Master of Science

thesisAn ever-present challenge at most active mining operations is controlling blastinduced damage beyond design limits. Implementing more effective wall control during blasting activities requires (1) understanding the damage mechanisms involved and (2) reasonably predicting the extent of blast-induced damage. While a common consensus on blast damage mechanisms in rock exists within the scientific community, there is much work to be done in the area of predicting overbreak. A new method was developed for observing near-field fracturing with a borescope. A field test was conducted in which a confined explosive charge was detonated in a body of competent rhyolite rock. Three instrumented monitoring holes filled with quick-setting cement were positioned in close proximity to the blasthole. Vibration transducers were secured downhole and on the surface to measure near-field vibrations. Clear acrylic tubing was positioned downhole and a borescope was lowered through it to view fractures in the grout. Thin, two-conductor, twisted wires were placed downhole and analyzed using a time-domain reflectometer (TDR) to assess rock displacement. Fracturing in the grout was easily observed with the borescope up to 3.78 m (12.4 ft) from the blasthole, with moderate fracturing visible up to 2.10 m (6.9 ft). Measured peak particle velocities (PPV) at these distances were 310 mm/s (12.2 in./s) and 1,490 mm/s (58.5 in./s), respectively, although no fracturing was observed near the depth of the vibration transducers located 3.78 m (12.4 ft) from the blasthole. TDR readings were difficult to interpret but indicated rock displacement in two of the monitoring holes. Three methods were used to predict the radial extent of tensile damage around the blasthole: a modified Holmberg-Persson (HP) model, a shockwave transfer (SWT) model, and a dynamic finite element simulation using ANSYS AutodynTM. The extent of damage predicted by the HP and SWT models is similar to field measurements when using static material properties of the rock, but is underestimated using dynamic material properties. The Autodyn™ model significantly overpredicted the region of damage but realistically simulated the zones of crushing and radial cracking. Calibration of material parameters for the AutodynTM model would be needed to yield more accurate results

Data collection system: Earth Resources Technology Satellite-1

Subjects covered at the meeting concerned results on the overall data collection system including sensors, interface hardware, power supplies, environmental enclosures, data transmission, processing and distribution, maintenance and integration in resources management systems

Vision-Based Control of Unmanned Aerial Vehicles for Automated Structural Monitoring and Geo-Structural Analysis of Civil Infrastructure Systems

The emergence of wireless sensors capable of sensing, embedded computing, and wireless communication has provided an affordable means of monitoring large-scale civil infrastructure systems with ease. To date, the majority of the existing monitoring systems, including those based on wireless sensors, are stationary with measurement nodes installed without an intention for relocation later. Many monitoring applications involving structural and geotechnical systems require a high density of sensors to provide sufficient spatial resolution to their assessment of system performance. While wireless sensors have made high density monitoring systems possible, an alternative approach would be to empower the mobility of the sensors themselves to transform wireless sensor networks (WSNs) into mobile sensor networks (MSNs). In doing so, many benefits would be derived including reducing the total number of sensors needed while introducing the ability to learn from the data obtained to improve the location of sensors installed. One approach to achieving MSNs is to integrate the use of unmanned aerial vehicles (UAVs) into the monitoring application. UAV-based MSNs have the potential to transform current monitoring practices by improving the speed and quality of data collected while reducing overall system costs. The efforts of this study have been chiefly focused upon using autonomous UAVs to deploy, operate, and reconfigure MSNs in a fully autonomous manner for field monitoring of civil infrastructure systems. This study aims to overcome two main challenges pertaining to UAV-enabled wireless monitoring: the need for high-precision localization methods for outdoor UAV navigation and facilitating modes of direct interaction between UAVs and their built or natural environments. A vision-aided UAV positioning algorithm is first introduced to augment traditional inertial sensing techniques to enhance the ability of UAVs to accurately localize themselves in a civil infrastructure system for placement of wireless sensors. Multi-resolution fiducial markers indicating sensor placement locations are applied to the surface of a structure, serving as navigation guides and precision landing targets for a UAV carrying a wireless sensor. Visual-inertial fusion is implemented via a discrete-time Kalman filter to further increase the robustness of the relative position estimation algorithm resulting in localization accuracies of 10 cm or smaller. The precision landing of UAVs that allows the MSN topology change is validated on a simple beam with the UAV-based MSN collecting ambient response data for extraction of global mode shapes of the structure. The work also explores the integration of a magnetic gripper with a UAV to drop defined weights from an elevation to provide a high energy seismic source for MSNs engaged in seismic monitoring applications. Leveraging tailored visual detection and precise position control techniques for UAVs, the work illustrates the ability of UAVs to—in a repeated and autonomous fashion—deploy wireless geophones and to introduce an impulsive seismic source for in situ shear wave velocity profiling using the spectral analysis of surface waves (SASW) method. The dispersion curve of the shear wave profile of the geotechnical system is shown nearly equal between the autonomous UAV-based MSN architecture and that taken by a traditional wired and manually operated SASW data collection system. The developments and proof-of-concept systems advanced in this study will extend the body of knowledge of robot-deployed MSN with the hope of extending the capabilities of monitoring systems while eradicating the need for human interventions in their design and use.PHDCivil EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/169980/1/zhh_1.pd

