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Autonomous Exploration and Mapping of Abandoned Mines
Autonomous Exploration and Mapping of Abandoned Mines Sebastian Thrun2, Scott Thayer1, William Whittaker1, Christopher Baker1 Wolfram Burgard3, David Ferguson1, Dirk Hahnel¨ 3, Michael Montemerlo2, Aaron Morris1, Zachary Omohundro1, Charlie Reverte1, Warren Whittaker1 1 Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 2 Computer Science Department, Stanford University, Stanford, CA 3 Computer Science Department, University of Freiburg, Freiburg, Germany Abstract Abandoned mines pose significant threats to society, yet a large fraction of them lack ac- curate maps. This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. We have built a robot capable of au- tonomously exploring abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On May 30, 2003, our robot “Groundhog” successfully explored and mapped a main corridor of the abandoned Mathies mine near Courtney, PA. The article also discusses some of the challenges that arise in the subterraneans environments, and some the difficulties of building truly autonomous robots. 1 Introduction In recent years, the quest to find and explore new, unexplored terrain has led to the deploy- ment of more and more sophisticated robotic systems, designed to traverse increasingly remote locations. Robotic systems have successfully explored volcanoes [5], searched meteorites in Antarctica [1, 44], traversed deserts [3], explored and mapped the sea bed [12], even explored other planets [26]. This article presents a robot system designed to explore spaces much closer to us: abandoned underground mines. According to a recent survey [6], “tens of thousands, perhaps even hundreds of thousands, of abandoned mines exist today in the United States. -
The Life-Boat. Jouenal
THE LIFE-BOAT. JOUENAL OF THE IRo^al National 3Life*Boat Jnstitutlon. (ISSUED QUABTEBLY.) VOL. XIV.—No. 156.] MAY 1, 1890. [PBIOE Is. At the ANNUAL GENERAL MEETING of the EOTAL NATIONAL LIFE- BOAT INSTITUTION, held at Princes' Hall, Piccadilly, on Saturday, 15th day of March, 1890, His Grace The DUKE OF FIFE, K.T., in the Chair, the following Beport of the Committee was read by the Secretary:— to express any opinion as to the success or otherwise of the experiment, and at ANNUAL EEPOBT. present they can only venture to hope 1890. that the great problem as to the efficiency of a Steam Life-boat may soon be solved. THE important -work of the KOYAL Efforts have recently been made to NATIONAL LIFE-BOAT IxsTirtmow has produce an improved transporting car- been actively carried on during the past riage, and when the proposed alterations year, and every effort has been made have been fully tested a large proportion to place the Life-boat service in a of the stations will be supplied with it. yet higher state'of efficiency, either by It has also been decided to still further stationing new Boats on the coast, or by extend the use of the Tipping sand- improving old ones for temporary use plates, which will, it is believed, be the until such time as the Society shall be in means of expediting the launch of many a position to remove them and to substi- of the Life-boats from sandy and soft tute others of a superior type, beaches. have also been taken at many of the stations to improve or add to the facilities Life-boats.—During the year 1889, for launching the boats—in some cases twenty new Life-boats of various sizes at considerable cost —• with a view to were sent to the coast, all of which assistance being rendered to distressed have given complete satisfaction to their vessels with the least possible delay. -
Treatment of Disused Lead Mine Shafts
