The Northeastern Caver Cumulative Index (Volumes I – Xlv, 1969 – 2014)
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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. -
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. -
Camp Santanoni, NY
Camp Santanoni, New York August 16 - 28, 2015 Project Partner: Adirondack Architectural Heritage History: In the late 1800s, Robert and Anna Pruyn bought property along Newcombe Lake in the Adirondacks and developed it into a family estate that served as a refuge in nature from their urban life in Albany. With the growing American middle class in the 1800s, these family retreats grew in popularity. Families, like the Pruyn family, no longer looked at the American Wilderness as something to be tamed and conquered but something to be preserved and appreciated. The Pruyns had a love for the outdoors and bought this property on Newcombe Lake due to its isolation. Anna’s love of nature came from her childhood growing up in the Adirondacks. Robert spent many years in Japan as a youth, and as a result, he came to appreciate the Japanese reverence for wildlife and the integration of nature into culture. This Japanese inuence can be seen in the overall plan which places the buildings in a way that blends them with the contours of the natural landscape. The property was segmented into four areas: the Great Camp, gate lodge complex, service complex and a model farm. The family would often invite guests to enjoy the property, and even had Theodore Roosevelt stay with them. Decades after Robert and Anna’s death, the Pruyn children sold Santanoni to the Melvin family. Crandall and Myron Melvin continued to use the property as a family retreat, but did not hire a staff, like the Pruyns, to maintain the property. The Melvins spent less of their time engaged in leisure activities, and more time was spent on the preservation and maintenance of the property buildings. -
Congressional Record United States Th of America PROCEEDINGS and DEBATES of the 110 CONGRESS, SECOND SESSION
E PL UR UM IB N U U S Congressional Record United States th of America PROCEEDINGS AND DEBATES OF THE 110 CONGRESS, SECOND SESSION Vol. 154 WASHINGTON, WEDNESDAY, APRIL 9, 2008 No. 56 House of Representatives The House met at 10 a.m. ANNOUNCEMENT BY THE SPEAKER minute and to revise and extend his re- Dr. Carey D. Froelich, First Baptist The SPEAKER. The Chair will enter- marks.) Church, Baytown, Texas, offered the tain up to 15 requests for 1-minute Mr. POE. Mr. Speaker, free speech is following prayer: speeches on each side of the aisle. under attack again. This time the so- Holy and Gracious God, we bow be- called U.N. Human Rights Council f fore You in wonder and gratitude that passed a resolution encouraging the You care about the affairs of mankind. REPORT INDICATES POLITICAL criminalization of freedom of expres- Thank You for offering divine counsel OBSTACLES AND UNLIKELY FU- sion by the U.N. chief spokesman on and wisdom to these men and women TURE PROGRESS IN IRAQ speech. Egypt and Pakistan proposed to whom You have granted the privi- (Mr. WALZ of Minnesota asked and the anti-speech resolution. What it lege of governing. was given permission to address the does is promote specific criminal re- Loving Father, empower each Mem- House for 1 minute.) strictions on individuals in the world ber of this noble body with a vision of Mr. WALZ of Minnesota. Madam who criticize or make negative com- the common good. May the dynamic of Speaker, today House committees will ments about Islam. -
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 -
Aarch Matters
