5,398 research outputs found

    Undergraduate Catalog of Studies, 2023-2024

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    Undergraduate Catalog of Studies, 2023-2024

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    Virtual Shake Robot: Simulating Dynamics of Precariously Balanced Rocks for Overturning and Large-displacement Processes

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     Understanding the dynamics of precariously balanced rocks (PBRs) is important for seismic hazard analysis and rockfall prediction. Utilizing a physics engine and robotic tools, we develop a virtual shake robot (VSR) to simulate the dynamics of PBRs during overturning and large-displacement processes. We present the background of physics engines and technical details of the VSR, including software architecture, mechanical structure, control system, and implementation procedures. Validation experiments show the median fragility contour from VSR simulation is within the 95% prediction intervals from previous physical experiments, when PGV/PGA is greater than 0.08 s. Using a physical mini shake robot, we validate the qualitative consistency of fragility anisotropy between the VSR and physical experiments. By overturning cuboids on flat terrain, the VSR reveals the relationship between fragility and geometric dimensions (e.g., aspect and scaling ratios). The ground motion orientation and lateral pedestal support affect PBR fragility. Large-displacement experiments estimate rock trajectories for different ground motions, which is useful for understanding the fate of toppled PBRs. Ground motions positively correlate with large displacement statistics such as mean trajectory length, mean largest velocity, and mean terminal distance. The overturning and large displacement processes of PBRs provide complementary methods of ground motion estimation

    UMSL Bulletin 2023-2024

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    The 2023-2024 Bulletin and Course Catalog for the University of Missouri St. Louis.https://irl.umsl.edu/bulletin/1088/thumbnail.jp

    Fluid effects in model granular flows

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    Pore fluid plays a crucial role in many granular flows, especially those in geophysical settings. However, the transition in behaviour between dry flows and fully saturated flows and the underlying physics that relate to this are poorly understood. In this paper, we report the results of small-scale flume experiments using monodisperse granular particles with varying water content and volume in which the basal pore pressure, total pressure, flow height and velocity profile were measured at a section. We compare the results with theoretical profiles for granular flow and with flow regimes based on dimensional analysis. The runout and the centre of mass were also calculated from the deposit surface profiles. As the initial water content by mass was increased from zero to around 10%, we first observed a drop in mobility by approximately 50%, as surface tension caused cohesive behaviour due to matric suction. As the water content was further increased up to 45%, the mobility also increased dramatically, with increased flow velocity up to 50%, increased runout distance up to 240% and reduced travel angle by up to 10° compared to the dry case. These effects can be directly related to the basal pore pressure, with both negative pressures and positive pore pressures being measured relative to atmospheric during the unsteady flow. We find that the initial flow volume plays a role in the development of relative pore pressure, such that, at a fixed relative water content, larger flows exhibit greater positive pore pressures, greater velocities and greater relative runout distances. This aligns with many other granular experiments and field observations. Our findings suggest that the fundamental role of the pore fluid is to reduce frictional contact forces between grains thus increasing flow velocity and bulk mobility. While this can occur by the development of excess pore pressure, it can also occur where the positive pore pressure is not in excess of hydrostatic, as shown here, since buoyancy and lubrication alone will reduce frictional forces

    Natural and Technological Hazards in Urban Areas

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    Natural hazard events and technological accidents are separate causes of environmental impacts. Natural hazards are physical phenomena active in geological times, whereas technological hazards result from actions or facilities created by humans. In our time, combined natural and man-made hazards have been induced. Overpopulation and urban development in areas prone to natural hazards increase the impact of natural disasters worldwide. Additionally, urban areas are frequently characterized by intense industrial activity and rapid, poorly planned growth that threatens the environment and degrades the quality of life. Therefore, proper urban planning is crucial to minimize fatalities and reduce the environmental and economic impacts that accompany both natural and technological hazardous events

    Analysis of atomic magnetometry using metasurface optics for balanced polarimetry

