We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random fields. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which i...

in all over the world, mining is considered as a high-risk activity that is pregnant with serious disasters not only for miners, engineers, and other people into it, but also for people who live near the mines. in this article, our main purpose is to examine some major mine disasters and safety in mines and the case study is a coal mine in turkey. safety in mines is one of the most important is...

background: in this study are submitted the radon concentration measurement results of four underground mines: stanterg, artana, hajvali and badovc, which are owned by trepça enterprise, kosovo. the mines have the same geological formation and from these mines are extracted ores rich with lead, zinc, silver, and gold. the radiation exposures caused by radon and radon daughters was determined an...

In this study, aerobic digestion of tannery industry wastewater was carried out using mixed culture obtained from common effluent treatment plant treating tannery wastewater. The effect of pH, temperature, inoculum concentration, agitation speed and initial substrate concentration on the reduction of organic matters were found. The optimum conditions for COD reduction was found to be pH 7 (60%)...

Colorado School of Mines, Hydrologic Science and Engineering Program, Golden 80401, CO, USA University of Colorado at Boulder, Institute of Arctic and Alpine Research, Department of Geography, Boulder 80309, CO, USA Colorado School of Mines, Department of Geophysics, Golden 80401, CO, USA d ISTerre, CNRS, UMR CNRS 5275, Université de Savoie Monte-Blanc, 73376 cedex, Le Bourget du Lac, France Co...

Chief Medical Officer, Mines Board of Health, Asansol. The article by the editor in the Indian Medical Gazette for December 1924 on " Some Experiments for the Solution of the Rural Health Problem in. India " makes it likely that an account of the outdoor organisation of the Asansol Mines Board of Health may not prove uninteresting at this juncture. The Asansol Mines Board of Health, which is co...

1 Université de Toulouse ; INSA, UPS, Mines Albi, ISAE ; ICA (Institut Clément Ader) ; Campus Jarlard, F-81013 Albi cedex 09, France Ecole des Mines Albi, Campus Jarlard, F-81013 Albi, France. 2 LAAS-CNRS, Université de Toulouse, Toulouse, France 3 Institut de Mathématiques de Toulouse, Université de Toulouse, Toulouse, France 4 Faculté de Génie Electrique, Université Technique Tchèque de Pragu...

the mines are an important section of national heritage and public domain. in legal aspect there are several theories about the mines such as; ownership; public domain and non-proper tier things. some of the islamic jurists believe mines are anfal and others say they are non-proper tier things. although the prohibition or restriction in exploitation of mine is useful because of fairly distribut...

Anammox is a novel and promising technology that has changed the traditional concept of biological nitrogen removal. The process facilitates direct oxidation of ammonical nitrogen under anaerobic conditions with nitrite as an electron acceptor without addition of external carbon sources. The present study investigated the feasibility of Anammox Hybrid Reactor (AHR) combining the dual advantages...

BACKGROUND In a community in northern Chile, explosive procedures are used by two local industrial mines (gold, copper). We hypothesized that the prevalence of asthma and rhinoconjunctivitis in the community may be associated with air pollution emissions generated by the mines. METHODS A cross-sectional study of 288 children (aged 6-15 years) was conducted in a community in northern Chile usi...