element and experimental results thus validating the accuracy of the proposed model. The proposed finite element method was extended to carry out a parametric study. The study covered parameters such as web slenderness and flange stiffness.     

Permeability changes in granite with crack growth during immersion in hot water

Permeability tests and observation of induced, as well as inherent, cracks have been carried out to quantitatively explain permeability changes in granite taking place during a weathering test in terms of micro-structure by cracks. To this end, permeability tensors were estimated from observations of crack systems using the Replica Method and of the crack apertures with a scanning electron microscope. The following conclusions were reached: the drastic increase in permeability around an immersion of 1000 d in 90°C water could not be explained by the existence of a percolation threshold because all the specimens were percolative in the sense that the traces of crack tensor were above the critical density for percolation. On the other hand, SEM observation revealed that, with immersion, crack apertures widened and their distribution spread. Permeability estimated using the third (not the first) moment of observed apertures showed the increase in measured permeability well. When evaluating the connectivity parameter λ to give a quantitative accordance between measured and estimated permeability, it had a constant value as low as 0.17, irrespective of the immersion period, in spite of the higher density of micro-cracks than the percolation threshold. It can be said that, in considering the natural three-dimensional crack system, the third moment of physical apertures plays a more important role in predicting the permeability and λ is greatly affected by the spread of crack apertures.     

Radiocesium in muscle tissue of reindeer and pike from northern Sweden before and after the Chernobyl accident. A retrospective study on tissue samples from the Swedish Environmental Specimen Bank.

After the Chernobyl accident in April 1986, considerable deposition of radionuclides occurred regionally in eastern, central and northwestern Sweden. Locally, the fallout of radiocesium exceeded the remainder from atmospheric nuclear weapons tests by several magnitudes. Since the end of the 1960s samples of organs from various plant and animal species, annually collected at different localities, have been preserved in the Swedish Environmental Specimen Bank (ESB). In this work samples from the ESB have been used for retrospective studies of radioactive pollution. The activities of Cs-134 and Cs-137 in muscle tissues from reindeer, Rangifer tarandus, and pike, Esox lucius, preserved in the ESB, were measured. The samples were collected annually; the reindeer at three localities in northern Sweden and the pike at one of them. In material collected prior to the Chernobyl accident, the levels of Cs-137 were 57-180 Bq/kg in reindeer and 14-24 Bq/kg in pike, fresh weight basis. These levels relate to earlier nuclear bomb tests. A significant decrease was found in pike during the pre-Chernobyl period (1971-86). In post-Chernobyl samples the burden of Cs-137 varied from amounts equal to the former levels in the northernmost locality and up to 80 times higher for the maximum values in the southernmost locality. The highest value recorded was 18,425 Bq/kg in reindeer. The geographic variations in reindeer from Chernobyl fallout were in accordance with the pattern of deposition estimated by aircraft surveys performed in May 1986. The ratio between 'new' and 'old' radiocesium burdens in pike, caught in 1987, approached the corresponding ratio for reindeer grazing in the precipitation area of the lake; 33 and 19, respectively.     

Contribution à l'étude de la détermination des conditions de formation des haloformes

In recent years the presence of haloforms has been observed by some researchers in waters of various origins.The aim of this study is to determine the conditions in which chloroform is formed by chlorination of aqueous solutions of some organic compounds.The first part of this work was carried out by chlorination of synthetic basic solutions of acetone and thus enabled us to determine the reagent concentrations needed to obtain the maximum quantity of chloroform.We studied next the effect of chlorination on organic material solutions (humic acids and phenols), in the course of an oxidation treatment; the results obtained by chlorination of aqueous solutions of humic substances show that the quantity of chloroform produced passes through a maximum value which depends on the time of ozonisation. Similar results were obtained for the chlorination of phenol solutions during oxidation by the u.v. + H₂O₂ system. These results may be explained by the partial degradation of the molecules which leads in the formation of reactional intermediate precursors of the haloform reaction. We undertook at the same time the study of a rapid test allowing us to detect the presence of haloform reaction precursors in a certain sample of water.     

Oxygen transfer in a rotating disc treatment plant

In this paper experiments are described in a bio-disc pilot plant. A new method has been developed for a reproducible measurement of the thickness of the waterfilm on the rotating discs. The results were used to calculate the oxygen transfer coefficient into water (K_L). The values of K_L, calculated in this way, appeared to be considerably higher than experimental K_L-values, which is mainly due to the fact that the water layer on the rotating disc is outdistanced by the disc. This effect has not been taken into account in the literature so far.     

Sorption of benzenesulfonates by weak base anion exchange resins

Weak base phenol formaldehyde anion exchange resins were found to have an excellent capacity for removing the anionic organic species benzenesulfonate (BS), p-toluenesulfonate (PTS) and dodecylbenzenesulfonate (DBS) from pH 2 and 4 solutions. The capacity for DBS was generally greater than that of activated carbon and significantly greater than that of a polystyrene-divinylbenzene resin with no ion exchange functional groups. The maximum capacity of the weak base resins appeared to be limited by the exchange capacity of the resin. The mechanism of removal was strongly indicated as being either ion exchange at the amine functional groups in the acid form, or uptake of a proton by the amine groups in the free base form with the organic anion as the associated counter ion. Increasing concentrations of Cl⁻ decreased the amount of organic anion that could be sorbed.The swelling of one of the resins, Duolite A-7, also had a marked effect on its sorption capacity. The pores of the acid chloride or acid organic anion form of the resin were apparently larger than those of the free base form; thus, as conversion of the resin to the acid form took place, a greater amount of uptake was observed. The effect of swelling on the capacity of Duolite S-37 was much less, apparently owing to its larger pore structure, but its capacity for DBS at low pH was lower than that for A-7 because of its lower nitrogen content. Also, BS and DBS were easily removed from the weak base resins by washing them with NaOH. Four bed volumes of 1 m NaOH gave essentially complete regeneration of BS saturated A-7.     

Dynamic analysis and optimal feedback control synthesis applied to biological waste treatment

The dynamics and optimal feedback control of biological waste treatment processes are examined. Modern feedback control theory is applied and results are obtained for both proportional and proportional plus integral control. A dynamic mathematical model of the system is developed by employing a Monod kinetic model, which is modified to account for endogenous metabolism, and a complete mixing flow model in the growth chamber. The feedback control is implemented via the flow rate so as to maintain desired effluent concentrations. External disturbances which cause changes in substrate concentration and/or cell concentration are considered and optimal control effort is applied. Results are also presented for impulse and step changes in the influent substrate concentration. It is found that by changing the values of the weighting factors in the objective function, it is possible to obtain good control of either the effluent substrate concentration or cell concentration.