Understanding cliff use at the New River Gorge National River: combining visitor observations and resource impact assessments

The New River Gorge National River (NERI) is managed by the National Park Service (NPS). In addition to being an extremely popular destination for whitewater rafting, it is also home to world class rock climbing and an extensive array of cliffs offering over 2400 routes. This thesis is part of a larger study of the cliffs at NERI, funded by the NPS and encompassing botanic and geologic components in addition to the recreation management component. By combining unobtrusive visitor observation methods with GPS mapping and rapid assessment of nearly 450 areas of impact, a few key management recommendations are made for NERI. Climbing routes closer to fixed top anchor points had a significantly skewed distribution toward more severe impact ratings. Climbers and hikers were found to have a significantly different length of stay, but no significant differences were found in number of depreciative behaviors or group size. The types of depreciative behaviors were different between both groups, and also different among different types of climbers. Potential management implications are discussed, and include suggestions to restrict the number and locations of fixed top anchors and bolted anchors in general, place limitations on areas where top-rope climbing and rappelling are allowed, as well as a no top out policy and a restriction on anchoring to trees

A Bioinspired Dynamical Vertical Climbing Robot

This paper describes the inspiration, design, analysis, implementation of and experimentation with the first dynamical vertical climbing robot. Biologists have proposed a pendulous climbing model that abstracts remarkable similarities in dynamic wall scaling behavior exhibited by radically different animal species. We study numerically a version of that pendulous climbing template dynamically re-scaled for applicability to utilitarian payloads with conventional electronics and actuation. This simulation study reveals that the incorporation of passive compliance can compensate for an artifact’s poorer power density and scale disadvantages relative to biology. However the introduction of additional dynamical elements raises new concerns about stability regarding both the power stroke and limb coordination that we allay via mathematical analysis of further simplified models. Combining these numerical and analytical insights into a series of design prototypes, we document the correspondence of the various models to the variously scaled platforms and report that our approximately two kilogram platform climbs dynamically at vertical speeds up to 1.5 bodylengths per second. In particular, the final 2.6 kg final prototype climbs at an average steady state speed of 0.66 m/s against gravity on a carpeted vertical wall, in rough agreement with our various models’ predictions

Convergence of Bayesian Histogram Filters for Location Estimation

We prove convergence of an approximate Bayesian estimator for the (scalar) location estimation problem by recourse to a histogram approximant. We exploit its tractability to present a simple strategy for managing the tradeoff between accuracy and complexity through the cardinality of the underlying partition. Our theoretical results provide explicit (conservative) sufficient conditions under which convergence is guaranteed. Numerical simulations reveal certain extreme cases in which the conditions may be tight, and suggest that this procedure has performance and computational efficiency favorably comparable to particle filters, while affording the aforementioned analytical benefits. We posit that more sophisticated algorithms can make such piecewise-constant representations similarly feasible for very high-dimensional problems. For more information: Kod*La

The influence of seed coat and cotyledon structure on cooking characteristics of cowpeas

