ABSTRACT
Digital modelling stands as a pivotal step in the realm of Digital Twinning. The future trend of Digital Twinning involves automated exploration and environmental modelling in complex scenes. In our study, we propose an innovative solution for robot odometry, path planning, and exploration in unknown outdoor environments, with a focus on Digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated objectives, integrating multi-path planning and evaluation, with emphasis on full coverage of unknown maps based on feasible boundaries of interest. The approach allows for dynamic changes to expected targets and behaviours. The evaluation is conducted on a robotic platform with a lightweight 3D LiDAR sensor model. The robustness of different types of odometry is compared, and the impact of parameters on motion planning is explored. The consistency and efficiency of exploring completely unknown areas are assessed in both indoor and outdoor scenarios. The experiment shows that the method proposed in this article can complete autonomous exploration and environmental modelling tasks in complex indoor and outdoor scenes. Finally, the study concludes by summarizing the reasons for exploration failures and outlining future focuses in this domain.
ABSTRACT
Carbon capture and storage (CCS) of CO2 is a key technology for substantially mitigating global greenhouse gas emissions. Determining the biogeochemical processes in host rocks after CO2 injection informs the viability of carbon storage as a long-term sink for CO2, the complexity of reservoir CH4 cycling, as well as the direct and indirect environmental impacts of this strategy. The doubly substituted ('clumped') isotopologues of methane (13CH3D and 12CH2D2) provide novel insights into methane origins and post-generation processing. Here, we report the chemical compositions of hydrocarbons (C1/C2+ molecular ratios), and methane bulk and clumped isotopes (δ13C, δD, Δ13CH3D and Δ12CH2D2) of a CO2 enhanced coal bed methane recovery (CO2-ECBM) area in Qinshui basin, China and is an analogue for carbon capture and storage. The clumped isotopologue compositions observed in the study area are generally consistent with a range of temperatures spanning 73 to 193 °C. The range in apparent temperature and correlations among clumped and bulk isotopic indices are best explained by mixing between a high maturity thermogenic methane (high in δ13C and δD, with a clumped isotope composition equilibrated near â¼249 °C) and biogenic methane formed or processed in the reservoir (low in δ13C and δD, with a clumped isotope composition equilibrated near 16-27 °C). We hypothesize that the biogenic endmember may result from slow methanogenesis and/or anaerobic oxidation of methane (AOM). This study demonstrates that the potential of methane clumped isotope approach to identify in situ microbial metabolic processes and their association with carbon cycling in CO2-ECBM area, improving our understanding of biogeochemical mechanisms in analogous geological reservoirs.
ABSTRACT
Amino acids in carbonaceous chondrites may have seeded the origin of life on Earth and possibly elsewhere. Recently, the return samples from a C-type asteroid Ryugu were found to contain amino acids with a similar distribution to Ivuna-type CI chondrites, suggesting the potential of amino acid abundances as molecular descriptors of parent body geochemistry. However, the chemical mechanisms responsible for the amino acid distributions remain to be elucidated particularly at low temperatures (<50°C). Here, we report that two representative proteinogenic amino acids, aspartic acid and glutamic acid, decompose to ß-alanine and γ-aminobutyric acid, respectively, under simulated geoelectrochemical conditions at 25°C. This low-temperature conversion provides a plausible explanation for the enrichment of these two n-ω-amino acids compared to their precursors in heavily aqueously altered CI chondrites and Ryugu's return samples. The results suggest that these heavily aqueously altered samples originated from the water-rich mantle of their water/rock differentiated parent planetesimals where protein α-amino acids were decomposed.
Subject(s)
Aspartic Acid , Meteoroids , Glutamic Acid , Amino Acids/chemistry , WaterABSTRACT
Strain sensing technology using fibre Bragg grating (FBG) sensors is an attractive capability for aerospace structural health monitoring (SHM) and assessment because they offer resistance to harsh environments, low maintenance, and potential for high density and high strain sensing. The development of FBG inscription techniques through the fibre polymer coating using infrared (IR) lasers has overcome the mechanical weaknesses introduced by removal of the fibre coating, which is typically required for conventional UV laser inscription of FBGs. Type I and Type II femtosecond gratings are fabricated using through-coating inscription techniques, but the higher laser energy used for Type II gratings damages the glass fibre core, impacting mechanical performance. This paper investigates the fatigue performance of Type I and Type II through-coating FBG sensors with different fibre geometries and photosensitisation approaches to evaluate their overall reliability and durability, with a view to assess their performance for potential use in civil and defence SHM applications. The fatigue performance of FBG sensors was assessed under high-strain and high-frequency mechanical loading conditions by using a custom-designed electro-dynamically actuated loading assembly. In addition, pre- and post-fatigue microscopic analyses and high-resolution reflection spectrum characterisation were conducted to investigate the failure regions of the fibres and the effect of fatigue loading on reflection spectrum features. As expected, Type I gratings had a significantly higher fatigue life compared to Type II gratings. However, Type II gratings performed significantly better than conventional UV laser-inscribed FBGs and electrical foil strain gauges. Type II gratings withstand higher temperatures, and are therefore more suitable for application in harsh environments.
