This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is ...

Earthquake and its catastrophic failures has been one of the disturbance worry of Civil Engineers. In geotechnical science, liquefaction is one of the most important phenomenons induced by earthquake. A change in pore water pressure follows a change in effective stress, and in a critical state in which pore water pressure equals the total stress in soil particles, soil strength is suddenly lost...

The influence of partial cerebellar ablation on the performance of rainbow trout, Oncorhynchus mykiss, swimming in a water tunnel was studied. Before surgery, all fish maintained a steady position in the water tunnel at all speeds tested. A linear relationship was found between the specific velocity (body length s-1) and the tail-beat frequency. After partial cerebellectomy, the fish swam well ...

The US National Research Council recently recommended direct potable water reuse (DPR), or potable water reuse without environmental buffer, for consideration to address US water demand. However, conveyance of wastewater and water to and from centralized treatment plants consumes on average four times the energy of treatment in the USA, and centralized DPR would further require upgradient distr...

In the first part of the article, the column and the bag experiments concerning removal of polycyclic aromatic hydrocarbons (PAHs) and nonpolar oil (NPO) from tunnel wash waters using organic sorbent materials have been described. This part presents the results of removal of toxic metals. The metals of concern (Al, As, Cd, Cr, Cu, Fe, Pb, Mo, Ni, and Zn) were selected based on the priority toxi...

The main objective of this study was to investigate the performance of a roadheader used for the excavation of Küçüksu Sewage Tunnel having a length of 1037.52 m. The tunnel is located in Anatolian part of Istanbul and constructed by STFA for Istanbul Water and Sewerage Administration (ISKI). Detailed statistical analysis showed that net advance rate of the roadheader is directly influenced by ...