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MOBILE MANIPULATOR-ROBOT FOR INSPECTION OF INCLINED WATER PIPELINES 倾斜水管检测用移动机械手
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s12.14
K. Gajewski, Aleksander Skrzypiec, Mateusz Swierczek, T. Turlej
Currently, many emphases are placed on the possibility of limiting excavation works in the event of water pipelines or sewage systems failure. For this purpose, various types of inspection and repair robots/manipulators are used, which can enter the installation's interior without the need to get into the pipe physically (e.g. with an excavator). Mobile robots allow you to diagnose the problem (or provide information on which section the failure occurred) and in some cases, to repair (unplug) the installation without needing heavy machinery. Unfortunately, the limitation of this type of mobile manipulator is the ability to move along relatively flat sections and the adaptation of the robot's geometry to the variable diameter of the pipe. The article presents the concept and construction of a robot prototype that allows it to move along sloping pipes. The design of the robot has been equipped with a variable geometry of the drive, enabling the appropriate coefficient of friction when working in an inclined pipeline. The design solutions used were presented, as well as the test results of the prototype made. The presented solution can successfully reduce the need to use heavy equipment to monitor the quality of water supply and sewage systems. The article shows the potential benefits of using mobile inspection robots to reduce the adverse human impact on the environment (following the principles of sustainable development)
目前,许多重点放在在供水管道或污水系统发生故障时限制挖掘工程的可能性上。为此,使用了各种类型的检查和维修机器人/机械手,它们可以进入装置内部,而无需物理进入管道(例如使用挖掘机)。移动机器人允许您诊断问题(或提供有关故障发生的部分的信息),并且在某些情况下,无需重型机械即可修复(拔掉)安装。不幸的是,这种类型的移动机械手的限制是沿着相对平坦的部分移动的能力和机器人的几何形状适应管道的可变直径。本文介绍了一个机器人原型的概念和结构,它可以沿着倾斜的管道移动。该机器人的设计配备了可变几何形状的驱动,使其在倾斜管道中工作时具有适当的摩擦系数。介绍了所采用的设计方案,并给出了样机的测试结果。提出的解决方案可以成功地减少使用重型设备来监测供水和污水系统的质量。本文展示了使用移动检测机器人减少人类对环境的不利影响的潜在好处(遵循可持续发展原则)。
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引用次数: 0
SPATIAL BIODIVERSITY OF EPIGEAN ARTHROPODS IN AN OLIVE GROVE IN SOUTHERN IBERIA 伊比利亚南部橄榄林上缘节肢动物的空间生物多样性
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s14.48
M. Moreno-García, R. Ordonez-Fernandez, Rosa Maria Carbonell Bojollo, Francisco Perez Serrano, Antonio Rodriguez Lizana
This study aims to observe the spatial distribution of the arthropods biodiversity inhabiting the soil surface of olive groves. For this purpose, a sampling campaign has been carried out in a 15.1 ha plot of this crop. This plot is located in the south of the Iberian Peninsula. The study comprised a total of 65 sampling stations for epigean arthropods. Each station consisted of two drop traps, one located under the canopy of the olive tree and the other in the middle of the strip. With the arthropod catch data from each sampling station, the Shannon biodiversity index per sampling unit was calculated. The average of the 65 stations amounts to a biodiversity value of 1.66 for this index. It can therefore be considered to have a relatively low diversity. This is a normal result in cultivated systems. A study of this biodiversity index has also been carried out for the three most important orders of soil-dwelling arthropods: Coleoptera, Hymenoptera and Araneae. In these orders, very low biodiversity values were found, as the number of species counted was reduced. Respectively, the results were 0.49, 0.68 and 0.61. Subsequently, a kriging study was carried out to study the distribution patterns of the results obtained at the sampling stations. The patterns show a general enrichment in biodiversity from the highest and steepest enclaves to areas of lower altitude and lower slope. With respect to biodiversity within the three orders studied, the patterns have not been as evident. Particularly in the case of Araneae.