Cowpea (Vigna unguiculata L. Walp) is an important legume mainly used for human consumption worldwide, particularly in developing countries. Cowpea legume is rich in protein (25%), carbohydrates (70%), dietary fibre, minerals and vitamins. Cowpea comprises a range of varieties that breeders release based primarily on agronomic characteristics, such as yield, early maturity and drought tolerance. However, consumers do not always adopt all the released cowpea varieties. Cooking characteristics such as cooking time and sensory properties (i.e. appearance, texture, flavour) of cooked cowpeas are believed to be quality characteristics for legume acceptability by consumers. Physicochemical characteristics are known to influence cooking characteristics of cowpeas. These characteristics may be influenced by seed coat and cotyledon structure. The present study focuses on the effect of seed coat and cotyledon structure on cooking and sensory characteristics of cowpeas and how this in turn influences consumer acceptability of cowpeas. The influence of seed coat thickness and cotyledon compactness on cooking characteristics of four cowpea types (thick seed coat/compact cotyledon (Bechuana White), thick seed coat/porous cotyledon (IT82E 18), thin seed coat/compact cotyledon (Black Eye) and thin seed coat/porous cotyledon (California Black) was studied. Seed coat thickness was found to influence water absorption during soaking. Cowpeas with thin seed coats had higher rates of water absorption during soaking due to its amorphous cell layer that rendered the seed coat more permeable compared to the palisade cell layer found in cowpeas with thick seed coats. Cotyledon compactness influenced cooking time of cowpeas. Cowpeas with porous cotyledons cooked faster compared to cowpeas with compact cotyledon probably because of the structural arrangement of porous cotyledon cells that provide more intercellular spaces for rapid water entry, cell expansion and separation favouring a faster cooking process compared to compact cotyledon. Seed coat and cotyledon structures directly influenced very few of the cooking and sensory characteristics. Sensory attributes such as cooked cowpea flavour, degree of sweetness, degree of sweet aftertaste, and degree of mushiness positively contributed to consumers’ liking of cowpeas. Raw cowpea flavour, bitter taste, degree of bitter aftertaste and degree of firmness contributed to consumers’ disliking of cowpeas. Chemical composition of cowpeas probably influences sensory characteristics of cowpeas more than seed coat and cotyledon structures. It is recommended that breeders work together with food scientists in order to release cowpeas types that are preferred by consumers (i.e. cowpeas with good appearance (low percentage of splitting), good flavour and soft texture upon cooking. Please cite as follows: Penicela, L 2010, The influence of seed coat and cotyledon structure on cooking characteristics of cowpeas, MSc dissertation, University of Pretoria, Pretoria, viewed yymmdd E11/438/gmDissertation (MSc)--University of Pretoria, 2010.Food Scienceunrestricte

Dynamic digital shearography for on-board robotic non-destructive testing of wind turbine blades

Structural integrity plays a critical role in development of infrastructural construction and support facilities. During the lifespan of most large-scale equipment, condition monitoring and periodic inspection is indispensable for ensuring structural health and evaluation of service condition. Wind turbine blades are the most important component of wind turbines and demands regular inspection to detect defects, which often occur underneath a blade surface. Current methods used to inspect wind turbine blades include to send NDT operators to climb the tower for on-site inspection of the blades’ surface or to dismantle the blades for inspection on the ground. These approaches are time-consuming, costly and pose risks of injury to human inspectors. Thus, it is necessary to develop a technological method for wind turbine blade on-site inspection of wind turbine blades. Digital shearography based on laser interferometry has demonstrated its prominent capability for inspecting composite material which is the main material used in the construction of wind turbine blades. Shearography is a ramification of holography interferometry and is more efficient to be used as a non-destructive testing (NDT) technique owing to its improved robustness and sensitivity to surface displacement. Robotic climbers, on the other hand, have recently drawn significant interest in NDT applications to replace human inspectors in extreme conditions. Thus, this thesis presents investigations into the development of a robotic NDT method using digital shearography for on-site inspection of wind turbine blades. The development of the shearography unit with correlation fringe pattern acquisition and the integration of this unit with the robotic climber adhering to wind turbine blades using vacuum generators are described in this thesis. The successful conduction of the indoor and outdoor trails for the integrated system verifies that shearography holds the ability to be used as an NDT tool for on-site wind turbine blade inspection, and that the climbing robot is able to access most areas of a wind turbine blade and stabilise itself to remove the impact on the shearography of the high frequencies from the climber’s vacuum motor and the low frequencies from the blade swing. Temporal phase shift shearography, and the fast phase map acquisition methods with less steps are evaluated in the thesis. Experiments are performed in lab with phase maps obtained using different algorithms. Apart from the conventional 4 steps and 3 steps phase shift algorithms, the modified 4+1 and 3+1 temporal phase shifting algorithms are developed for more suitability of semi-dynamic inspection by firstly calculating the correlation fringes and followed by the phase map calculations. The results of these modified methods are compared with the conventional 4 steps and 3 steps methods and are shown with equal qualities. Moreover, the reduced steps of phase shifting, i.e., 2+1 phase shifting methods are conducted for semi-dynamic phase map acquisition. It is found that the temporal phase shifting methods are not suitable for dynamic wind turbine blade inspection, however, the fast semi-dynamic temporal phase shift algorithms are able to produce phase maps with lower clarity. Pixelated spatial phase shift shearography is developed to remedy the limitation of temporal phase shift techniques. It adopts a micro-polarization sensor in the complementary metal oxide semiconductor (CMOS) camera, two linear polarizers, and a quarter waveplate as a new arrangement of optical path to replace the piezoelectric transducer stepper as the phase stepper. Three algorithms are introduced based on this novel developed system. Additionally, the site of view is enlarged for upgrading of the system. The development of the pixelated spatial phase shift shearography has mitigated the static processing limitation on temporal phase shift shearography, which caters for the demands of on-site NDT operation. At the same time, it remedies the current real-time shearography system which is not able to produce phase distributions for further quantitative analysis. The new developed pixelated spatial phase shift shearography system is thus more suitable for WTB on board inspection than both conventional and less-steps temporal phase shift shearography system. The field of view enlargement optimisation in the new developed spatial phase shift system indirectly reduces the distance for the inspection process and meanwhile enlarges the site of view, which consequently reduces the weight and structural complexity of the robotic-shearography integration system. The research addresses and resolves the difficulty of on-board wind turbine blade inspection with a novel robotic NDT approach using digital shearography. The approach is significant for real world industrial applications. Moreover, through the temporal and spatial phase shift evaluation, the research proves the feasibility of dynamically obtaining phase maps by the shearography system for further quantitative analysis without using temporal phase shift devices