ABSTRACT
Understanding hydrocarbon cycling in the subsurface is important in various disciplines including climate science, energy resources and astrobiology. Mud volcanoes provide insights into biogeochemical processes occurring in the subsurface. They are usually associated with natural gas reservoirs consisting mainly of methane and other hydrocarbons as well as CO2. Stable isotopes have been used to decipher the sources and sinks of hydrocarbons in the subsurface, although the interpretation can be ambiguous due to the numerous processes involved. Here we report new data for hydrocarbon isotope analysis, including position-specific isotope composition of propane, for samples from the Tokamachi mud volcano area, Japan. The data suggest that C2+ hydrocarbons are being biodegraded, with indirect production of methane ("secondary methanogenesis"). Data from chemical and isotopic composition are discussed with regard to 16S rRNA analysis, which exhibits the presence of hydrogenotrophic and acetoclastic methoanogens. Overall, the combination of isotopologue analysis with 16S rRNA gene data allows refining of our understanding of hydrocarbon cycling in subsurface environments.
ABSTRACT
Over the past 15 years, massive gas hydrate deposits have been studied extensively in Joetsu Basin, Japan Sea, where they are associated primarily with active gas chimney structures. Our research documents the discovery of spheroidal microdolomite aggregates found in association with other impurities inside of these massive gas hydrates. The microdolomites are often conjoined and show dark internal cores occasionally hosting saline fluid inclusions. Bacteroidetes sp. are concentrated on the inner rims of microdolomite grains, where they degrade complex petroleum-macromolecules present as an impurity within yellow methane hydrate. These oils show increasing biodegradation with depth which is consistent with the microbial activity of Bacteroidetes. Further investigation of these microdolomites and their contents can potentially yield insight into the dynamics and microbial ecology of other hydrate localities. If microdolomites are indeed found to be ubiquitous in both present and fossil hydrate settings, the materials preserved within may provide valuable insights into an unusual microhabitat which could have once fostered ancient life.
Subject(s)
Aquatic Organisms/metabolism , Bacteroidetes/metabolism , Calcium Carbonate/chemistry , Geologic Sediments/microbiology , Magnesium/chemistry , Methane/metabolism , Aquatic Organisms/chemistry , Bacteroidetes/chemistry , Biodegradation, Environmental , Fossils , Geologic Sediments/chemistry , Microbiota , Petroleum/metabolism , Seawater/chemistry , Seawater/microbiologyABSTRACT
Although fibre Bragg gratings (FBGs) offer obvious potential for use in high-density, high-strain sensing applications, the adoption of this technology in the historically conservative aerospace industry has been slow. There are several contributing factors, one of which is variability in the reported performance of these sensors in harsh and fatigue prone environments. This paper reports on a comparative evaluation of the fatigue performance of FBG sensors written according to the same specifications using three different grating manufacturing processes: sensors written in stripped and re-coated fibres, sensors written during the fibre draw process and sensors written through fibre coating. Fatigue cycling of the fibres is provided by a customized electro-dynamically actuated loading assembly designed to provide high frequency and amplitude loading. Pre- and post-fatigue microscopic analysis and high-resolution transmission and reflection spectra scanning are conducted to investigate the fatigue performance of FBGs, the failure regions of fibres as well as any fatigue-related effects on the spectral profiles. It was found that because of the unique fabrication method, the sensors written through the fibre coating, also known as trans-jacket FBGs, show better fatigue performance than stripped and re-coated FBGs with greater control possible to tailor the optical reflection properties compared to gratings written in the draw tower. This emerging method for inscription of Type I gratings opens up the potential for mass production of higher reflectivity, apodised sensors with dense or complex array architectures which can be adopted as sensors for harsh environments such as in defence and aerospace industries.