本研究旨在观察橄榄林土壤表面节肢动物生物多样性的空间分布。为此目的,在该作物一块15.1公顷的土地上进行了抽样活动。该地块位于伊比利亚半岛的南部。本研究共设65个上肢节肢动物取样站。每个站点由两个陷阱组成,一个位于橄榄树的树冠下,另一个位于条带的中间。利用各采样站节肢动物捕获数据,计算每个采样单元的Shannon生物多样性指数。65个站点的平均生物多样性指数为1.66。因此,它可以被认为具有相对较低的多样性。这是栽培系统的正常结果。该生物多样性指数还对三种最重要的土栖节肢动物目:鞘翅目、膜翅目和蜘蛛目进行了研究。在这些目中,由于物种数量的减少,生物多样性价值很低。结果分别为0.49、0.68和0.61。随后,进行了克里格研究,以研究在采样站获得的结果的分布模式。从海拔最高和最陡的飞地到海拔较低和坡度较低的飞地,生物多样性普遍丰富。对于所研究的三个目的生物多样性,这种模式并不明显。特别是在Araneae的情况下。
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引用次数: 0
AGROFORESTRY SYSTEMS UNDER LAND IMPROVEMENTS 土地改良下的农林业系统
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s12.01
Vera Horakova, M. Dumbrovsky
The current weather patterns, in the form of more frequent occurrences of hydrological extremes, are increasingly being felt in the Czech Republic. In this context, the paper focuses on the issue of the current management of the landscape, which loses its quality due to these adverse climatic conditions and the influence of man. The aim is to compare selected physical properties and obtained soil moisture data for different uses and cultivation. For sample collections, a site in the Czech Republic in the South Moravian Region in the district of Hodonin in the cadastral territory of Sardice was selected, where land improvements took place in the form of agroforestry systems. Broken and intact samples were taken from sampling sites (a grassy belt with trees and arable land), which were subsequently subjected to the necessary experiments in the laboratory. The data obtained were then evaluated on the basis of individual criteria and compared with each other. Furthermore, humidity and temperature are continuously measured using TOMST moisture sensors, these data are subsequently processed in the form of graphs. The results showed that the way the land is used and cultivated has an impact on the characteristics (quality) of the soil. So, we can influence them both negatively and positively.
捷克共和国正日益感受到以更频繁地出现极端水文现象为形式的当前天气模式。在此背景下,本文关注的是当前景观管理的问题,由于这些不利的气候条件和人类的影响,景观失去了质量。目的是比较选定的物理性质,并获得不同用途和耕作的土壤水分数据。为了收集样本,选择了捷克共和国南摩拉维亚地区萨尔代斯地籍领土霍多宁区的一个地点,在那里以农林业系统的形式进行了土地改良。从采样点(有树木和耕地的草带)采集破碎和完整的样本,随后在实验室进行必要的实验。然后根据个人标准对获得的数据进行评估并相互比较。此外,使用TOMST湿度传感器连续测量湿度和温度,这些数据随后以图形的形式进行处理。结果表明,土地利用和耕作方式对土壤的特性(质量)有影响。所以,我们可以对他们产生消极和积极的影响。
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引用次数: 0
EDUCATIONAL PROGRAMS OF FOREST PEDAGOGY AS A STARTING POINT FOR A SUSTAINABLE PROGRESS 教育方案以森林教育学作为可持续发展的起点
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s14.39
Dana Kollarova, Alexandra Nagyová
In the current society, the topic of global environmental problems that people face in their everyday lives is becoming more frequent. The consumption lifestyle of people has a negative impact on the environment, which causes reduced quality of life on Earth. One of the most important tasks of education is leading children toward sustainable living. The study is focused on a specific pedagogical-didactical approach � Forest pedagogy as one of the options for environmental education as well as building a relationship towards sustainable development in the primary level of education. Forest pedagogy is focused on teaching about the forest ecosystem and children forming a positive relationship towards the protection of the environment on examples tied to the forest. Forest pedagogy introduces programs that are realized by forest pedagogues at school within formal education based on the condition set by the Slovak Republic. These programs lead towards the education of environmental thinking and a positive approach of a child towards the environment. The study features partial outcomes of the research on how the programs of forest pedagogy influence the development of children�s knowledge about forests and their protection.