Cover: The many surviving lead mining shafts and sites of Derbyshire and the Peak District feature a wide variety of conservation interests. As shown here (top left - David Webb) shafts provide access for cave exploration, though a safe method of access may need to be provided as shown here (bottom right – Ian Gates). On the surface there is archaeological interest in the waste hillocks and other structure (top right John Humble) and specialist plant communities survive that include metal tolerant species such as this spring sandwort (bottom left – John Humble). Shafts were often lined with a dry stone walling known as ginging (centre right – David Webb) which can be vulnerable to damage when they are capped. Report prepared by Entec UK Ltd for Derbyshire County Council, Peak District National Park Authority, Natural England, English Heritage and Derbyshire Caving Association. Funded by the above organisations and East Midlands Development Agency Copyright @2007 Derbyshire County Council, Peak District National Park Authority, Natural England, English Heritage and Derbyshire Caving Association. Images @2007 Derbyshire County Council, Peak District National Park Authority, Natural England, English Heritage and Derbyshire Caving Association unless otherwise stated. First published 2007 All rights reserved. No part of this report may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, or any information storage or retrieval system , without permission in writing from the copyright holders. Designed by Entec Ltd. I Foreword The lead mining remains of Derbyshire and the Peak District are of national importance for their ecological, archaeological, historical, geological and landscape value, as well as providing opportunities for recreation and enjoyment which are valued by many people. -
Cave Radon Exposure, Dose, Dynamics and Mitigation
Chris L. Waring, Stuart I. Hankin, Stephen B. Solomon, Stephen Long, Andrew Yule, Robert Blackley, Sylvester Werczynski, and Andrew C. Baker. Cave radon exposure, dose, dynamics and mitigation. Journal of Cave and Karst Studies, v. 83, no. 1, p. 1-19. DOI:10.4311/2019ES0124 CAVE RADON EXPOSURE, DOSE, DYNAMICS AND MITIGATION Chris L. Waring1, C, Stuart I. Hankin1, Stephen B. Solomon2, Stephen Long2, Andrew Yule2, Robert Blackley1, Sylvester Werczynski1, and Andrew C. Baker3 Abstract Many caves around the world have very high concentrations of naturally occurring 222Rn that may vary dramatically with seasonal and diurnal patterns. For most caves with a variable seasonal or diurnal pattern, 222Rn concentration is driven by bi-directional convective ventilation, which responds to external temperature contrast with cave temperature. Cavers and cave workers exposed to high 222Rn have an increased risk of contracting lung cancer. The International Commission on Radiological Protection (ICRP) has re-evaluated its estimates of lung cancer risk from inhalation of radon progeny (ICRP 115) and for cave workers the risk may now (ICRP 137) be 4–6 times higher than previously recognized. Cave Guides working underground in caves with annual average 222Rn activity 1,000 Bq m3 and default ICRP assumptions (2,000 workplace hours per year, equilibrium factor F 0.4, dose conversion factor DCF 14 µSv 3 1 1 d13 (kBq h m ) could now receive a dose of 20 mSv y . Using multiple gas tracers ( C CO2, Rn and N2O), linked weather, source gas flux chambers, and convective air flow measurements a previous study unequivocally identified the external soil above Chifley Cave as the source of cave222 Rn. -
Northern Paiute and Western Shoshone Land Use in Northern Nevada: a Class I Ethnographic/Ethnohistoric Overview
U.S. DEPARTMENT OF THE INTERIOR Bureau of Land Management NEVADA NORTHERN PAIUTE AND WESTERN SHOSHONE LAND USE IN NORTHERN NEVADA: A CLASS I ETHNOGRAPHIC/ETHNOHISTORIC OVERVIEW Ginny Bengston CULTURAL RESOURCE SERIES NO. 12 2003 SWCA ENVIROHMENTAL CON..·S:.. .U LTt;NTS . iitew.a,e.El t:ti.r B'i!lt e.a:b ~f l-amd :Nf'arat:1.iern'.~nt N~:¥G~GI Sl$i~-'®'ffl'c~. P,rceP,GJ r.ei l l§y. SWGA.,,En:v,ir.e.m"me'Y-tfol I €on's.wlf.arats NORTHERN PAIUTE AND WESTERN SHOSHONE LAND USE IN NORTHERN NEVADA: A CLASS I ETHNOGRAPHIC/ETHNOHISTORIC OVERVIEW Submitted to BUREAU OF LAND MANAGEMENT Nevada State Office 1340 Financial Boulevard Reno, Nevada 89520-0008 Submitted by SWCA, INC. Environmental Consultants 5370 Kietzke Lane, Suite 205 Reno, Nevada 89511 (775) 826-1700 Prepared by Ginny Bengston SWCA Cultural Resources Report No. 02-551 December 16, 2002 TABLE OF CONTENTS List of Figures ................................................................v List of Tables .................................................................v List of Appendixes ............................................................ vi CHAPTER 1. INTRODUCTION .................................................1 CHAPTER 2. ETHNOGRAPHIC OVERVIEW .....................................4 Northern Paiute ............................................................4 Habitation Patterns .......................................................8 Subsistence .............................................................9 Burial Practices ........................................................11 -
