Design and analysis of a six-wheeled companion robot with mechanical obstacle-overcoming adaptivity

A six-wheeled companion exploration robot with an adaptive climbing mechanism is proposed and released for the complicated terrain environment of planetary exploration. Benefiting from its three-rocker-arm structure, the robot can adapt to complex terrain with its six wheels in contact with the ground during locomotion, which improves the stability of the robot. When the robot moves on the flat ground, it moves forward through the rotation of the wheels. When it encounters obstacles in the process of moving forward, the front obstacle-crossing wheels hold the obstacle, and the rocker arms on both sides rotate themselves with mechanical adaptivity to drive the robot to climb and cross the obstacle like crab legs. Furthermore, a parameterized geometric model is established to analyze the motion stability and the obstacle-crossing performance of the robot. To investigate the feasibility and correctness of design theory and robot scheme, a group of design parameters of the robot are determined. A prototype of the robot is developed, and the experiment results show that the robot can maintain stability in rugged terrain environments and has a certain ability to surmount obstacles.

Mineralogical Mapping with Accurately Corrected Shortwave Infrared Hyperspectral Data Acquired Obliquely from UAVs

While uncrewed aerial vehicles are routinely used as platforms for hyperspectral sensors, their application is mostly confined to nadir imaging orientations. Oblique hyperspectral imaging has been impeded by the absence of robust registration and correction protocols, which are essential to extract accurate information. These corrections are especially important for detecting the typically small spectral features produced by minerals, and for infrared data acquired using pushbroom sensors. The complex movements of unstable platforms (such as UAVs) require rigorous geometric and radiometric corrections, especially in the rugged terrain often encountered for geological applications. In this contribution we propose a novel correction methodology, and associated toolbox, dedicated to the accurate production of hyperspectral data acquired by UAVs, without any restriction concerning view angles or target geometry. We make these codes freely available to the community, and thus hope to trigger an increasing usage of hyperspectral data in Earth sciences, and demonstrate them with the production of, to our knowledge, the first fully corrected oblique SWIR drone-survey. This covers a vertical cliff in the Dolomites (Italy), and allowed us to distinguish distinct calcitic and dolomitic carbonate units, map the qualitative abundance of clay/mica minerals, and thus characterise seismic scale facies architecture.

Flash-floods control

Flash-Floods are among the hydrological disasters that most damage life and structures in Brazil. The frequency and impacts of flash-floods may become an increasing problem due to the future scenario of an increase in global temperature causing intense precipitation. Through the literature, the aim of this study was: clarify how flash-floods occur; present national policies and legal provisions related to disaster risk management and what actions are suggested for prevention and response. Flash-floods are intense water superficial movements that are not dependent on watercourses. They are depending of warm and humid climate, rugged terrain and waterproofing land cover. All over the planet, actions are proposed for these disasters. In Brazil, Civil Defense acts through monitoring, diagnosis, prognosis and structural actions, i.e., physical, and non-structural, or regulatory. The structural actions to flash-floods are focused on land cover and mainly vegetation, while non-structural actions focus on zoning risk areas and assisting of affected populations. These measurements can be improved with social data, as income, and meteorological data, as air mass movement, temperature, humidity and clouds. Information about flash-floods, responsible agencies and measures can be used to help manage the risk of these disasters.

An Overview on Railway Impacts on Coastal Environment and Beach Tourism in Sicily (Italy)

The main aim of this paper is to analyze the development of the railway network in Sicily (Italy), where it runs close to the sea on two of the three sides of the island, and give an overview of the related impacts on coastal environment and tourism. In order to achieve such an objective, the impacts of the railway network were analyzed according to coastal typology (distinguishing between rocky and sandy coastal sectors) and distance from the shoreline (dividing distance values in concrete intervals). Rails were mostly emplaced in flat coastal areas due to the island’s rugged terrain: out of 1592 km of railway, ca. 350 km is located less than 1000 m from the shoreline (123 km on rocky sectors and 227 km on beaches and coastal plains). On sandy beaches and low sandy coastal sectors, approximately 6 km of track is within 25 m from the shoreline, a value rising to 16 km if a 50 m distance is considered, 48 km at 100 m and 103 km at 200 m distance. In correspondence of rocky platforms and high cliffed sectors, data reported for short distances between the rail and the shore are similar to ones observed along sandy coastal sectors, but differ when distance increases, i.e., there is only 32 and 47 km of railway respectively within 100 and 200 m from the shoreline. The emplacement of the railway embankment on beaches and dunes favored coastal squeeze and enhanced coastal erosion due to wave reflection on the embankment, which had to be protected by hard structures. Impacts on rocky sectors, with respect to beach and dune systems, are generally low because such sectors are usually stable (they do not need to be protected), less attractive to tourists and present small urban development. Tourism was affected by reducing landscape quality, beach access and width. More detailed studies and monitoring programs are necessary to locally assess the detailed impacts of the railway network, with this study constituting a preliminary but useful approximation to determine which coastal sectors are potentially the most affected. Results obtained in this paper can stimulate similar researches in other countries to prevent or decrease railway impacts on “Sun, Sea and Sand” tourism and, in general, on the coastal environment.

Different environmental requirements of female and male Siberian ibex, Capra sibirica

In sexually dimorphic species, males and females may select different habitat for greater fitness. However, the key factors that play a leading role between sexes in habitat selection are still poorly understood. In this paper, we investigated the possible causes of the differences in habitat preference between male and female Siberian ibex (Capra sibirica) living in the Tianshan Mountains (China). Using the Maximum entropy model, we found that the ruggedness and elevation of the terrain were the most important factors affecting habitat selection in Siberian ibex. Females preferred the most rugged terrain to increase the security of their young and themselves, while males favored moderately rugged terrain to provide sufficient safety from predators, and availability of suitable forage simultaneously. Females used a wider variety of elevations to search for newly emerged vegetation for its higher nutritional value, while males preferred more elevated slopes to avoid the higher temperatures and greater presence of biting insects found at the lower elevations. In addition, females were associated more with rivers due to their higher water demands. The differences in habitat selection between Siberian ibex males and females depend on multiple considerations, but only a limited number of key factors determine their actual distribution.