Search Results (972)

Inspection, maintenance, and repair (IMR) operations on underwater infrastructure remain costly and time-intensive because fully teleoperated remote operated vehicle s(ROVs) lack the range and dexterity necessary for precise cooperative underwater manipulation, and the alternative of using professional divers is ruled out due to the risk involved. This work presents and experimentally validates an autonomous, dual-I-AUV (Intervention–Autonomous Underwater Vehicle) system capable of assembling rigid pipeline segments through coordinated actions in a confined underwater workspace. The first I-AUV is a Girona 500 (4-DoF vehicle motion, pitch and roll stable) fitted with multiple payload cameras and a 6-DoF Reach Bravo 7 arm, giving the vehicle 10 total DoF. The second I-AUV is a BlueROV2 Heavy equipped with a Reach Alpha 5 arm, likewise yielding 10 DoF. The workflow comprises (i) detection and grasping of a coupler pipe section, (ii) synchronized teleoperation to an assembly start pose, and (iii) assembly using a kinematic controller that exploits the Girona 500’s full 10 DoF, while the BlueROV2 holds position and orientation to stabilize the workspace. Validation took place in a 12 m × 8 m × 5 m water tank. Results show that the paired I-AUVs can autonomously perform precision pipeline assembly in real water conditions, representing a significant step toward fully automated subsea construction and maintenance. Full article

Robots are increasingly emerging as effective platforms to overcome a wide range of challenges in agriculture. Beyond functioning as standalone systems, agricultural robots are proving valuable as collaborative platforms, capable of supporting and integrating with humans and other technologies and agricultural activities. In this study, we designed and implemented an automated system embedded in a ground-based robotic platform to support spraying drone operations. The system consists of a robotic platform that carries the spraying drone along with all necessary support devices, including a water tank, chemical reservoirs, a mixer, generators for drone battery charging, and a top landing pad. The system is controlled with a mobile app that calculates the total amount of water and chemicals required and sends commands to the platform to prepare the application mixture. The input information in the app includes the field area, application rate, and up to three chemical dosages simultaneously. Additionally, the platform allows the drone to take off from and land on it, enhancing both safety and operability. A set of pumps was used to deliver water and chemicals as specified in the mobile app. To automate pump control, we used Arduino technology, including both the microcontroller and a programming environment for coding and designing the mobile app. To validate the system’s effectiveness, we individually measured the amount of water and chemical delivered to the mixer tank and compared it with conventional manual methods for calculating chemical quantities and preparation time. The system demonstrated consistent results, achieving high precision and accuracy in delivering the correct amount. This study advances the field of agricultural robotics by highlighting the role of collaborative platforms. Particularly, the system presents a valuable and low-cost solution for small farms and experimental research. Full article

Optimizing hydrodynamic performance and dissolved oxygen (DO) distribution is essential for improving water quality management in industrial recirculating aquaculture systems. This study combines experimental measurements and data analysis to evaluate the effects of the inlet pipe flow rate (Q), deployment distance ratio (d/r), deployment angle (θ), inlet pipe structure on hydrodynamics and the dissolved oxygen distribution across various tank layers. The flow field distribution in the tanks was measured using Acoustic Doppler Velocimetry (ADV), and the hydrodynamic characteristics, including average velocity (v_avg) and the velocity uniformity coefficient (DU₅₀), were quantitatively analyzed. The dissolved oxygen content at different tank layers was recorded using an Aquameter GPS portable multi-parameter water quality analyzer. The findings indicate that average velocity (v_avg) and the velocity uniformity coefficient (DU₅₀) are key determinants of the hydrodynamic characteristic of circular aquaculture tanks. Optimal hydrodynamic performance occurs for the vertical single-pipe porous configuration at Q = 9 L/s, d/r = 1/4, and θ = 45°,the average velocity reached 0.0669 m/s, and the uniformity coefficients attained a maximum value of 40.4282. In a vertical single-pipe porous structure, the tank exhibits higher dissolved oxygen levels compared to a horizontal single-pipe single-hole structure. Under identical water inflow rates and deployment distance ratios, dissolved oxygen levels in the surface layer of the circular aquaculture tank are significantly greater than that in the bottom layer. The results of this study provide valuable insights for optimizing the engineering design of industrial circular aquaculture tanks and addressing the dissolved oxygen distribution across different water layers. Full article