Karst Landscapes of China: Patterns, Ecosystem Processes and Services
Landscape Ecol (2019) 34:2743–2763 https://doi.org/10.1007/s10980-019-00912-w (0123456789().,-volV)(0123456789().,-volV) REVIEW ARTICLE Karst landscapes of China: patterns, ecosystem processes and services Kelin Wang . Chunhua Zhang . Hongsong Chen . Yueming Yue . Wei Zhang . Mingyang Zhang . Xiangkun Qi . Zhiyong Fu Received: 24 April 2019 / Accepted: 23 September 2019 / Published online: 28 October 2019 Ó The Author(s) 2019 Abstract Methods We conducted a systematic literature Context The karst region of southwestern China, one review of science and land use policy to identify of the largest continuous karsts in the world, is known knowledge gaps and recommend future research and for its unique landscapes and rich biodiversity. This policy directions. region has suffered severe environmental degradation Results Karst landscapes have experienced rapid (e.g., vegetation cover loss, soil erosion and biodiver- turnover in recent decades due largely to the overlap of sity loss). In recent decades, Chinese governments at intense human activity on the fragile karst ecosystems. different levels have initiated several ecological Many studies have comprehensively examined programs (e.g., Green for Grain, Mountain Closure) hydrology, soil processes and ecosystem services to restore the degraded environment and to alleviate (ES) and their relationships with landscape pattern. poverty. Most of these studies have found that karst ecosystems Objectives This study summarizes landscape studies recover with improved ES. However, the importance of karst landscapes patterns, their dynamics and of epikarst in hydrological and soil processes, intense interactions among landscape pattern, hydrological anthropogenic disturbance and landscape heterogene- processes and ecosystem services (ES). ity in landscape models remains elusive. -
CV Karkanas 2018.Pdf
PANAGIOTIS (TAKIS) KARKANAS CURRICULUM VITAE May 2018 Malcolm H. Wiener Laboratory for Archaeological Science American School of Classical Studies 54 Soudias, 10676 Athens, Greece Tel.: (30) 2130002400x224 Fax: (30) 2107294047 E-mail: [email protected] Personal Web Pages: https://www.researchgate.net/profile/Panagiotis_Karkanas https://ascsa.academia.edu/PanagiotisKarkanas EDUCATIONAL BACKGROUND 1994: Ph.D. in Geology (Specialty: mineralogy, petrology, geochemistry), Department of Geology, University of Athens. 1990: Postgraduate Seminar (300 hours) in Geology of sedimentary basin and energy resources. EU funded Research Seminar for Geologists, Department of Geology, University of Athens. 1986: B.Sc. in Geology, Department of Geology, University of Athens. AREAS OF INTEREST Geoarchaeology: site formation processes (stratigraphy, micromorphology, post-depositional chemical alterations) palaeoenvironmental reconstructions, paleoclimate, methods and techniques (dating, petrography, mineralogy, sedimentary analysis, provenance analysis). PROFESSIONAL APPOINTMENTS 2014-: Director, Malcolm H. Wiener Laboratory of Archaeological Science, American School of Classical Studies at Athens, Greece. 1994-2014: Senior Geologist, Ephoreia of Palaeoanthropology-Speleology (EPS), Ministry of Culture, Greece. 2004-2013: Adjunct Lecturer, Department of Geography, Harokopio University of Athens. OTHER PROFESSIONAL AND LABORATORY EXPERIENCE 1995-2003 (approx. one month per year): Visiting research scientist, Kimmel Center for Archaeological Sciences, -
Abstracts of Reports and Posters