AARCH MATTERS COVID-19 UPDATE: The effects of the novel coronavirus have affected us all, especially impacting the ability of nonprofits and cultural organizations like AARCH to deliver its usual slate of rich slate of programming and events. It is at this time we must remain resilient. Although this year’s events may be postponed and/or cancelled, we are remaining optimistic that we will bring this content to YOU in some way going forward. Please READ ON, and carry our message of resilience, hope, and love, even if we may not be able to share in our adventures together in person this year. Be safe, and remember that the sun will continue to rise each day. A PATCHWORK of RESILIENCE CHRONICLING SUSTAINABILITY, ENERGY, WORK, AND STORIES EMBODIED IN OUR REGION Resilience – “the capacity to recover quickly from difficulties” – is a trait escaping enslavement, early 20th century Chinese freedom seekers jailed that allows plants, animals, and humans to adapt and even thrive in as they came south from Canada, and the thousands of immigrants now adversity. And it is a characteristic that we admire and learn from, as it’s flooding across a tiny, illegal crossing to find security and hope in Canada. what makes or should make each generation better than the last. In this Or there is the story of how Inez Milholland and other North Country era of looming climate change and now with the scourge of the women fought for their right to vote and be heard, and the extraordinary coronavirus sweeping across the globe, we’ve realized that we need to story of Isaac Johnson, a formerly enslaved African American stone create a world that is safer, sustainable, more equitable, and resilient and mason who settled in the St. -
President of the United States
.ME’SS.hGE PRESIDENT OF THE UNITED STATES, TRANSMITTIP;G A RmEPORT OF THE SECRETARY OF AGRICULTURE IN KEI,ATIOI\‘ TO THE l~ORESTS, lZI\‘lSltS, AND MOUNTAlNS OF THE SOlYl’HF,RN APPALACHIAN REGION. WASHINGTON: GOVERNMENT PRINTING OFFICE. 1902. 5% th,r SL')Lcttr and I-lonfW ofR~~~/,~~~sc)ltltli,'eS: I transmit herewith a report of the Secretary of Agriculture, pre- pared in collaboration with the Department of the Interior, upon the forests, rivers, and mountains; of the Southern L4ppalachian region, and upon its agricultural situation as affected by t’lem. The report of the Secretary presents t#he final results of an investigation authorized by the last Congress. Its conclusions point unmistakably, in the judg- ment of the Secretary and in my own, to the creation of a national forest reserve in certain lyarts of the Southern States. The facts ascer- tained and here presented deserve the careful consideration of the Congress; they have already received the full attention of the scientist and the lumberman. They set forth an economic need of prime impor- tance to the welfare of the South, and hence to that of the nation as a whole, and they point to the necessity of protecting t,hrough wise use a mountain region whose influence flows far beyond its borders with the waters of the rivers to which it gives rise. Among the elevations of the eastern half of t.he United States the Southern ;Lppalachians are of paramount interest for geographic, hydrographic, and forest reasons, and, as a consequence, for economic reasons as well. -
Public in Ven Tions and in Ter Ven Tions
Public Inven tions and Inter ven tions Public Inventions and Interventions PART 2: Public Phenom e na November 10 - 28, 2000. Opening service: November 10, 5-9 pm. Blackstone Bicycle Works / monk parakeet / Dan Pe ter man Michael Blum Chemi Rosado Seijo Biotic Baking Brigade The Stockyard Institute / kids from the Back of the Yards / Jim Duignan Collectivo Cambalache Reverend Billy Eco Vida N55 REPOhistory Ultra-red (a project for our toll free line: 1-800-731-4973) Jorge Rivera Reclaim The Streets Elyce Semenec Paul Chan Urban Exploration - Infi ltration and Jinx Magazine Temporary Services Temporary Services 202 S. State Street, Suite 1124 Chicago, IL 60604 www.temporaryservices.org Front Cover: Jorge Rivera's Paracaídas - 200 parachutes thrown out over a square in San Juan Back Cover: Found photo of