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    Atomic magnetometry is one of the most sensitive field-measurement techniques for biological, geo-surveying, and navigation applications. An essential process in atomic magnetometry is measurement of optical polarization rotation of a near-resonant beam due to its interaction with atomic spins under an external magnetic field. In this work, we present the design and analysis of a silicon-metasurface-based polarization beam splitter that have been tailored for operation in a rubidium magnetometer. The metasurface polarization beam splitter operates at a wavelength of 795 nm and has a transmission efficiency > 83% and a polarization extinction ratio > 20 dB. We show that these performance specifications are compatible with magnetometer operation in miniaturized vapor cells with subpicotesla-level sensitivity and discuss the prospect of realizing compact, high-sensitivity atomic magnetometers with nanophotonic component integration

    UMSL Bulletin 2022-2023

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    The 2022-2023 Bulletin and Course Catalog for the University of Missouri St. Louis.https://irl.umsl.edu/bulletin/1087/thumbnail.jp

    Exploration autonome et efficiente de chantiers miniers souterrains inconnus avec un drone filaire

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    Abstract: Underground mining stopes are often mapped using a sensor located at the end of a pole that the operator introduces into the stope from a secure area. The sensor emits laser beams that provide the distance to a detected wall, thus creating a 3D map. This produces shadow zones and a low point density on the distant walls. To address these challenges, a research team from the Université de Sherbrooke is designing a tethered drone equipped with a rotating LiDAR for this mission, thus benefiting from several points of view. The wired transmission allows for unlimited flight time, shared computing, and real-time communication. For compatibility with the movement of the drone after tether entanglements, the excess length is integrated into an onboard spool, contributing to the drone payload. During manual piloting, the human factor causes problems in the perception and comprehension of a virtual 3D environment, as well as the execution of an optimal mission. This thesis focuses on autonomous navigation in two aspects: path planning and exploration. The system must compute a trajectory that maps the entire environment, minimizing the mission time and respecting the maximum onboard tether length. Path planning using a Rapidly-exploring Random Tree (RRT) quickly finds a feasible path, but the optimization is computationally expensive and the performance is variable and unpredictable. Exploration by the frontier method is representative of the space to be explored and the path can be optimized by solving a Traveling Salesman Problem (TSP) but existing techniques for a tethered drone only consider the 2D case and do not optimize the global path. To meet these challenges, this thesis presents two new algorithms. The first one, RRT-Rope, produces an equal or shorter path than existing algorithms in a significantly shorter computation time, up to 70% faster than the next best algorithm in a representative environment. A modified version of RRT-connect computes a feasible path, shortened with a deterministic technique that takes advantage of previously added intermediate nodes. The second algorithm, TAPE, is the first 3D cavity exploration method that focuses on minimizing mission time and unwound tether length. On average, the overall path is 4% longer than the method that solves the TSP, but the tether remains under the allowed length in 100% of the simulated cases, compared to 53% with the initial method. The approach uses a 2-level hierarchical architecture: global planning solves a TSP after frontier extraction, and local planning minimizes the path cost and tether length via a decision function. The integration of these two tools in the NetherDrone produces an intelligent system for autonomous exploration, with semi-autonomous features for operator interaction. This work opens the door to new navigation approaches in the field of inspection, mapping, and Search and Rescue missions.La cartographie des chantiers miniers souterrains est souvent réalisée à l’aide d’un capteur situé au bout d’une perche que l’opérateur introduit dans le chantier, depuis une zone sécurisée. Le capteur émet des faisceaux laser qui fournissent la distance à un mur détecté, créant ainsi une carte en 3D. Ceci produit des zones d’ombres et une faible densité de points sur les parois éloignées. Pour relever ces défis, une équipe de recherche de l’Université de Sherbrooke conçoit un drone filaire équipé d’un LiDAR rotatif pour cette mission, bénéficiant ainsi de plusieurs points de vue. La transmission filaire permet un temps de vol illimité, un partage de calcul et une communication en temps réel. Pour une compatibilité avec le mouvement du drone lors des coincements du fil, la longueur excédante est intégrée dans une bobine embarquée, qui contribue à la charge utile du drone. Lors d’un pilotage manuel, le facteur humain entraîne des problèmes de perception et compréhension d’un environnement 3D virtuel, et d’exécution d’une mission optimale. Cette thèse se concentre sur la navigation autonome sous deux aspects : la planification de trajectoire et l’exploration. Le système doit calculer une trajectoire qui cartographie l’environnement complet, en minimisant le temps de mission et en respectant la longueur maximale de fil embarquée. La planification de trajectoire à l’aide d’un Rapidly-exploring Random Tree (RRT) trouve rapidement un chemin réalisable, mais l’optimisation est coûteuse en calcul et la performance est variable et imprévisible. L’exploration par la méthode des frontières est représentative de l’espace à explorer et le chemin peut être optimisé en résolvant un Traveling Salesman Problem (TSP), mais les techniques existantes pour un drone filaire ne considèrent que le cas 2D et n’optimisent pas le chemin global. Pour relever ces défis, cette thèse présente deux nouveaux algorithmes. Le premier, RRT-Rope, produit un chemin égal ou plus court que les algorithmes existants en un temps de calcul jusqu’à 70% plus court que le deuxième meilleur algorithme dans un environnement représentatif. Une version modifiée de RRT-connect calcule un chemin réalisable, raccourci avec une technique déterministe qui tire profit des noeuds intermédiaires préalablement ajoutés. Le deuxième algorithme, TAPE, est la première méthode d’exploration de cavités en 3D qui minimise le temps de mission et la longueur du fil déroulé. En moyenne, le trajet global est 4% plus long que la méthode qui résout le TSP, mais le fil reste sous la longueur autorisée dans 100% des cas simulés, contre 53% avec la méthode initiale. L’approche utilise une architecture hiérarchique à 2 niveaux : la planification globale résout un TSP après extraction des frontières, et la planification locale minimise le coût du chemin et la longueur de fil via une fonction de décision. L’intégration de ces deux outils dans le NetherDrone produit un système intelligent pour l’exploration autonome, doté de fonctionnalités semi-autonomes pour une interaction avec l’opérateur. Les travaux réalisés ouvrent la porte à de nouvelles approches de navigation dans le domaine des missions d’inspection, de cartographie et de recherche et sauvetage

