Enabling robustness to failure with modular field robots.

Actuator failure on a remotely deployed robot results in decreased efficiency or even renders it inoperable. Robustness to these failures will become critical as robots are required to be more independent and operate out of the range of repair. To address these challenges, we present two approaches based on modular robotic architecture to improve robustness to actuator failure of both fixed-configuration robots and modular reconfigurable robots. Our work uses modular reconfigurable robots capable of modifying their style of locomotion and changing their designed morphology through ejecting modules. This framework improved the distance travelled and decreased the effort to move through the environment of simulated and physical robots. When the deployed robot was allowed to change its locomotion style, it showed improved robustness to actuator failure when compared to a robot with a fixed controller. Furthermore, a robot capable of changing its locomotion and design morphology statistically outlasted both tests with a fixed morphology. Testing was carried out using a gazebo simulation and validated in multiple tests in the field. We show for the first time that ejecting modular failed components can improve the overall mission length.

Nitrogen loading resulting from major floods and sediment resuspension to a large coastal embayment.

Major floods pose a severe threat to coastal receiving environments, negatively impacting environmental health and ecosystem services through direct smothering with sediment and nutrient loading. This study examined the short and long-term impacts of the February 2022 major flood event on mud extent and sediment nitrogen flux in Moreton Bay (the Bay), a large, sub-tropical embayment in Southeast Queensland, Australia. Short-term impacts were assessed three days after the flood peak by sampling surface water at 47 sites in the direction of the predominant circulation pattern. Longer-term impacts were assessed by undertaking an intensive sediment survey of 223 sites and a nutrient flux experiment using sediment core incubations to simulate calm and resuspension conditions for the four key sediment classes. Short-term impacts revealed elevated turbidity levels extended across the Bay but were highest at the Brisbane River mouth, ammonium concentrations varied inversely with surface turbidity, whereas nitrate concentrates closely tracked surface turbidity. The sediment survey confirmed fine sediment deposition across 98 % of the Bay. Porewater within the upper 10 cm contained a standing pool of 280 t of ammonium, with concentrations more than three orders of magnitude higher than overlying surface waters. The nutrient flux experiment revealed an order of magnitude higher sediment ammonium flux rate in the sandy mud sediment class compared to the other sediment classes; and for simulated resuspension conditions compared to calm conditions for sand, muddy sand, and mud sediment classes. Scaling across the whole Bay, we estimated a mean annual sediment flux of 17,700 t/year ammonium, with a range of 13,500 to 21,900 t/year. Delivery of fine sediments by major floods over the last 50 years now impact >98 % of the benthic zone and provide a major loading pathway of available nitrogen to surface waters of Moreton Bay; representing a significant threat to ecosystem health.

Low-cost sensors as an alternative for long-term air quality monitoring.

Low-cost air quality sensors are increasingly being used in many applications; however, many of their performance characteristics have not been adequately investigated. This study was conducted over a period of 13 months using low-cost air quality monitors, each comprising two low-cost sensors, which were subjected to a wide range of pollution sources and concentrations, relative humidity and temperature at four locations in Australia and China. The aim of the study was to establish the performance characteristics of the two low-cost sensors (a Plantower PMS1003 for PM2.5 and an Alphasense CO-B4 for carbon monoxide, CO) and the KOALA monitor as a whole under various conditions. Parameters evaluated included the inter-variability between individual monitors, the accuracy of monitors in comparison with the reference instruments, the effect of temperature and RH on the performance of the monitors, the responses of the PM2.5 sensors to different types of aerosols, and the long-term stability of the PM2.5 and CO sensors. The monitors showed high inter-correlations (r > 0.91) for both PM2.5 and CO measurements. The monitor performance varied with location, with moderate to good correlations with reference instruments for PM2.5 (0.44< R2 < 0.91) and CO (0.37< R2 < 0.90). The monitors performed well at relative humidity < 75% and high temperature conditions; however, two monitors in Beijing failed at low temperatures, probably due to electronic board failure. The PM2.5 sensor was less sensitive to marine aerosols and fresh vehicle emissions than to mixed urban background emissions, aged traffic emissions and industrial emissions. The long-term stability of the PM2.5 and CO sensors was good, while CO relative errors were affected by both high and low temperatures. Overall, the KOALA monitors performed well in the environments in which they were operated and provided a valuable contribution to long-term air quality monitoring within the elucidated limitations.

Applications of low-cost sensing technologies for air quality monitoring and exposure assessment: How far have they gone?