在当今社会,人们在日常生活中面临的全球环境问题的话题变得越来越频繁。人们的消费生活方式对环境产生了负面影响,导致地球上的生活质量下降。教育最重要的任务之一是引导儿童走向可持续的生活。这项研究的重点是一种具体的教学方法- -森林教学法,作为环境教育的备选办法之一,并在初级教育中建立一种促进可持续发展的关系。森林教育学的重点是关于森林生态系统和儿童在与森林有关的例子中对环境保护形成积极关系的教学。森林教育学根据斯洛伐克共和国规定的条件,介绍了由森林教师在学校的正规教育中实施的课程。这些项目旨在培养孩子的环境意识,培养他们对环境的积极态度。这项研究的部分成果是关于森林教育学项目如何影响儿童对森林及其保护知识的发展。
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引用次数: 0
DIVERSITY AND LOCATION OF PLANT SPECIES IN A MINING ENVIRONMENT: A NEW PERSPECTIVE FROM THE GEOCHEMISTRY OF THE SUBSTRATE 采矿环境中植物物种的多样性和定位:从基质地球化学的新视角
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s14.37
J. A. Campos, J. Villena, J. Peco, M. Moreno, F. García-Navarro, P. Higueras
The plant soil relation in an extreme environment was studied with the aim of determining the physiological and/or ecological mechanisms involved in overcoming environmental constraints. In our work we have studied different aspects such as diversity, colonization strategies, dynamics, etc. of the vegetation that appears in a mining environment. The alteration of the soil in these places comes from very varied activities in addition to the chemical peculiarities of the extracted minerals. In short, we can consider these spaces as a mosaic of different substrates originating from the contribution of exogenous material, gangue deposits, mining tailings deposits, areas partially altered by the activity of machinery, etc. We distinguished 6 different substrates that respond to different degrees of alteration of the original soil, ranging from total degradation, due to replacement by exogenous materials, to partial degradation where the original soil is more or less altered by different processes. Each of these different substrates has its geochemical peculiarities and the vegetation that develops in each of these areas responds perfectly to the conditions derived from the geochemistry of the substrate on which they grow. If we add to this that we are in a Mediterranean continental climate, with little plubiometry and a severe summer of 5 months of high temperatures and drough, and the presence of high levels of heavy metals, the study of plant cover becomes very interesting.
研究极端环境下植物土壤关系,旨在确定克服环境约束的生理和/或生态机制。在我们的工作中,我们研究了在采矿环境中出现的植被的多样性、殖民化策略、动态等不同方面。这些地方土壤的变化除了受开采矿物的化学特性影响外,还来自各种各样的活动。简而言之,我们可以把这些空间看作是由外源物质、脉石沉积物、采矿尾矿库、部分被机械活动改变的区域等贡献的不同基质组成的马赛克。我们区分了6种不同的基质,它们对原始土壤的不同程度的变化做出反应,从由于外源物质替代而导致的完全退化到原始土壤或多或少受到不同过程改变的部分退化。每一种不同的基质都有其地球化学特性,在这些地区生长的植被对它们生长的基质的地球化学条件做出了完美的反应。如果我们再加上我们处于地中海大陆性气候,几乎没有植被测量,而且夏季有5个月的高温和干旱,重金属含量很高,那么对植物覆盖的研究就变得非常有趣了。
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引用次数: 0
DETECTING THE INFLUENCE OF FORESTS ON WATER RESOURCES IN BULGARIA 检测保加利亚森林对水资源的影响
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s14.34
N. Shuleva, K. Kolev
Bulgarian forests are part of the national wealth and national identity. Their economic, social and ecological functions are important for the sustainable development of society and for improvement of living conditions especially in rural and mountainous regions. To a large extent these functions are irreplaceable not only in a national but also in a global aspect. In this connection in the present paper a structural-functional characterization of Bulgarian forest territories is done. Actual data on the area of forests, wood stock, wood increment and distribution of forests by functions are presented. Regarding the last one, the attention is focused on concise characteristics of forests with water protection functions on the territory of Bulgaria and water resources of the country. On the basis of the above, the guiding hypothesis for the study is formulated, namely: there is a correlation between the area of forest territories in Bulgaria and the territory occupied by water and water bodies. The verification is carried out by means of a correlation analysis, which is based on data from the National Statistical Institute (NSI) on the areas of forest territories and territories occupied by water and water bodies in 23 districts from level NUTS-3 in Bulgaria in 2021. Regarding the area occupied by water and water bodies, it should be clarified that according to NSI it includes plots for watercourses, water bodies and available water facilities.
保加利亚的森林是国家财富和国家特性的一部分。它们的经济、社会和生态功能对于社会的可持续发展和改善特别是农村和山区的生活条件是重要的。在很大程度上,这些功能不仅在一个国家,而且在全球范围内都是不可替代的。在这方面,本文对保加利亚森林领土的结构-功能特征进行了描述。并按功能给出了森林面积、木材蓄积量、木材增量和森林分布的实际数据。关于最后一个问题,重点是保加利亚境内具有水保护功能的森林的简明特征和该国的水资源。在此基础上,提出了本研究的指导假设,即:保加利亚的森林领土面积与水和水体所占领土之间存在相关性。验证是通过相关性分析进行的,该分析基于国家统计局(NSI)关于2021年保加利亚NUTS-3级23个地区的森林领土和水和水体占用领土的数据。关于水和水体所占的面积,应该澄清的是,根据国家安全指数,它包括水道、水体和可用水设施的地块。
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引用次数: 0
USING A DRONE TO DETECT PLANT DISEASE PATHOGENS 用无人机检测植物病害病原体
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s14.53
Jakub Karbowski, Jedrzej Minda
Today, drones are already widely used in agriculture and forestry. Drones can help spray plants, take surface measurements, and estimate the damage caused by adverse weather conditions or wild animals. Drones can also be used in caring for the condition of crops. Traditional methods of detecting threats related to plant disease are time-consuming and ineffective. Thanks to the use of drones equipped with appropriate vision systems, it is possible to carry out quick and precise control of the condition of the plants. The article proposes a system for detecting plant pathogens using a drone. The concept of the proposed solution and the methodology of plant monitoring is described. The use of multiple neural network architectures is presented. Credible model performance metrics are described, thanks to the use of various datasets. In addition, the article presents the results of the developed algorithm on the testing ground. The conducted research confirmed the legitimacy and validity of the use of drones in the monitoring of forest crops and ecosystems.
