1,946 research outputs found

    Dynamics and Modelling of the 2015 Calbuco eruption Volcanic Debris Flows (Chile). From field evidence to a primary lahar model

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    The Calbuco volcanic eruption of 2015, was characterized by two explosive phases with partialand major column collapses that triggered lahars in many of the flanks of the volcano. Large lahar flows descended to the southern flank where highly fractured ice bodies were emplaced on steep slopes.In this study, we present a chronology of the volcanic flows based on a multi parameterdata set that includes social media, reports of authoritative institutions, instrumental monitoringdata and published research literature on the eruption. Our review established thatlahars in the Amarillo river began during the first phase of the eruption due to the sustained emplacement of pyroclastic flows in its catchment. In contrast, we propose that the lahars in theBlanco – Correntoso river system and the Este river were likely to have been triggered by asudden mechanical collapse of the glacier that triggered mixed avalanches which transitionedinto lahars downstream.Our observations include inundation cross-sections, estimates of flow speeds, and characterization of the morphology, grain sizes, and componentry of deposits.Field measurements are used together with instrumental data for calibrating a dynamic, physics-based model of lahar, Laharflow. We model flows in the Blanco – Correntoso river system and explore the influence of the model parameters on flow predictions in an ensemble of simulations. We develop a calibration that accounts for the substantial epistemic uncertainties in our observations and the model formulation, that seeks to determine plausible ranges for the model parameters, including those representing the lahar source. Our approach highlights the parameters in the model that have a dominant effect on the ability of the model to match observations, indicating where further development and additional observations could improve model predictions. The simulations in our ensemble that provide plausible matches to the observations are combined to produce flow inundation maps

    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

    Advances and Applications of DSmT for Information Fusion. Collected Works, Volume 5

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    This fifth volume on Advances and Applications of DSmT for Information Fusion collects theoretical and applied contributions of researchers working in different fields of applications and in mathematics, and is available in open-access. The collected contributions of this volume have either been published or presented after disseminating the fourth volume in 2015 in international conferences, seminars, workshops and journals, or they are new. The contributions of each part of this volume are chronologically ordered. First Part of this book presents some theoretical advances on DSmT, dealing mainly with modified Proportional Conflict Redistribution Rules (PCR) of combination with degree of intersection, coarsening techniques, interval calculus for PCR thanks to set inversion via interval analysis (SIVIA), rough set classifiers, canonical decomposition of dichotomous belief functions, fast PCR fusion, fast inter-criteria analysis with PCR, and improved PCR5 and PCR6 rules preserving the (quasi-)neutrality of (quasi-)vacuous belief assignment in the fusion of sources of evidence with their Matlab codes. Because more applications of DSmT have emerged in the past years since the apparition of the fourth book of DSmT in 2015, the second part of this volume is about selected applications of DSmT mainly in building change detection, object recognition, quality of data association in tracking, perception in robotics, risk assessment for torrent protection and multi-criteria decision-making, multi-modal image fusion, coarsening techniques, recommender system, levee characterization and assessment, human heading perception, trust assessment, robotics, biometrics, failure detection, GPS systems, inter-criteria analysis, group decision, human activity recognition, storm prediction, data association for autonomous vehicles, identification of maritime vessels, fusion of support vector machines (SVM), Silx-Furtif RUST code library for information fusion including PCR rules, and network for ship classification. Finally, the third part presents interesting contributions related to belief functions in general published or presented along the years since 2015. These contributions are related with decision-making under uncertainty, belief approximations, probability transformations, new distances between belief functions, non-classical multi-criteria decision-making problems with belief functions, generalization of Bayes theorem, image processing, data association, entropy and cross-entropy measures, fuzzy evidence numbers, negator of belief mass, human activity recognition, information fusion for breast cancer therapy, imbalanced data classification, and hybrid techniques mixing deep learning with belief functions as well

    Impacts of coffee fragmented landscapes on biodiversity and microclimate with emerging monitoring technologies