Abstracts of Reports and Posters Amira Adaileh The Magdalenian site of Bad Kösen-Lengefeld The open air site of Bad Kösen-Lengefeld is located in Sachsen-Anhalt, Eastern Germany. It was discov- ered in the mid 1950´s in the immediate vicinity of the famous Magdalenian site of Saaleck. Since that time, archaeologists collected over 2000 lithic artifacts during systematical surveys. The technological and typological analyses of the lithic artifacts confirmed the assignment of Bad Kösen-Lengefeld to a late Magdalenian. Furthermore, the investigation of the surface collections brought forward information about the character of this camp site, the duration of its occupation and the pattern of raw material procure- ment. The fact that Bad Kösen-Lengefeld is located in a region with more than 100 Magdalenian sites fostered a comparison of the lithic inventory with other Magdalenian assemblages. Thus, allowing to spec- ify the position of the Lengefeld collection within the chorological context of the Magdalenian in Eastern Germany. Jehanne Affolter, Ludovic Mevel Raw material circulation in northern french alps and Jura during lateglacial interstadial : method, new data and paleohistoric implication Since fifteen years the study of the characterization and origin of flint resources used by Magdalenian and Azilian groups in northern French Alps and Jura have received significant research work. Diverse and well distributed spatially, some of these resources were used and disseminated throughout the late Upper Paleolithic. Which changes do we observe during the Magdalenian then for the Azilian? The results of petrographic analysis and techno-economic analysis to several archaeological sites allow us to assess dia- chronic changes in economic behavior of these people and discuss the significance of these results. -
Survey Solutions for 3D Acquisition and Representation of Artificial And
applied sciences Article Survey Solutions for 3D Acquisition and Representation of Artificial and Natural Caves Daniele Giordan 1 , Danilo Godone 1,* , Marco Baldo 1, Marco Piras 2 , Nives Grasso 2 and Raffaella Zerbetto 3 1 Italian National Research Council, Research Institute for Geo-Hydrological Protection (CNR-IRPI), Strada delle Cacce 73, 10135 Torino, Italy; [email protected] (D.G.); [email protected] (M.B.) 2 Department of Environment, Land and Infrastructure Engineering (DIATI), Politecnico di Torino, Corso Duca Degli Abruzzi, 24, 10129 Torino, Italy; [email protected] (M.P.); [email protected] (N.G.) 3 Speleo Club Tanaro, Via Carrara, 12075 Garessio, Italy; [email protected] * Correspondence: [email protected] Abstract: A three-dimensional survey of natural caves is often a difficult task due to the roughness of the investigated area and the problems of accessibility. Traditional adopted techniques allow a simplified acquisition of the topography of caves characterized by an oversimplification of the geometry. Nowadays, the advent of LiDAR and Structure from Motion applications eased three- dimensional surveys in different environments. In this paper, we present a comparison between other three-dimensional survey systems, namely a Terrestrial Laser Scanner, a SLAM-based portable instrument, and a commercial photo camera, to test their possible deployment in natural caves survey. We presented a comparative test carried out in a tunnel stretch to calibrate the instrumentation on a benchmark site. The choice of the site is motivated by its regular geometry and easy accessibility. According to the result obtained in the calibration site, we presented a methodology, based on the Citation: Giordan, D.; Godone, D.; Structure from Motion approach that resulted in the best compromise among accuracy, feasibility, Baldo, M.; Piras, M.; Grasso, N.; and cost-effectiveness, that could be adopted for the three-dimensional survey of complex natural Zerbetto, R. -
The Carnivore Remains from the Sima De Los Huesos Middle Pleistocene Site
N. Garcia & The carnivore remains from the Sima de J. L. Arsuaga los Huesos Middle Pleistocene site Departamento de Paleontologia, (Sierra de Atapuerca, Spain) Facultad de Ciencias Geologicas, U.A. de Paleoantropologia & Instituto de View metadata, citation and similar papersRemain ats ocore.ac.ukf carnivores from the Sima de los Huesos sitebrought representin to you gby a t COREleast Geologia Economica, Universidad 158 adult individuals of a primitive (i.e., not very speleoid) form of Ursus Complutense de Madrid, Ciudad provided by Servicio de Coordinación de Bibliotecas de la... deningeri Von Reichenau 1906, have been recovered through the 1995 field Universitaria, 28040 Madrid, Spain season. These new finds extend our knowledge of this group in the Sierra de Atapuerca Middle Pleistocene. Material previously classified as Cuoninae T. Torres indet. is