如今,无人机已经广泛应用于农业和林业。无人机可以帮助喷洒植物,进行地面测量,并估计恶劣天气条件或野生动物造成的损害。无人机还可以用于照顾农作物的状况。传统的检测植物病害威胁的方法既耗时又无效。由于使用配备了适当视觉系统的无人机,可以对植物的状况进行快速和精确的控制。本文提出了一种利用无人机检测植物病原体的系统。介绍了提出的解决方案的概念和工厂监测的方法。介绍了多种神经网络结构的应用。由于使用了各种数据集,描述了可信的模型性能指标。此外,本文还介绍了所开发算法在试验场的测试结果。所进行的研究证实了在监测森林作物和生态系统中使用无人机的合法性和有效性。
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引用次数: 0
EXTERNAL INFLUENCES AFFECTING THE HYDRAULICS OF AUTOMATIC SIPHONS FOR VERTICALLY FLOWING FILTERS 影响垂直流动过滤器自动虹吸水力学的外部因素
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s12.09
Ondrej Chaloupka, Michal Kriska - Dunajsky
In recent years, natural wastewater treatment wetland plants have been gaining more attention from researchers and the public due to their low operating costs and efficient way of treating wastewater. Treatment wetland plants with pulse-fed vertical flow filters are one of the most efficient treatment technologies. For optimum operation, intermittent loading of wastewater onto the filter surface is necessary, for which various types of automatic siphons can be used in addition to pumps. This kind of automatic siphons do not require electricity for their operation. The aim of the actual measurements was to specify the hydraulic characteristics of four different types of automatic siphons used in France, Germany, and the Czech Republic. In the course of the laboratory measurements, it was possible to define the basic hydraulic characteristics of the different technical solutions - e.g. maximum water flow, starting and shut-off water level, emptying rate and discharge flow. The measured values then lead to the determination of the total hydraulic losses of the device, while the limits and nature of the individual solutions are shown in comparison with each other. The results can be used for the design of the downstream hydraulic system of the distribution piping that is spread over the filter surface.
近年来,天然污水处理湿地厂以其运行成本低、处理废水效率高的特点越来越受到研究者和公众的关注。采用脉冲式垂直流过滤器处理湿地植物是最有效的处理技术之一。为了达到最佳运行,需要将废水间歇加载到过滤器表面,为此除了泵外,还可以使用各种类型的自动虹吸管。这种自动虹吸管的操作不需要电力。实际测量的目的是详细说明在法国、德国和捷克共和国使用的四种不同类型的自动虹吸管的水力特性。在实验室测量过程中,可以确定不同技术方案的基本水力特性,例如最大水流量、启动和关闭水位、排空率和排放流量。测量值然后导致装置的总水力损失的确定,而个别解决方案的极限和性质被显示在彼此的比较。所得结果可用于分布在过滤器表面的配流管道下游液压系统的设计。
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引用次数: 0
ASSESSMENT OF FLOOD DEVELOPMENT DUE TO THE DESTRUCTION OF DAMS 水坝破坏后洪水发展的评估
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s12.02
T. Kril
Since the beginning of hostilities in the Ukraine territory, there have been several cases of detonation of dams on reservoirs. These events affected the surrounding areas, leading to a flood of different degrees. One of the significant cases occurred on the dam covering the Irpin river, close to Kyiv. It was built during the Kyiv Reservoir filling to prevent the flooding of the river valley and serves as a bridge. After a part of the dam was broken, water from the Reservoir began to fill the Irpin river. The flood threatened Demidiv and settlements further along the river valley. The study aims to determine the areas and volumes affected by water from the Reservoir, estimated material losses and the development of dangerous engineering and geological processes using remote sensing data. The method of identifying water bodies and, in general, bodies with a certain degree of hydration (vegetation, rivers, lakes, moistened soils) based on many spectral images consists of the calculation of Normalized Differential Water Indices. The water index was calculated from the green and near-infrared bands of space images from the Landsat 8-9 mission in the period from February 24 to April 30. The volume of water that formed the flood was calculated. For this, a digital terrain model was built based on the ALOS PALSAR space image, where each pixel of GeoTiff contains the height value. The flooded area is 16.5 square kilometres per month. The deposits of the first and second on the floodplain terraces, composed of uneven-grained sands, were flooded. The development of engineering-geological processes and the engineering protection of settlements are analyzed. The most common threats are flooding and swamping, erosional and gravitational processes are not observed.