    A glassful of graphene: graphene-based materials for drinking water remediation

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    Modern world suffers from an intense water crisis. Emerging contaminants represent one of the most concerning elements of this issue. Substances, molecules, ions, and microorganisms take part in this vast and variegated class of pollutants, which main characteristic is to be highly resistant to traditional water purification technologies. An intense international research effort is being carried out in order to find new and innovative solutions to this problem, and graphene-based materials are one of the most promising options. Graphene oxide (GO) is a nanostructured material where domains populated by oxygenated groups alternate with interconnected areas of sp2 hybridized carbon atoms, on the surface of a one-atom thick nanosheets. GO can adsorb a great number of molecules and ions on its surface, thanks to the variety of different interactions that it can express, such as hydrogen bonding, p-p stacking, and electrostatic and hydrophobic interaction. These characteristics, added to the high superficial area, make it an optimal material for the development of innovative materials for drinking water remediation. The main concern in the use of GO in this field is to avoid secondary contaminations (i.e. GO itself must not become a pollutant). This issue can be faced through the immobilization of GO onto polymeric substrates, thus developing composite materials. The use of micro/ultrafiltration polymeric hollow fibers as substrates allows the design of adsorptive membranes, meaning devices that can perform filtration and adsorption simultaneously. In this thesis, two strategies for the development of adsorptive membranes were investigated: a core-shell strategy, where hollow fibers are coated with GO, and a coextrusion strategy, where GO is embedded in the polymeric matrix of the fibers. The so-obtained devices were exploited for both fundamental studies (i.e. molecular and ionic behaviour in between GO nanosheets) and real applications (the coextruded material is now at TRL 9)
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