Operations of transportation in cluttered environments require robust motion planning algorithms. Specially with large and heavy vehicles under hazardous operations of maintenance, such as in the ITER, an international nuclear fusion research project. The load transportation inside the ITER facilities require smooth and optimized paths with safety margin of 30 cm. The transportation is accompli...

Chlorine gas represents a hazardous material threat from industrial accidents and as a terrorist weapon. This review will summarize recent events involving chlorine disasters and its use by terrorists, discuss pre-hospital considerations and suggest strategies for the initial management for acute chlorine exposure events.

The formation conditions, solubility and stability of monohydrocalcite (MHC, CaCO3·H2O), as well as sorption behaviors of toxic anions on MHC, are reviewed to evaluate MHC as a remediation material for hazardous oxyanions. MHC is a rare mineral in geological settings that occurs in recent sediments in saline lakes. Water temperature does not seem to be an important factor for MHC formation. The...