children playing with a discarded tire. From the Temporary Ser- vices Public Phenomena Archive Public Inventions and Inter ven tions This is a two-part exhibition looking at a broad range of practices, defi nitions, theories and uses of what is called "public space". Urban ecology, humorous activism, radical art projects, strange private expressions in public spaces and many more things will be presented along side each other mapping out a vastly complex political and social continuum that makes working in public so engaging. Part 1 - 3 Acres on the Lake: DuSable Park Proposal Project by Laurie Palmer, October 20 - November 3, 2000. Laurie Palmer has long been interested in an undeveloped 3-acre parcel of landfi ll that juts out into Lake Michigan near Navy Pier. A debate is raging right now over the future of this land, now an overgrown meadow. -
2017 NY State Camping Guide Part 1
Photo Credit: James Sickler NORTHEAST ADIRONDACK REGION ADIRONDACK NORTHEAST In the Adirondacks are found the 46 High Peaks that have the state’s highest vantage point (over 4,000 feet). Most of the major highways that serpentine through the Park’s magnificent landscape have been officially designated as Scenic Byways. Photo Credit: Heidi Oney 1.800.456.CAMP | 9 AUSABLE POINT 123 Sites | 518.561.7080 Ausable Point Campground protrudes from Route 9 into Lake Champlain and offers a shoreline comprised of natural sand and a gentle slope from many campsites. It borders a wildlife management area that offers a hiking trail, as well as water access for canoeists and sea kayakers to explore. With the city of Plattsburgh a short drive from this campground there is virtually no limit for entertainment opportunities. BUCK POND 116 Sites | 518.891.3449 Photo Credit: James Sickler Buck Pond Campground is located on 130-acre Buck Pond and offers secluded sites, numerous water access points, guarded bathing beach and an “easy-to-walk” trail which stretches for miles along an old, abandoned railroad bed. Camping equipment from tents to 30-foot RVs can be accommodated. The Campground offers a variety of recreational opportunities including: boating rentals, fishing, hiking and bicycling. 10 | newyorkstateparks.reserveamerica.com NORTHEAST ADIRONDACK REGION ADIRONDACK NORTHEAST MEADOWBROOK 62 Sites | 518.891.4351 Meadowbrook is the best bargain in town for those visiting the Lake Placid Olympic Training venues and the Village of Lake Placid. Located only four miles from the center of town, campers have no shortage of activities available to them. -
2020 CT Fishing Guide
Share the Experience—Take Someone Fishing • APRIL 11 Opening Day Trout Fishing 2020 CONNECTICUT FISHING GUIDE INLAND & MARINE YOUR SOURCE »New Marine For CT Fishing Regulations for 2020 Information See page 54 Connecticut Department of Energy & Environmental Protection www.ct.gov/deep/fishing FISHING REGULATIONS GUIDE - VA TRIM: . 8˝ X 10-1/2˝ (AND VARIOUS OTHER STATES) BLEED: . 8-1/4˝ X 10-3/4˝ SAFETY: . 7˝ X 10˝ TRIM TRIM SAFETY TRIM BLEED BLEED SAFETY BLEED BLEED TRIM TRIM SAFETY SAFETY There’s a reason they say, Curse like a sailor. That’s why we offer basic plans starting at $100 a year with options that won’t depreciate your watercraft and accessories*. Progressive Casualty Ins. Co. & affi liates. Annual premium for a basic liability policy not available all states. Prices vary based on how you buy. *Available with comprehensive and collision coverage. and collision with comprehensive *Available buy. you on how based vary Prices all states. available not policy liability a basic for Annual premium liates. & affi Co. Ins. Casualty Progressive 1.800.PROGRESSIVE | PROGRESSIVE.COM SAFETY SAFETY TRIM TRIM BLEED BLEED TRIM TRIM TRIM BLEED BLEED SAFETY SAFETY Client: Progressive Job No: 18D30258.KL Created by: Dalon Wolford Applications: InDesign CC, Adobe Photoshop CC, Adobe Illustrator CC Job Description: Full Page, 4 Color Ad Document Name: Keep Left ad / Fishing Regulations Guide - VA and various other states Final Trim Size: 7-7/8˝ X 10-1/2˝ Final Bleed: 8-1/8˝ X 10-13/16˝ Safety: 7˝ X 10˝ Date Created: 10/26/18 2020 CONNECTICUT FISHING GUIDE INLAND REGULATIONS INLAND & MARINE Easy two-step process: 1. -