now assigned to Canis lupus and a third metatarsal assigned in 1987 to Departamento de Ingenieria Geoldgica, Panthera cf. gombaszoegensis, is in our opinion only attributable to Panthera sp. The Escuela Tecnica Superior de Ingenieros family Mustelidae is added to the faunal list and includes Maites sp. and a de Minas, Universidad Politecnica smaller species. The presence of Panthera leo cf. fossilis, Lynxpardina spelaea and de Madrid, Rios Rosas 21, Fells silvestris, is confirmed. The presence of a not very speloid Ursus deningeri, 28003 Madrid, Spain together with the rest of the carnivore assemblage, points to a not very late Middle Pleistocene age, i.e., oxygen isotope stage 7 or older. Relative frequencies of skeletal elements for the bear and fox samples are without major biases. The age structure of the bear sample, based on dental wear stages, does not follow the typical hibernation mortality profile and resembles a cata strophic profile. -
English / French
World Heritage 38 COM WHC-14/38.COM/8B Paris, 30 April 2014 Original: English / French UNITED NATIONS EDUCATIONAL, SCIENTIFIC AND CULTURAL ORGANIZATION CONVENTION CONCERNING THE PROTECTION OF THE WORLD CULTURAL AND NATURAL HERITAGE WORLD HERITAGE COMMITTEE Thirty-eighth session Doha, Qatar 15 – 25 June 2014 Item 8 of the Provisional Agenda: Establishment of the World Heritage List and of the List of World Heritage in Danger 8B. Nominations to the World Heritage List SUMMARY This document presents the nominations to be examined by the Committee at its 38th session (Doha, 2014). It is divided into four sections: I Changes to names of properties inscribed on the World Heritage List II Examination of nominations of natural, mixed and cultural properties to the World Heritage List III Statements of Outstanding Universal Value of the three properties inscribed at the 37th session (Phnom Penh, 2013) and not adopted by the World Heritage Committee IV Record of the physical attributes of each property being discussed at the 38th session The document presents for each nomination the proposed Draft Decision based on the recommendations of the appropriate Advisory Body(ies) as included in WHC-14/38.COM/INF.8B1 and WHC-14/38.COM/INF.8B2 and it provides a record of the physical attributes of each property being discussed at the 38th session. The information is presented in two parts: • a table of the total surface area of each property and any buffer zone proposed, together with the geographic coordinates of each site's approximate centre point; and • a set of separate tables presenting the component parts of each of the 16 proposed serial properties. -
Bacterial Diversity and Function Within an Epigenic Cave System and Implications for Other Limestone Cave Systems
University of Tennessee, Knoxville TRACE: Tennessee Research and Creative Exchange Doctoral Dissertations Graduate School 12-2015 Bacterial diversity and function within an epigenic cave system and implications for other limestone cave systems Kathleen Merritt Brannen-Donnelly University of Tennessee - Knoxville, [email protected] Follow this and additional works at: https://trace.tennessee.edu/utk_graddiss Part of the Biogeochemistry Commons, Environmental Microbiology and Microbial Ecology Commons, and the Geology Commons Recommended Citation Brannen-Donnelly, Kathleen Merritt, "Bacterial diversity and function within an epigenic cave system and implications for other limestone cave systems. " PhD diss., University of Tennessee, 2015. https://trace.tennessee.edu/utk_graddiss/3543 This Dissertation is brought to you for free and open access by the Graduate School at TRACE: Tennessee Research and Creative Exchange. It has been accepted for inclusion in Doctoral Dissertations by an authorized administrator of TRACE: Tennessee Research and Creative Exchange. For more information, please contact [email protected]. To the Graduate Council: I am submitting herewith a dissertation written by Kathleen Merritt Brannen-Donnelly entitled "Bacterial diversity and function within an epigenic cave system and implications for other limestone cave systems." I have examined the final electronic copy of this dissertation for form and content and recommend that it be accepted in partial fulfillment of the equirr ements for the degree of Doctor of Philosophy,