Hydrogen sulfide (H2S) is a toxic gas with an offensive odour reminiscent of rotten eggs. There is the potential for widespread occupational exposure to H2S, including in the oil and water treatment industries. There is a particular concern for exposure in confined spaces such as manholes and sewer pipes; the high concentrations that can build up in such conditions (> 1000 parts per million (pp...

1. Urban drainage systems fal into two categories: “separated” systems where stormwater and sewage is reticulated in separate reticulation systems; and “combined” systems where the same pipes are used for both. The report deals exclusively with the urban litter problems associated with the stormwater conduits and streams in a country where the stormwater and sewage are always (theoretically at ...

To reduce the impact of stormwater pollution on the environment, operators in charge of urban drainage systems and waste water treatment plants need real-time predictions of pollutant concentrations during rainfall events. In this paper, this problem is addressed using nonlinear recurrent neural networks, which are used to simulate the rainfall-runo transformation, as well as the production and...

Digital 3D models of the environment are needed in facility management, architecture, rescue and inspection robotics. To create 3D volumetric models of scenes, rooms or buildings, it is necessary to gage several 3D scans and to merge them into one consistent 3D model. This paper presents a system, composed of a fast and robust, autonomous mobile robot, a precise, cost effective, high quality 3D...