Delayed Appearance of High Altitude Retinal Hemorrhages

When closely examined, a very large amount of climbers exhibit retinal hemorrhages during exposure to high altitudes. The incidence of retinal hemorrhages may be greater than previously appreciated as a definite time lag was observed between highest altitude reached and development of retinal bleeding. Retinal hemorrhages should not be considered warning signs of impending severe altitude illness due to their delayed appearance

Climbing Robot for Steel Bridge Inspection: Design Challenges

Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

A Contribution to Ethnobotany of Mehsana District, North Gujarat

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Design, Build, and Control of a Climbing Robot for Irregular Surface Geometry

Climbing robots are ideal for situations were maintenance and inspection tasks can cause people to be in dangerous situations or require them to be present for extended periods of time. Applications include inspection, testing, civil construction, cleaning, transport and security. The focus of this thesis was on robots that used pneumatic means to attain adhesion and wheels for locomotion. Research objectives include designing or utilizing a pneumatic based adhesion method to allow the robot to stick to concrete, brick, glass, or other such surfaces; climb on a surface with the lowest possible coefficient of friction between it and the robot; have the ability to overcome a step-like obstacle while climbing; use a single body to passively transition through sharp surface changes while climbing; have the ability to traverse over a gap-type obstacle while climbing without loss of adhesion or mobility. To complete the objectives, a test rig was created that comprised of three surfaces that were hinged together and could be locked into place using aluminum struts at the hinge joint. Different material pallets were created and adhered to plywood that was then mounted to the test rig with screws. The robot was designed and built around laser cut and 3D printed parts. From the experiments it was found that the robot could adhere to a glass surface with a coefficient of friction of 0.43 between it and the glass. Furthermore it was able to overcome a 15mm tall speedbump while climbing without loss of adhesion as well as being able to passively transition between surfaces that had an acute angle of 80° between them and do wall to ceiling transitions. Finally the robot was able to pass over a 55mm gap that was 23mm deep while climbing on a concrete surface. It was concluded that by using thrust based adhesion the robot could handle a diverse array of surfaces and even gain greater ability to overcome obstacles while climbing. Future directions would improve on the robot by adding treads or multiple bodies to improve its base abilities