The efficiency of solar water heating systems is strongly influenced by variable weather conditions, making the optimization of control strategies essential for maximizing energy performance. This study presents the development and evaluation of a rule-based adaptive control strategy that dynamically selects one of three predefined control modes—ON–OFF, proportional, or indirect proportional control (IPC)—based on real-time weather classification. The classification algorithm assigns each day to one of four solar irradiance categories, enabling the controller to respond appropriately to current environmental conditions. The proposed adaptive controller was implemented and tested under real operating conditions and compared with a conventional commercial solar controller. Over a 40-day testing period, the adaptive system achieved a 12.7% increase in thermal energy storage efficiency. Specifically, despite receiving 4.8% less solar radiation (719 kWh vs. 755 kWh), the adaptive controller stored 453 kWh of heat in the water tank compared to 416 kWh with the traditional system. This corresponds to an efficiency improvement from 0.55 to 0.63. These results demonstrate the adaptive controller’s superior ability to utilize available solar energy across all weather scenarios. The findings confirm that intelligent control strategies not only enhance technical performance but also improve the economic and environmental value of solar thermal systems. Full article

Shrimp farming is practiced worldwide in tropical and subtropical regions, where shrimp often experience suboptimal temperatures during part of the production cycle, resulting in slower growth. A concentrated functional palatability enhancer (FPE) containing a mixture of chemoattractants was tested. A 12-week experiment at a suboptimal temperature (22 °C) was conducted with Penaeus vannamei (3.25 ± 0.02 g) in a clear water system (400 L with 40 shrimp per tank) with flow-through seawater. A standard diet was supplemented with 0, 1, and 2 g kg⁻¹ of FPE (STD, STD+1, and STD+2) with four replicates for each one. The inclusion of 1 g kg⁻¹ of FPE (STD+1) significantly increased the average final weight by 11.24% and weekly weight gain by 14,00% when compared to STD. The highest tested dose (2 g kg⁻¹) did not result in further improvement in growth performance compared to the control. In addition, the total hemocyte count (THC) remained at an optimal level for the species in the STD+1 treatment under suboptimal temperature conditions compared to the other treatments. We also observed a decrease in Vibrio spp. bacterial counts in STD+1 compared to STD+2. Therefore, the lowest tested dose was shown to positively influence the rearing of P. vannamei at suboptimal temperatures. Full article

Global building energy consumption is significantly increasing. Utilizing renewable energy sources may be an effective approach to achieving low-carbon and energy-efficient buildings. A combined system incorporating solar photovoltaic–thermal (PV/T) components with an air-source heat pump (ASHP) was studied for simultaneous heating and power generation in a real residential building. The back panel of the PV/T component featured a novel polygonal Freon circulation channel design. A prototype of the combined heating and power supply system was constructed and tested in Fuzhou City, China. The results indicate that the average coefficient of performance (COP) of the system is 4.66 when the ASHP operates independently. When the PV/T component is integrated with the ASHP, the average COP increases to 5.37. On sunny days, the daily average thermal output of 32 PV/T components reaches 24 kW, while the daily average electricity generation is 64 kW·h. On cloudy days, the average daily power generation is 15.6 kW·h; however, the residual power stored in the battery from the previous day could be utilized to ensure the energy demand in the system. Compared to conventional photovoltaic (PV) systems, the overall energy utilization efficiency improves from 5.68% to 17.76%. The hot water temperature stored in the tank can reach 46.8 °C, satisfying typical household hot water requirements. In comparison to standard PV modules, the system achieves an average cooling efficiency of 45.02%. The variation rate of the system’s thermal loss coefficient is relatively low at 5.07%. The optimal water tank capacity for the system is determined to be 450 L. This system demonstrates significant potential for providing efficient combined heat and power supply for buildings, offering considerable economic and environmental benefits, thereby serving as a reference for the future development of low-carbon and energy-saving building technologies. Full article

The development of efficient and sustainable water recycling systems is essential for long-term human missions and the establishment of space habitats on the Moon, Mars, and beyond. Humidity condensate (HC) is a low-strength wastewater that is currently recycled on the International Space Station (ISS). The main contaminants in HC are primarily low-molecular-weight organics and ammonia. This has caused operational issues due to microbial growth in the Water Process Assembly (WPA) storage tank as well as failure of downstream systems. In addition, treatment of this wastewater primarily uses adsorptive and exchange media, which must be continually resupplied and represent a significant life-cycle cost. This study demonstrates the integration of a membrane-aerated biological reactor (MABR) for pretreatment and storage of HC, followed by brackish water reverse osmosis (BWRO). Two system configurations were tested: (1) periodic MABR fluid was sent to batch RO operating at 90% water recovery with the RO concentrate sent to a separate waste tank; and (2) periodic MABR fluid was sent to batch RO operating at 90% recovery with the RO concentrate returned to the MABR (accumulating salinity in the MABR). With an external recycle tank (configuration 2), the system produced 2160 L (i.e., 1080 crew-days) of near potable water (dissolved organic carbon (DOC) < 10 mg/L, total nitrogen (TN) < 12 mg/L, total dissolved solids (TDS) < 30 mg/L) with a single membrane (weight of 260 g). When the MABR was used as the RO recycle tank (configuration 1), 1100 L of permeate could be produced on a single membrane; RO permeate quality was slightly better but generally similar to the first configuration even though no brine was wasted during the run. The results suggest that this hybrid system has the potential to significantly enhance the self-sufficiency of space habitats, supporting sustainable extraterrestrial human habitation, as well as reducing current operational problems on the ISS. These systems may also apply to extreme locations such as remote/isolated terrestrial locations, especially in arid and semi-arid regions. Full article