Explore!Outdoor, Indoor & Around Town Adventures In
Explore!Outdoor, Indoor & Around Town Adventures in A NATIONAL HERITAGE CORRIDOR www.thelastgreenvalley.org • TOLL FREE 866-363-7226 The Last Green Valley National Heritage Corridor - together we can care for it, enjoy it, EXPLORE! Table of Contents The Last Green Valley Map . 2 and pass it on. Accommodations . 4 Astronomy/Night Sky Views . 5 Bicycling & Mountain Biking . 6 Welcome Boating and/or Fishing . 8 Are you a modern Camping . 14 Chambers/Economic Development . 16 day Explorer? You can Disc Golf . 19 be! Discover the natural Education . 20 beauty of The Last Green Farms/Orchards/Nurseries . 21 Valley National Heritage Hiking, Walking & Strolling Trails . 24 Corridor (35 towns in Horseback Riding & Horse Camping . 36 northeast CT and south Hunting . 38 Labyrinths/Mazes . 39 central MA). Find wonder Letterboxing & Geocaching . 40 in the waterfalls, the fishing MORE! Outdoor Activities & Sites holes, the hilltops, and the Proud Supporters/Creators of Outdoor Fun . 41 farms. Hear stories from the Even More Outdoor Activities & Sites . 42 past, sip wine in a vineyard, Museums & Historic Sites . 44 Nonprofits . 48 shop til you drop, and savor Paddling . 50 local foods. Kayak, backpack, Retail - Arts, Antiques & Uniques . 56 pick an apple, or carve a Scenic Overlooks & Views . 58 pumpkin. Savor farm fresh Service Businesses food, photograph bald Medical Emergency Facilities . 60 eagles in flight, or gaze at General Services . 61 Skate Parks . 65 the stars. Explore! will help State & Federal Parks & Forests Chart . 66 you delve into every inch of State & Federal Parks & Forests Map . 70 The Last Green Valley. We State & Federal Parks & Forests Descriptions . 72 will increase your capacity Swimming & Scuba Diving . -
The Traveler: Two Decades: Random Notes
Bangor Public Library Bangor Community: Digital Commons@bpl Books and Publications Special Collections 1949 The rT aveler: Two Decades: Random Notes Myron Haliburton Avery Follow this and additional works at: https://digicom.bpl.lib.me.us/books_pubs Recommended Citation Avery, Myron Haliburton, "The rT aveler: Two Decades: Random Notes" (1949). Books and Publications. 134. https://digicom.bpl.lib.me.us/books_pubs/134 This Book is brought to you for free and open access by the Special Collections at Bangor Community: Digital Commons@bpl. It has been accepted for inclusion in Books and Publications by an authorized administrator of Bangor Community: Digital Commons@bpl. For more information, please contact [email protected]. The Traveler Two Decodes- '- RANDOM NOTES by Myron H. Avery Reprinted from THE LEWISTON JOURNAL MAGAZINE \ ,•--.._ , '. L~-wi~t-:>11 -Mllh'!e : '' ~ J ~ .. : ~ f ~ ,' ) , "' . ~ } .... or-"' . ~ . ;: Apf. i: 2. ~ on~ 9, , l94~ 9 -.. ~ ~ ) ., ..... .. It " · ') l ..... .,"' ~ : .. o .. -~ ., .. "o •11 ! o o • ..... ., ... ,., A ~ Q ~~ "o• ·,., ~ ... c .., .. ~ ,., f> ., .. ' f' .. "' "' :" - .., .. " .. • ., ~ 'll ... .., "'~ ~"' r ;:~ ,-·-\ ~ ~; \~~u~C:( by The Moine Appoloehion Trail Club, Inc. 1949 lhls ~~rticle appeared In h Lew!:Af ~r~l 11af:ZiQ9 in two sec- tions. U'\der the dates end ciPfions "' e noes 121~en below. April 2. THE KATAHDINAUGUOH AND ITS REIGNING HONAROi, THE TRAVELER 'Maine is a vast State, compared to its .~w England neigh· bort~ . And, in comparison with many States of greater territory, it has long stretches a! wilderness country. Those who have been to: Katahdin want to go again. Those WhQ haven't been often express a longing to get at least a. glimpse of that section.