Over the past decade, a range of sensor technologies became available on the market, enabling a revolutionary shift in air pollution monitoring and assessment. With their cost of up to three orders of magnitude lower than standard/reference instruments, many avenues for applications have opened up. In particular, broader participation in air quality discussion and utilisation of information on air pollution by communities has become possible. However, many questions have been also asked about the actual benefits of these technologies. To address this issue, we conducted a comprehensive literature search including both the scientific and grey literature. We focused upon two questions: (1) Are these technologies fit for the various purposes envisaged? and (2) How far have these technologies and their applications progressed to provide answers and solutions? Regarding the former, we concluded that there is no clear answer to the question, due to a lack of: sensor/monitor manufacturers' quantitative specifications of performance, consensus regarding recommended end-use and associated minimal performance targets of these technologies, and the ability of the prospective users to formulate the requirements for their applications, or conditions of the intended use. Numerous studies have assessed and reported sensor/monitor performance under a range of specific conditions, and in many cases the performance was concluded to be satisfactory. The specific use cases for sensors/monitors included outdoor in a stationary mode, outdoor in a mobile mode, indoor environments and personal monitoring. Under certain conditions of application, project goals, and monitoring environments, some sensors/monitors were fit for a specific purpose. Based on analysis of 17 large projects, which reached applied outcome stage, and typically conducted by consortia of organizations, we observed that a sizable fraction of them (~ 30%) were commercial and/or crowd-funded. This fact by itself signals a paradigm change in air quality monitoring, which previously had been primarily implemented by government organizations. An additional paradigm-shift indicator is the growing use of machine learning or other advanced data processing approaches to improve sensor/monitor agreement with reference monitors. There is still some way to go in enhancing application of the technologies for source apportionment, which is of particular necessity and urgency in developing countries. Also, there has been somewhat less progress in wide-scale monitoring of personal exposures. However, it can be argued that with a significant future expansion of monitoring networks, including indoor environments, there may be less need for wearable or portable sensors/monitors to assess personal exposure. Traditional personal monitoring would still be valuable where spatial variability of pollutants of interest is at a finer resolution than the monitoring network can resolve.

Mobile phones as monitors of personal exposure to air pollution: Is this the future?

Mobile phones have a large spectrum of applications, aiding in risk prevention and improving health and wellbeing of their owners. So far, however, they have not been used for direct assessment of personal exposure to air pollution. In this study, we comprehensively evaluated the first, and the only available, mobile phone-BROAD Life-equipped with air pollution sensors (PM2.5 and VOC), to answer the question whether this technology is a viable option in the quest of reducing the burden of disease to air pollution. We tested its performance, applicability and suitability for the purpose by subjecting it to varied concentrations of different types of aerosol particles (cigarette smoke, petrol exhaust and concrete dust) and formaldehyde under controlled laboratory conditions, as well as to ambient particles during field measurements. Six reference instruments were used in the study: AEROTRAK Optical Particle Counter (OPC model number 9306), DustTrak, Aerodynamic Particle Counter (APS), Scanning Mobility Particle Sizer (SMPS), Tapered Element Oscillating Microbalance (TEOM) and Formaldehyde Analyser. Overall, we found that the phone's response was linear at higher particle number concentrations in the chamber, above 5 and 10 µg m-3, for combustion and concrete dust particles, respectively, and for higher formaldehyde concentrations, making it potentially suitable for applications in polluted environments. At lower ambient concentrations of particles around 10 ug m-3 and 20 µg m-3 for PM2.5 and PM10, respectively, the phone's response was below its noise level, suggesting that it is not suitable for ambient monitoring under relatively clean urban conditions. This mobile phone has a number of limitations that may hinder its use in personal exposure and for continuous monitoring. Despite these limitations, it may be used for comparative assessments, for example when comparing outcomes of intervention measures or local impacts of air pollution sources. It should be kept in mind, however, that a mobile phone measuring air quality alone cannot as such 'reduce the burden of disease to air pollution, as knowing ambient concentrations is only one of the building block in this quest. As long as individuals cannot avoid exposure e.g. in urban areas, knowing concentrations is not sufficient to reduce potential adverse effects. Yet, there are many situations and microenvironments, which individuals could avoid knowing the concentrations and also being aware of the risk caused by exposure to them. This includes for example to proximity to vehicle emissions, either for social purposes (e.g. street cafes) or exercising (e.g. walking or jogging along busy roads)or indoor environments affected by combustion emissions (smoking, candle burning, open fire).

Importance of sediment organic matter to methane ebullition in a sub-tropical freshwater reservoir.

This paper summarises the results of an extensive field campaign which demonstrates that high sediment organic matter is the primary driver of methane ebullition in a sub-tropical, freshwater reservoir. Methane emissions from freshwater reservoirs represent an important global methane source. Whilst diffusive methane fluxes are commonly used for predicting total emissions, recent studies show that the under-reported ebullitive fluxes can vary by over three orders of magnitude within an individual system and have a greater relative contribution compared to diffusion. Key to predicting this variability in emission rates is to better understand the primary drivers of different emission pathways, and in particular ebullition. Zones of catchment derived organic material as well as elevated water column chlorophyll a concentration have been associated with increased rates of ebullition. Little Nerang Dam (LND), a subtropical freshwater reservoir in Queensland Australia, consistently experiences high rates of ebullition adjacent to major inflow arms that are both deposition zones of catchment organic material as well as areas with elevated water column chlorophyll a concentration. A year-long study of emission rates was undertaken on LND during which water column chlorophyll a concentration, bottom water temperature and sediment organic matter content were assessed for methane ebullition potential. This included a transect with high-spatial sampling (259 sites) from the dam wall to the ebullition zones to explore the relationship between water column chlorophyll a concentration, sediment organic matter content and methane ebullition. These results showed that ebullition was associated with the large forest litter deposits adjacent to major inflow sites where sediment organic matter content was significantly higher compared with the main body of the reservoir.