Decentralized sanitation in rural areas urgently requires accessible and nature-based solutions to achieve Sustainable Development Goal 6 (clean water and sanitation for all). However, monitoring studies of such ecotechnologies in disperse communities remain limited. This study evaluated the performance of an evapotranspiration tank (TEvap), designed with community participation, for the treatment of domestic sewage in a rural Quilombola household in the Brazilian Cerrado. The system (total area of 8.1 m², with about 1.0 m² per inhabitant) was monitored for 218 days, covering the rainy season and the plants’ establishment phase. After 51 days, the TEvap reached operational equilibrium, maintaining a zero-discharge regime, and after 218 days, 92.3% of the total system inlet volumes (i.e., 37.47 in 40.58 m³) were removed through evapotranspiration and uptake by cultivated plants (Musa spp.). Statistical analyses revealed correlations that were moderate to strong, and weak between the blackwater level and relative humidity (Pearson correlation coefficient, r = 0.75), temperature (r = −0.66), and per capita blackwater contribution (r = 0.28), highlighting the influence of climatic conditions on system efficiency. These results confirm the TEvap as a promising, low-maintenance, and climate-resilient technology for decentralized domestic sewage treatment in vulnerable rural communities, with the potential to support sanitation policy goals and promote public health. Full article

The performance of solar thermal systems for space heating and domestic hot water (DHW) production depends on the tilt angle of solar collectors, which governs the amount and seasonal distribution of captured solar radiation. This study evaluates the impact of fixed collector tilt angles on the annual solar fraction (SF) of a solar heating system designed for a typical single-family house located in Kraków, Poland (50° N latitude). A numerical model based on the f-Chart method was employed to simulate system performance under varying collector areas, storage tank volumes, heat exchanger characteristics, and DHW proportions. The analysis revealed that although total annual irradiation decreases with increasing tilt angle, the SF reaches a maximum at a tilt angle of approximately 60°, which is about 10° higher than the local geographic latitude. This configuration offers a favorable balance between winter energy gain and summer overheating mitigation. The results align with empirical recommendations in the literature and offer practical guidance for optimizing fixed-tilt solar heating systems in temperate climates. Full article

Ensuring the safety of large spherical water storage tanks in seismic environments is critical. Therefore, this study proposed a vibration control device applicable to general spherical water tanks. By utilizing the upper interior space of a spherical tank, a novel tuned mass damper (TMD) system composed of a mass block and four elastic springs was proposed. To enable practical implementation, the vibration control mechanism and tuning principle of the proposed TMD were examined. Subsequently, an experimental setup, including the spherical water tank and the TMD, was developed. Subsequently, shaking experiments were conducted using two types of spherical tanks with different leg stiffness values under various seismic waves and excitation directions. Shaking tests using actual El Centro NS and Taft NW earthquake waves demonstrated vibration reduction effects of 34.87% and 43.38%, respectively. Additional shaking experiments were conducted under challenging conditions, where the natural frequency of the spherical tank was adjusted to align closely with the dominant frequency of the earthquake waves, yielding vibration reduction effects of 18.74% and 22.42%, respectively. To investigate the influence of the excitation direction on the vibration control performance, shaking tests were conducted at 15-degree intervals. These experiments confirmed that an average vibration reduction of more than 15% was achieved, thereby verifying the validity and practicality of the proposed TMD vibration control system for spherical water tanks. Full article

The use of pharmaceuticals and personal care products (PPCPs) is steadily growing as the world’s population both increases and ages. Many of these products are released into the environment via municipal wastewater treatment plants and onsite wastewater treatment systems (septic tanks). Consequently, it is essential to ascertain whether these contaminants pose any risk to aquatic organisms who live in the water bodies receiving this waste. Risk quotients (RQ) are a commonly used method to do so. For our pilot study, we undertook such analysis for three trophic levels: algae, crustaceans, and fish from two small lakes, one fed by septic tanks and the other not. This research was conducted in 2021 from the end of the dry season and through most of the wet season in west central Florida, USA. Of the 14 PPCPs measured, six had RQs that posed a risk to all three trophic levels. This risk increased during the wet season. Both lakes, regardless of whether they directly received PPCPs from septic tanks or not, had some level of risk. However, the lake without septic tanks had a smaller risk, both in elevated RQs and the occurrence to the various species. Of the PPCPs measured, DEET, caffeine, and theophylline posed the greatest risk. Full article