ANTARES: the first undersea neutrino telescope

The ANTARES Neutrino Telescope was completed in May 2008 and is the first operational Neutrino Telescope in the Mediterranean Sea. The main purpose of the detector is to perform neutrino astronomy and the apparatus also offers facilities for marine and Earth sciences. This paper describes the design, the construction and the installation of the telescope in the deep sea, offshore from Toulon in France. An illustration of the detector performance is given

Design and Implementation of a Wireless Sensor Network for Seismic Monitoring of Buildings

This article presents a new wireless seismic sensor network system, especially design for building monitoring. The designed prototype allows remote control, and remote and real-time monitoring of the recorded signals by any internet browser. The system is formed by several Nodes (based on the CC3200 microcontroller of Texas Instruments), which are in charge of digitizing the ambient vibrations registered by three-component seismic sensors and transmitting them to a central server. This server records all the received signals, but also allows their real-time visualization in several remote client browsers thanks to the JavaScript’s Node.js technology. The data transmission uses not only Wi-Fi technology, but also the existing network resources that nowadays can be found usually in any official or residential building (lowering deployment costs). A data synchronization scheme was also implemented to correct the time differences between the Nodes, but also the long-term drifts found in the internal clock of the microcontrollers (improving the quality of records). The completed system is a low-cost, open-hardware and open-software design. The prototype was tested in a real building, recording ambient vibrations in several floors and observing the differences due to the building structure.This study was funded by the European Union’s Horizon 2020 research and innovation program under grant agreement No 821046, the Ministerio de Economía, Industria y Competitividad through research project CGL2016-77688-R, by the Consellería de Participación, Transparencia, Cooperación y Calidad Democrática de la Generalitat Valenciana, and by Research Group VIGROB-116 (University of Alicante)

A high precision accelerometer-based sensor unit for the acquisition of ultra low distortion seismic signals

Over 800,000 people worldwide lost their lives to earthquakes in the last decade and on average 171 people die every day due to earthquake related damage to structures and buildings. Precisely understanding the effects ground motion has on manmade structures is crucial to making them earthquake resistant. This can only be achieved by the precise measurement, recording, and analysis of ground displacement trends during a seismic event. Although there is a vast amount of recorded seismological data available, current technology and processing methods fail to represent accurate ground displacement over time as the considerable technological challenges have yet to be overcome. Raw seismic data has so far been primarily acquired with instruments utilising geophone or accelerometer based sensors. These instruments produce prominent time domain displacement errors due to the various system and sensor inaccuracies, and due to non-linear response. Since accelerometers provide acceleration over time data: whilst geophones are velocimeters, and therefore provide velocity over time data; in order to derive true ground displacement over time, a double, or single numerical integration is required respectively. During this essential numerical integration processes of data from such sensors, even small in magnitude errors accumulate to yield rather large displacement trend offsets over a typical event recording period of 60 to 120 seconds. In addition, the numerical integration process itself poses considerable challenges due to the theoretically infinite number of samples and the accurate determination of initial conditions required for an exact mathematical result to be obtained. The latter, is currently performed by averaging an up to 60 second pre-event data trend stored on the instrument. Most post-integration data from current instruments appears to contain low frequency drifts amongst other noise artefacts, and generally requires baseline correction algorithms in an attempt to correct for these effects. Such corrections, although helpful, only aid to minimise the perceived effects of an assumed and collective source of error, and hence are largely unable to tackle the individual error contribution of each element within the system. Since individual element contribution is of a dynamic nature, the validity of these algorithms is limited by the accuracy of the initial assumptions made about a specific set of data. Faced with such a multivariable and uncertain dynamic behaviour, where even mathematical system modelling is of inadequate long term accuracy, a solution that aims to directly minimise these errors at source, rather than attempt to correct them postacquisition, is of immense importance when it comes to the recording, analysis, and understanding of earthquakes. This thesis describes the design, implementation, and evaluation of a High Precision Active Gyro Stabilised (HPAGS) sensor unit of exceptional performance for the provision of highly accurate ground displacement data. Experimental results demonstrated that the device described herein, was able to diminish the inherent non-linear and environment-dependant effects of current sensors, and thus was able to provide highly improved time domain displacement data

GITEWS ; German Indonesian Tsunami Early Warning System ; Jakarta-Jakarta & Jakarta-Singapore & Singapore-Singapore, 28.10.-13.11.2005 & 15.11.-28.11.2005 & 07.01.-20.01.2006

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Study of the automated bioliogical laboratory project definition. Volume III - System engineering studies Final report, 10 Aug. 1964 - 10 Aug. 1965

Systems engineering studies for automated biological laboratory for exploration of life on Mar