Recent developments in terrain identification, classification, parameter estimation for the navigation of autonomous robots

The work presents a review on ongoing researches in terrain-related challenges influencing the navigation of Autonomous Robots, specifically Unmanned Ground ones. The paper aims to highlight the recent developments in robot design and advanced computing techniques in terrain identification, classification, parameter estimation, and developing modern control strategies. The objective of our research is to familiarize the gaps and opportunities of the aforementioned areas to the researchers who are passionate to take up research in the field of autonomous robots. The paper brings recent works related to terrain strategies under a single platform focusing on the advancements in planetary rovers, rescue robots, military robots, agricultural robots, etc. Finally, this paper provides a comprehensive analysis of the related works which can bridge the AI techniques and advanced control strategies to improve navigation. The study focuses on various Deep Learning techniques and Fuzzy Logic Systems in detail. The work can be extended to develop new control schemes to improve multiple terrain navigation performance.

Analisis Kualitas dan Perkuatan Terowongan Eksplorasi Uranium Eko Remaja Kalan, Kalimantan Barat menggunakan Metode RMR (Rock Mass Rating)

ABSTRAK Terowongan Eksplorasi Uranium Eko Remaja Kalan (TEURK) di Kalimantan Barat yang dibangun pada tahun 1980 merupakan salah satu sarana penelitian cebakan uranium di Indonesia. Terowongan ini menembus Bukit Eko Remaja sepanjang 618 m, mulai dari pintu Remaja hingga TRK-7. Mineralisasi uranium di lokasi ini dikontrol oleh urat-urat tak beraturan (stockwork) yang sangat rapat pada batuan metalanau dan metapelit. Tingginya kerapatan struktur geologi tersebut membentuk beberapa zona lemah di dalam terowongan. Zona lemah tersebut berpotensi menyebabkan terjadinya longsor batu dan tanah. Penyangga sementara terbuat dari tiang-tiang kayu dipasang di zona tersebut untuk perkuatan terowongan. Saat ini tiang kayu tersebut tidak lagi mampu menyangga terowongan sehingga sering terjadi longsor batu dan tanah di dalam terowongan. Penelitian ini bertujuan untuk mengetahui kualitas massa batuan aktual dan menentukan jenis perkuatan yang sesuai agar terowongan tetap aman. Survei palu Schmidt dan scanline pada zona tak berpenyangga (kedalaman 50–297 m dan 355–538 m) dilakukan untuk mengambil data parameter klasifikasi Rock Mass Rating (RMR). Hasil pengukuran menunjukkan bahwa massa batuan TEURK di kedalaman tersebut memiliki nilai RMR 52-71 (sedang–baik). Perkuatan yang direkomendasikan adalah pemasangan baut batu dan beton semprot konvensional.ABSTRACT Tunnel for Exploration of Uranium Eko Remaja Kalan (TEURK) in West Kalimantan, built-in 1980, is one of the uranium deposit research facilities in Indonesia. The tunnel penetrated Eko Remaja Hill along 618 m, from Remaja to TRK-7 access. Uranium mineralization in this area controlled by dense stockwork veins on metasilt and metasandstone rocks. The high-dense geological structures create some weak zones in the tunnel. These zones are potentially causing rocks and soil slides. Temporary supports made of wood-piles were installed in these zones to support the tunnel. Currently, these piles are not capable at the tunnel, so that rocks and soil slides occurred inside the tunnel. The research aimed to determine the quality of actual rock mass and determine the appropriate type of reinforcement to keep the tunnel safe. Schmidt hammer and scanline surveys on the unsupported zone (50–297 m and 355–538 m depth) carried out to collect the classification parameter data of Rock Mass Rating (RMR). The measurement result shows that the rock mass of TEURK on the depth has an RMR value of 52–71 (fair-good). Reinforcement recommendations for the tunnel are rock bolts and conventional shotcretes installation.

AUTOMATIC WATER OBJECTS CLASSIFICATION AND NATURAL WATER QUALITY ASSESSMENT

Assessment of water quality and classification of water object plays significant role in an environmental and ecology study. Water quality evaluation by hydrochemical parameters is fairly difficult and required a long period of time. Automatic expert system was created to solve this problem. Automatization of objects classification and quality assessment for humus zone based on Karelian water bodies research data are presented in this study. Automation algorithms of the surface water geochemical classification based on the principal chemical transactions was obtained during research. Classification based on implicit scaling data by classification parameter. Alkalinity, pH, huminity, Fecom and total phosphorous were chosen as the main classification parameters. For classification by alkalinity were used alkalinity and pH, for huminity classification were used coefficient of huminity – Hum? Color OD?C Mn and Fecom, for trophic state were used huminity class and total phosphorous concentration. The water objects distribution by huminity, alkalinity and trophic state was obtained and basic geochemical classes were picked out. Natural water quality was assessed as combination of geochemical classes. Results of research presented as maps and trends of geochemical classes and natural water quality distribution over the area of Republic of Karelia.

3D Ultrasound Elastographic Imaging and Characterization of Breast Cancer In Vivo

Breast cancer has a high mortality rate and caused about 13.7% of all cancer types deaths in women. Mammography imaging, having a good sensitivity to cancer, is used along with biopsy in a routinely manner, to differentiate between malignant and benign masses. Biopsy is an invasive procedure, and to reduce the necessity for performing it, ultrasound elastography was proposed. Elastography is a potential imaging technique to characterize breast masses, and to differentiate malignant from benign lesions, based on imaging estimated tissue strains under compression. This can result in lowering the number of unnecessary biopsies. Using 3D elastography, lesion relative stiffness with the surrounding soft tissue is estimated at different compression levels, and used as a classification parameter to judge the malignancy of the lesion. In addition, elastography provided a means of emphasizing the strain difference of the lesion from the surrounding soft tissue, which can be used as an additional classification parameter. A pilot study on volunteered patients was performed, and results were compared with biopsy diagnosis as a reference. Initial elastography results showed good agreement with biopsy outcomes. Moreover, we constructed different strain elastograms including first principal, maximum shear and von Mises strains. Those new types of elastographic volumes incorporated the normal axial and shear strains together, which provided better distinction of the hard lesion from the soft tissue. In summary, the proposed elastographic techniques can be used as a noninvasive quantitative characterization tool for breast cancer, with the capability of visualizing and separating the masses in three dimensional space.

CHAOS IN SANDPILE MODELS

We have investigated the "weak chaos" exponent to see if it can be considered as a classification parameter of different sandpile models. Our simulation results show that the (Abelian) BTW sandpile model, the (non-Abelian) Zhang model, and the ("Abelian") Manna model possesses different "weak chaos" exponents, so they may belong to different universality classes. Finally, we show that getting off the critical point destroys this behavior in these models.