Nuclear decommissioning involves the use of remotely deployed mobile vehicles and manipulators controlled via teleoperation systems. Manipulators are used for tooling and sorting tasks, and mobile vehicles are used to locate a manipulator near to the area that it is to be operated upon and also to carry a camera into a remote area for monitoring and assessment purposes. Teleoperations in hazardous environments are often hampered by a lack of visual information. Direct line of sight is often only available through small, thick windows, which often become discoloured and less transparent over time. Ideal camera locations are generally not possible, which can lead to areas of the cell not being visible, or at least difficult to see. Damage to the mobile, manipulator, tool or environment can be very expensive and dangerous. Despite the advances in the recent years of autonomous systems, the nuclear industry prefers generally to ensure that there is a human in the loop. This is due to the safety critical nature of the industry. Haptic interfaces provide a means of allowing an operator to control aspects of a task that would be difficult or impossible to control with impoverished visual feedback alone. Manipulator endeffector force control and mobile vehicle collision avoidance are examples of such tasks. Haptic communication has been integrated with both a Schilling Titan II manipulator teleoperation system and Cybermotion K2A mobile vehicle teleoperation system. The manipulator research was carried out using a real manipulator whereas the mobile research was carried out in simulation. Novel haptic communication generation algorithms have been developed. Experiments have been conducted using both the mobile and the manipulator to assess the performance gains offered by haptic communication. The results of the mobile vehicle experiments show that haptic feedback offered performance improvements in systems where the operator is solely responsible for control of the vehicle. However in systems where the operator is assisted by semi autonomous behaviour that can perform obstacle avoidance, the advantages of haptic feedback were more subtle. The results from the manipulator experiments served to support the results from the mobile vehicle experiments since they also show that haptic feedback does not always improve operator performance. Instead, performance gains rely heavily on the nature of the task, other system feedback channels and operator assistance features. The tasks performed with the manipulator were peg insertion, grinding and drilling.

Uranium-zirconium alloy nuclear fuels have many advantages as compared with ceramic fuels, especially for fast reactor systems. However, metallic fuels aren’t currently used in commercial power production due in part to issues with fuel swelling during irradiation. A major contributor to this expansion issue, the formation of fission gasses into bubbles, is examined here. Methods to evaluate evolution of fission gas bubbles within a U-Zr alloy are discussed and refined. Specifically, transmission electron microscopy (TEM) for viewing bubbles within the interior of the alloy is investigated. One constraint on the use of the TEM is the lack of literature pertaining to what thinning techniques are successful for U-10Zr alloy. Both initial and final thinning techniques were investigated. After thinning was complete, the specimens were viewed via TEM to determine their suitability. In addition, samples of U-Zr alloy were irradiated with gas atoms in an accelerator to simulate bubble initiation and formation and viewed via TEM. Only preliminary investigations were completed. Evaluated electrolyte solutions included one part phosphoric acid to two parts sulfuric acid and two parts water (A), one part phosphoric acid to one part ethanol and one part glycerol (B), one part hydrochloric acid to one part water (C), two parts methanol to 13 parts phosphoric acid (D), and one part perchloric acid to nine parts acetic acid (G). Positive responses were received from the solutions A, C, and G which generated electron transparent areas with few to no process induced artifacts. TEM trials with each electrolyte were performed on un-irradiated U-10Zr alloy. These trials indicated that the polishing methods would work but are not yet optimal. In addition, U-10Zr alloy was irradiated and viewed in the TEM where those polished with electrolyte A consistently included the presence of large circular features that could indicate bubbles or voids. The foundation was laid for further study to be done on this topic through the use of electropolishing solutions as final thinning techniques. Additional work that is recommended includes: electropolishing parameter refinement; implantation of heavier gas atoms or at elevated temperatures; annealing of the implanted alloy; and computer modeling of resulting first principles phenomena.

This thesis analyzes the car ownership and use issues worldwide and in Ankara. There has been an extremely rapid increase in car traffic in major cities, leading to car dependence and its adverse affects, all over the world. This thesis takes its starting point the driving forces behind car ownership and use, and the increasing problems caused by the car traffic in urban centers. Then, car travel reduction measures and their consequences are reviewed by examples. The urban transportation in Ankara is analyzed, both in terms of recent policies and the data obtained, in order to find out if the car ownership and use would generate similar problems in Ankara. The applicability of car travel reduction options in Ankara and the conflicts in the recent urban transportation policies are discussed. This research does not recommend simple solutions, but concludes that a broad spectrum of measures must be applied in order to reduce the problems.