自乌克兰境内敌对行动开始以来,发生了几起水库大坝爆炸事件。这些事件影响了周边地区,导致不同程度的洪水。其中一个重大案例发生在基辅附近覆盖伊尔平河的大坝上。它是在基辅水库填充期间建造的,以防止河谷的洪水,并作为桥梁。在大坝的一部分被破坏后,水库的水开始填满伊尔平河。洪水威胁着德米迪夫和河谷附近的定居点。这项研究的目的是利用遥感数据确定受水库供水影响的地区和数量、估计的物质损失以及危险工程和地质过程的发展。基于多幅光谱图像识别水体以及一般具有一定水化程度的水体(植被、河流、湖泊、湿润土壤)的方法包括归一化差分水体指数的计算。水指数是根据Landsat 8-9任务在2月24日至4月30日期间的绿色和近红外波段的空间图像计算得出的。形成洪水的水量被计算出来了。为此,基于ALOS PALSAR空间图像构建数字地形模型,其中GeoTiff的每个像素包含高度值。每月被淹面积为16.5平方公里。第一期和第二期沉积在冲积平原阶地上,由颗粒不均匀的砂组成,被淹没。分析了工程地质过程的发展和沉降的工程防护。最常见的威胁是洪水和沼泽,没有观察到侵蚀和重力过程。
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引用次数: 0
ATRAZINE UNDER DENITRIFYING CONDITIONS 反硝化条件下的莠去津
Pub Date : 2022-12-27 DOI: 10.5593/sgem2022v/3.2/s12.03
J. Malá, Kristína Pániková, Z. Bílková
The use of pesticides has negative effects on the quality of groundwater. The triazine pesticide atrazine has not been applied to soil in agriculturally used areas of the Czech Republic for many years, yet atrazine and its metabolites are detected in groundwater throughout the country. The effect of these substances on the denitrification process that takes place in groundwater is unclear. This study aims to examine the behavior of atrazine under denitrifying conditions and the pesticide�s effect on the denitrification process. 7-day and 28-day laboratory tests at a concentration of 100 ?g/L atrazine were performed to simulate such conditions. A single dose of atrazine was introduced to the samples at the beginning of the tests. No inhibition of the denitrification process was detected in any of the tests. Stimulation of denitrification was measured in the last week of the 28-day test. Adsorption on poplar shavings was the dominant process of the decrease in atrazine concentration during both the 7- and 28-day tests. The biotic loss was 3.9% for the 7-day test. In the 28-day test, there was a total biotic loss of 12.1%. A similar biotic loss of 9.8% was measured also in a 7-day test performed at higher pH. At the end of the 28-day test, the transformation product atrazine-2-hydroxy was detected in the supernatant in very low concentrations. A significant effect of the HgCl2 inhibitor on the instantaneous adsorption rate was observed for all tests.
农药的使用对地下水的质量有负面影响。三嗪类农药阿特拉津多年来未在捷克共和国农业用地的土壤中施用,但在全国各地的地下水中都检测到阿特拉津及其代谢物。这些物质对发生在地下水中的反硝化过程的影响尚不清楚。本研究旨在研究阿特拉津在反硝化条件下的行为以及农药对反硝化过程的影响。在浓度为100 g/L的阿特拉津下进行了7天和28天的实验室试验来模拟这种情况。在试验开始时,向样品中加入单剂量的阿特拉津。在任何试验中均未检测到反硝化过程的抑制作用。在28天试验的最后一周测量了反硝化的刺激。在7天和28天的试验中,吸附是阿特拉津浓度下降的主要原因。在7天的试验中,生物损失为3.9%。在28 d的试验中,总生物损失为12.1%。在较高ph下进行的7天试验中,也测量到类似的9.8%的生物损失。在28天试验结束时,在上清中检测到转化产物阿特拉津-2-羟基的浓度非常低。HgCl2抑制剂对瞬时吸附速率有显著影响。
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引用次数: 0
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