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    Habitat fragmentation and loss are causing biodiversity declines across the globe. As biodiversity is unevenly distributed, with many hotspots located in the tropics, conserving and protecting these areas is important to preserve as many species as possible. Chapter 2 presents an overview of the Ecology of the Atlantic Forest, a highly fragmented biodiversity hotspot. A major driver of habitat fragmentation is agriculture, and in the tropics coffee is major cash crop. Developing methods to monitor biodiversity effectively without labour intensive surveys can help us understand how communities are using fragmented landscapes and better inform management practices that promote biodiversity. Acoustic monitoring offers a promising set of tools to remotely monitor biodiversity. Developments in machine learning offer automatic species detection and classification in certain taxa. Chapters 3 and 4 use acoustic monitoring surveys conducted on fragmented landscapes in the Atlantic Forest to quantify bird and bat communities in forest and coffee matrix, respectively. Chapter 3 shows that acoustic composition can reflect local avian communities. Chapter 4 applies a convolutional neural network (CNN) optimised on UK bat calls to a Brazilian bat dataset to estimate bat diversity and show how bats preferentially use coffee habitats. In addition to monitoring biodiversity, monitoring microclimate forms a key part of climate smart agriculture for climate change mitigation. Coffee agriculture is limited to the tropics, overlapping with biodiverse regions, but is threatened by climate change. This presents a challenge to countries strongly reliant on coffee exports such as Brazil and Nicaragua. Chapter 5 uses data from microclimate weather stations in Nicaragua to demonstrate that sun-coffee management is vulnerable to supraoptimal temperature exposure regardless of local forest cover or elevation.Open Acces

    Beam scanning by liquid-crystal biasing in a modified SIW structure

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    A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

    Geoarchaeological Investigations of Late Pleistocene Physical Environments and Impacts of Prehistoric Foragers on the Ecosystem in Northern Malawi and Austria

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    A growing body of research shows that not only did environmental changes play an important role in human evolution, but humans in turn have impacted ecosystems and landscape evolution since the Late Pleistocene. This thesis presents collaborative work on Late Pleistocene open-air sites in the Karonga District of northern Malawi, in which new aspects of forager behavior came to light through the reconstruction of physical environments. My work has helped recognize that late Middle Stone Age (MSA) activity and tool production occurred in locally more open riparian environments within evergreen gallery forest, surrounded by a regional vegetation dominated by miombo woodlands and savanna. Additionally, MSA hunter-gatherers exploited the confluence of river and wetland areas along the shores of Lake Malawi, which likely served as important corridors for the dispersal of biota. By comparing data from the archaeological investigations with lake core records, we were able to identify effects of anthropogenic burning on vegetation structures and sedimentation in the region as early as 80 thousand years ago. These findings not only proved it possible to uncover early impacts of human activity on the ecosystem, but also emphasize the importance of fire in the lives of early foragers. Publications contained within this dissertation: A. Wright, D.K., Thompson, J.C., Schilt, F.C., Cohen, A., Choi, J-H., Mercader, J., Nightingale, S., Miller, C.E., Mentzer, S.M., Walde, D., Welling, M., and Gomani-Chindebvu, E. “Approaches to Middle Stone Age landscape archaeology in tropical Africa”. Special issue Geoarchaeology of the Tropics of Journal of Archaeological Science 77:64-77. http://dx.doi.org/10.1016/j.jas.2016.01.014 B. Schilt, F.C., Verpoorte, A., Antl, W. “Micromorphology of an Upper Paleolithic cultural layer at Grub-Kranawetberg, Austria”. Journal of Archaeological Science: Reports 14:152-162. http://dx.doi.org/10.1016/j.jasrep.2017.05.041 C. Nightingale, S., Schilt, F.C., Thompson, J.C., Wright, D.K., Forman, S., Mercader, J., Moss, P., Clarke, S. Itambu, M., Gomani-Chindebvu, E., Welling, M. Late Middle Stone Age Behavior and Environments at Chaminade I (Karonga, Malawi). Journal of Paleolithic Archaeology 2-3:258-397. https://doi.org/10.1007/s41982-019-00035-3 D. Thompson, J.C.*, Wright, D.K.*, Ivory, S.J.*, Choi, J-H., Nightingale, S., Mackay, A., Schilt, F.C., Otárola-Castillo, E., Mercader, J., Forman, S.L., Pietsch, T., Cohen, A.S., Arrowsmith, J.R., Welling, M., Davis, J., Schiery, B., Kaliba, P., Malijani, O., Blome, M.W., O’Driscoll, C., Mentzer, S.M., Miller, C., Heo, S., Choi, J., Tembo, J., Mapemba, F., Simengwa, D., and Gomani-Chindebvu, E. “Early human impacts and ecosystem reorganization in southern-central Africa”. Science Advances 7(19): eabf9776. *equal contribution https://doi.org/10.1126/sciadv.abf9776 E. Schilt, F.C., Miller, C.M., Wright, D.K., Mentzer, S.M., Mercader, J., Moss, Choi, J.-H., Siljedal, G., Clarke, S., Mwambwiga, A., Thomas, K., Barbieri, A., Kaliba, P., Gomani-Chindebvu, E., Thompson, J.C. “Hunter-gatherer environments at the Late Pleistocene sites of Bruce and Mwanganda´s Village, northern Malawi”. Quaternary Science Reviews 292: 107638. https://www.sciencedirect.com/science/article/pii/S0277379122002694 [untranslated