Ship seismic wave signals represent one of the most critical physical field characteristics of vessels. To achieve the high-precision detection of ship seismic wave field signals in marine environments, an underwater seismic wave signal detection system was designed. The system adopts a three-stage architecture consisting of watertight instrument housing, a communication circuit, and a buoy to realize high-capacity real-time data transmissions. The host computer performs the collaborative optimization of multi-modal hardware architecture and adaptive signal processing algorithms, enabling the detection of ship targets in oceanic environments. Through verification in a water tank and sea trials, the system successfully measured seismic wave signals. An improved ALE-LOFAR (Adaptive Line Enhancer–Low-Frequency Analysis) joint framework, combined with DEMON (Demodulation of Envelope Modulation) demodulation technology, was proposed to conduct the spectral feature analysis of ship seismic wave signals, yielding the low-frequency signal characteristics of vessels. This scheme provides an important method for the covert monitoring of shallow-sea targets, providing early warnings of illegal fishing and ensuring underwater security. Full article

Urbanization and climate change have disrupted natural water circulation by increasing impervious surfaces and altering rainfall patterns, leading to reduced groundwater infiltration, deteriorating water quality, and heightened flood risks. This study investigates the application of Low Impact Development (LID) and flood control facilities as structural measures to address these challenges in the upper watershed of the Fucha River in Bogotá, Colombia. The methodology involved analyzing watershed characteristics, defining circulation problems, setting hydrological targets, selecting facility types and locations, evaluating performance, and conducting an economic analysis. To manage the target rainfall of $26.5$$\mathrm{m}$$\mathrm{m}$ under normal conditions, LID facilities such as vegetated swales, rain gardens, infiltration channels, and porous pavements were applied, managing approximately 2362 ${\mathrm{m}}^3$ of runoff. For flood control, five detention tanks were proposed, resulting in a 31.8% reduction in peak flow and a 7.3% decrease in total runoff volume. The flooded area downstream was reduced by $46.8$$\mathrm{h}\mathrm{a}$, and the benefit–cost ratio was calculated at 1.02. These findings confirm that strategic application of LID and detention facilities can contribute to effective urban water cycle management and disaster risk reduction. While the current disaster management approach in Bogotá primarily focuses on post-event response, this study highlights the necessity of transitioning toward proactive disaster preparedness. In particular, the introduction and expansion of flood forecasting and warning systems are recommended as non-structural measures, especially in urban areas with complex infrastructure and climate-sensitive hydrology. Full article

To enhance fire safety in converter stations, this study focuses on detecting abnormal data and potential faults in fire protection Internet of Things (IoT) devices, which are networked sensors monitoring parameters such as temperature, smoke, and water tank levels. A data quality evaluation model is proposed, covering both validity and timeliness. For validity assessment, a transformer-based time series reconstruction method is used, and anomaly thresholds are determined using the peaks over threshold (POT) approach from extreme value theory. The experimental results show that this method identifies anomalies in fire telemetry data more accurately than traditional models. Based on the objective evaluation method and clustering, an interpretable health assessment model is developed. Compared with conventional distance-based approaches, the proposed method better captures differences between features and more effectively evaluates the reliability of fire protection systems. This work contributes to improving early fire risk detection and building more reliable fire monitoring and emergency response systems. Full article

Shallow lakes are highly vulnerable to pollution due to their small water volume. Those that receive effluent from the drainfields of onsite wastewater treatment systems (septic tanks) may contain pharmaceuticals and personal care products (PPCPs) that escaped removal during treatment. This study examined the effects of seasonal rainfall variability on the assemblages and concentrations of fourteen PPCPs in two shallow lakes in West–Central Florida, USA: one surrounded by residents equipped with septic tanks and the other located within a nature preserve. Water samples were collected weekly during an 18-week interval from April to August 2021. Liquid chromatography–mass spectrometry analyses revealed the omnipresence of five PPCPs: theophylline, caffeine, cotinine, DEET, and testosterone, although acetaminophen, ibuprofen, and sulfamethoxazole were also common. Of all the PPCPs detected, theophylline, DEET, and acetaminophen concentrations were higher during the wet season in the septic tank-influenced lake, while caffeine, cotinine, and testosterone concentrations decreased. In the lake located in the nature preserve, theophylline, caffeine, and acetaminophen levels increased in the wet season. In contrast, cotinine, DEET, and testosterone levels decreased. Overall, more compounds were detected during the wet season, with highly hydrophobic PPCPs (fluoxetine, atorvastatin, and octocrylene) only present during this period. Full article