National Telecommunications policies have been differentiated together with the extension of international trade, increasing importance of information in trade and the convergence of telecommunications, broadcasting and computing sectors. with the influence of these global factors, the subject of this thesis is the study of Mexican and Turkish national telecommunications policies regarding with the deregulation in telecommmunications service sector.

This study investigates the relevance of dynamic traffic assignment models under uncertainty. In the last years researchers have dealt with advanced traffic control systems since road provision is not regarded as a proper solution to relieve congestion. Dynamic assignment which is an essential component of investment planning is regarded as a new research area in the field of urban transportation. In this study the performance of dynamic traffic assignment method, which incorporates time dependent flow, is compared with that of static model. Research outcomes showed that dynamic assignment method provides more reliable outcomes in predicting traffic flow / therefore its solution algorithm is integrated to conventional four staged model. Literature survey showed that researches have hot provided an appropriate framework for transforming networks. This study investigates travel demand variations in a dynamic city and discuses possible strategies to respond dynamic and uncertain properties of individuals&rsquo / travel behavior. Research findings showed that both external and internal uncertainties have significant influences on reliability of the model. Recommended procedure aims reducing uncertainty in order to improve reliability of model. Finally, the relevancy of the problem and the applicability of recently developed methods are discussed in Ankara case.

The har1-1 mutant of Lotus japonicus line Gifu is characterised by increased nodulation and significantly inhibited root growth in the presence of its microsymbiont Mesorhizoboium loti (for example strain NZP2235). A sexual cross between the mutant and another L. japonicus genotype Funakura (with wild-type root and nodule morphology) demonstrated Mendelian recessive segregation of both phenotypes (for root and nodule) in 242 F2 individuals. No separation of phenotypes was observed, suggesting a single mutation with pleiotropic effects. Reciprocal grafting showed that the har1-1 controlled phenotype is governed by the shoot. Using a skeletal genetic map of arbitrary molecular markers produced from a Gifu x Funakura cross, the har1-1 locus was positioned between two markers at about 7 and 13 cM distance. Single nucleotide polymorphisms (SNPs) and transgene sequences were detected by allele-specific PCR in DNA isolated from small (1 mg mass) individual seeds and half-cotyledon of the model legume Lotus japonicus, allowing fast determination of a seedling’s genomic status. This permitted a shortening of the breeding cycle for multi-trait seed lines. Fast neutron mutagenesis of Lotus japonicus wild-type genotype Gifu resulted in the first time isolation of a stable mutant (FNN5-2) unable to form nitrogen-fixing nodules in symbiosis with Mesorhizobium loti, though being infected by mycorrhizal fungi. The mutation behaves as a loss-of-function recessive, and has no other apparent phenotypic effects. Molecular characterization indicates a partial loss of the LjNFR1 LysM type receptor kinase gene. Additionally part of the LjNIN gene (encoding a putative transcription factor needed for nodulation) is also missing. Transcript levels for both genes are severely reduced. As LjNIN and LjNFR1 are in the same chromosomal region we tested whether this terminal portion is lacking. PCR analysis confirms that genes within the relevant interval (such as LjPAL1 (encoding phenylalanine ammonia lyase) and LjEIL2 (encoding an ethylene insensitive-like response regulator)) are present, suggesting that the mutational event induced by the fast neutrons was either a double hit coincidently involving two nodulation-related genes, a major genome rearrangement, or a major segmental inversion. To develop an integrated nodule developmental model based on gene interactions in autoregulation, nodulation and plant hormone response deficient lines, HE double mutants have been built using the har1-1 mutant (hypernodulation and aberrant root) and the ethylene insensitive transgenic line Etr1-1. The homozygous loss-of-function mutant har1-1 has increased nodulation and decreased root growth. Ethylene insensitivity mediated by the transgene 35S::AtETR1-1 restores the normal root growth. The HE double mutants were confirmed by triple response test and allele- or gene-specific PCR. The current results in this study indicate that a) HE double mutants shown the same nodulation pattern as har1-1 and normal root formation as Etr1-1, suggesting that nodule and root control diverge at some stage with root control being ethylene-mediated and the Har1 gene, the orthologue of GmNARK is involved in nodulation. b) Grafting demonstrated that the shoot is the source of ethylene suppression of the har1-1 induced inhibition of root growth. c) The mutated Etr1-1 gene was able to replace AVG in BAP root inhibition; d) IPT-dependent cytokinin overproduction led to aberrant root architecture in har1-1; e) Crosstalk between ethylene and cytokinin in HE double mutant by qRT-PCR.

Thesis (M. Phil.)--University of Hong Kong, 2006. / Title proper from title frame. Also available in printed format.