    Semi-automated learning strategies for large-scale segmentation of histology and other big bioimaging stacks and volumes

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    Labelled high-resolution datasets are becoming increasingly common and necessary in different areas of biomedical imaging. Examples include: serial histology and ex-vivo MRI for atlas building, OCT for studying the human brain, and micro X-ray for tissue engineering. Labelling such datasets, typically, requires manual delineation of a very detailed set of regions of interest on a large number of sections or slices. This process is tedious, time-consuming, not reproducible and rather inefficient due to the high similarity of adjacent sections. In this thesis, I explore the potential of a semi-automated slice level segmentation framework and a suggestive region level framework which aim to speed up the segmentation process of big bioimaging datasets. The thesis includes two well validated, published, and widely used novel methods and one algorithm which did not yield an improvement compared to the current state-of the-art. The slice-wise method, SmartInterpol, consists of a probabilistic model for semi-automated segmentation of stacks of 2D images, in which the user manually labels a sparse set of sections (e.g., one every n sections), and lets the algorithm complete the segmentation for other sections automatically. The proposed model integrates in a principled manner two families of segmentation techniques that have been very successful in brain imaging: multi-atlas segmentation and convolutional neural networks. Labelling every structure on a sparse set of slices is not necessarily optimal, therefore I also introduce a region level active learning framework which requires the labeller to annotate one region of interest on one slice at the time. The framework exploits partial annotations, weak supervision, and realistic estimates of class and section-specific annotation effort in order to greatly reduce the time it takes to produce accurate segmentations for large histological datasets. Although both frameworks have been created targeting histological datasets, they have been successfully applied to other big bioimaging datasets, reducing labelling effort by up to 60−70% without compromising accuracy

    Estimating Solar Energy Production in Urban Areas for Electric Vehicles

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    Cities have a high potential for solar energy from PVs installed on buildings\u27 rooftops. There is an increased demand for solar energy in cities to reduce the negative effect of climate change. The thesis investigates solar energy potential in urban areas. It tries to determine how to detect and identify available rooftop areas, how to calculate suitable ones after excluding the effects of the shade, and the estimated energy generated from PVs. Geographic Information Sciences (GIS) and Remote Sensing (RS) are used in solar city planning. The goal of this research is to assess available and suitable rooftops areas using different GIS and RS techniques for installing PVs and estimating solar energy production for a sample of six compounds in New Cairo, and explore how to map urban areas on the city scale. In this research, the study area is the new Cairo city which has a high potential for harvesting solar energy, buildings in each compound have the same height, which does not cast shade on other buildings affecting PV efficiency. When applying GIS and RS techniques in New Cairo city, it is found that environmental factors - such as bare soil - affect the accuracy of the result, which reached 67% on the city scale. Researching more minor scales, such as compounds, required Very High Resolution (VHR) satellite images with a spatial resolution of up to 0.5 meter. The RS techniques applied in this research included supervised classification, and feature extraction, on Pleiades-1b VHR. On the compound scale, the accuracy assessment for the samples ranged between 74.6% and 96.875%. Estimating the PV energy production requires solar data; which was collected using a weather station and a pyrometer at the American University in Cairo, which is typical of the neighboring compounds in the new Cairo region. It took three years to collect the solar incidence data. The Hay- Devis, Klucher, and Reindl (HDKR) model is then employed to extrapolate the solar radiation measured on horizontal surfaces β =0°, to that on tilted surfaces with inclination angles β =10°, 20°, 30° and 45°. The calculated (with help of GIS and Solar radiation models) net rooftop area available for capturing solar radiation was determined for sample New Cairo compounds . The available rooftop areas were subject to the restriction that all the PVs would be coplanar, none of the PVs would protrude outside the rooftop boundaries, and no shading of PVs would occur at any time of the year; moreover typical other rooftop occupied areas, and actual dimensions of typical roof top PVs were taken into consideration. From those calculations, both the realistic total annual Electrical energy produced by the PVs and their daily monthly energy produced are deduced. The former is relevant if the PVs are tied to a grid, whereas the other is more relevant if it is not; optimization is different for both. Results were extended to estimate the total number of cars that may be driven off PV converted solar radiation per home, for different scenarios
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