Texte remanié de: Thesis--Australian national university. / Bibliogr. p. 145-158.

abstract: The Byrd Glacier region of Antarctica is important for understanding the tectonic development and landscape evolution of the Transantarctic Mountains (TAM). This outlet glacier crossing the TAM marks a major discontinuity in the Neoproterozoic-early Paleozoic Ross orogen. The region has not been geologically mapped in detail, but previous studies have inferred a fault to exist beneath and parallel to the direction of flow of Byrd Glacier. Thermochronologic analysis has never been undertaken across Byrd Glacier, and little is known of the exhumation history of the region. The objectives of this study are to assess possible differential movement across the inferred Byrd Glacier fault, to measure the timing of exhumation, and to gain a better overall understanding of the structural architecture of the TAM. Apatites and zircons separated from rock samples collected from various locations north and south of Byrd Glacier were dated using single-crystal (U- Th)/He analysis. Similar cooling histories were revealed with comparable exhumation rates of 0.03 ± 0.003 and 0.04 ± 0.03 mm/yr north and south of Byrd Glacier from apatite data and somewhat similar rates of 0.06 ± 0.008 and 0.04 ± 0.01 mm/yr north and south of Byrd Glacier from zircon data. Age vs. elevation regressions indicate a vertical offset of 1379 ± 159 m and 4000 ± 3466 m from apatite and zircon data. To assess differential movement, the Kukri Peneplain (a regional unconformity) was utilized as a datum. On-site photographs, Landsat imagery, and Aster Global DEM data were combined to map Kukri Peneplain elevation points north and south of Byrd Glacier. The difference in elevation of the peneplain as projected across Byrd Glacier shows an offset of 1122 ± 4.7 m. This study suggests a model of relatively uniform exhumation followed by fault displacement that uplifted the south side of Byrd Glacier relative to the north side. Combining apatite and zircon (U-Th)/He analysis along with remote geomorphologic analysis has provided an understanding of the differential movement and exhumation history of crustal blocks in the Byrd Glacier region. The results complement thermochronologic and geomorphologic studies elsewhere within the TAM providing more information and a new approach. / Dissertation/Thesis / M.S. Geological Sciences 2011

Vegetation growing on railway trackbeds and embankments present potential problems. The presence of vegetation threatens the safety of personnel inspecting the railway infrastructure. In addition vegetation growth clogs the ballast and results in inadequate track drainage which in turn could lead to the collapse of the railway embankment. Assessing vegetation within the realm of railway maintenance is mainly carried out manually by making visual inspections along the track. This is done either on-site or by watching videos recorded by maintenance vehicles mainly operated by the national railway administrative body. A need for the automated detection and characterisation of vegetation on railways (a subset of vegetation control/management) has been identified in collaboration with local railway maintenance subcontractors and Trafikverket, the Swedish Transport Administration (STA). The latter is responsible for long-term planning of the transport system for all types of traffic, aswell as for the building, operation and maintenance of public roads and railways. The purpose of this research project was to investigate how vegetation can be measured and quantified by human raters and how machine vision can automate the same process. Data were acquired at railway trackbeds and embankments during field measurement experiments. All field data (such as images) in this thesis work was acquired on operational, lightly trafficked railway tracks, mostly trafficked by goods trains. Data were also generated by letting (human) raters conduct visual estimates of plant cover and/or count the number of plants, either on-site or in-house by making visual estimates of the images acquired from the field experiments. Later, the degree of reliability of (human) raters' visual estimates were investigated and compared against machine vision algorithms. The overall results of the investigations involving human raters showed inconsistency in their estimates, and are therefore unreliable. As a result of the exploration of machine vision, computational methods and algorithms enabling automatic detection and characterisation of vegetation along railways were developed. The results achieved in the current work have shown that the use of image data for detecting vegetation is indeed possible and that such results could form the base for decisions regarding vegetation control. The performance of the machine vision algorithmwhich quantifies the vegetation cover was able to process 98% of the image data. Investigations of classifying plants from images were conducted in in order to recognise the specie. The classification rate accuracy was 95%. Objective measurements such as the ones proposed in thesis offers easy access to the measurements to all the involved parties and makes the subcontracting process easier i.e., both the subcontractors and the national railway administration are given the same reference framework concerning vegetation before signing a contract, which can then be crosschecked post maintenance. A very important issue which comes with an increasing ability to recognise species is the maintenance of biological diversity. Biological diversity along the trackbeds and embankments can be mapped, and maintained, through better and robust mo nitoring procedures. Continuously monitoring the state of vegetation along railways is highly recommended in order to identify a need for maintenance actions, and in addition to keep track of biodiversity. The computational methods or algorithms developed formthe foundation of an automatic inspection system capable of objectively supporting manual inspections, or replacing manual inspections.