Challenged by rapidly changing climate in combination with an increase in anthropogenic pressures, karst groundwater resources in the Old Town of Lijiang (OTLJ), SW China, are diminishing. Higher frequency and longer duration of dried-up periods have been observed at the Heilongtan Park (HP) Springs in recent years. Thus, there is an urgent need for an artificial recharge scheme, aimed at replenishing groundwater in the aquifer and increasing the outflow of the springs to ensure effective water resources management. Evaluation of the scheme feasibility, prior to its implementation, is important. In this study, tracer tests were conducted between the recharge area and receiving springs in order to gain insight into the transport mechanisms of karst groundwater and the structural characteristics of the aquifer. Multiple underground flow paths, exhibiting high conductivity between the recharge area and HP Springs, were revealed by the interpretation of tracer breakthrough curves. Three springs considered as the leakages of the scheme were identified. Moreover, the outflow of springs at HP and OTLJ were predicted to be increased by the artificially recharged water after 9.2 and 12.5 days, respectively. Quantitative analysis of tracer recoveries demonstrates that the springs to be recharged and the springs considered as leakages, respectively, share 45 and 55% of the increased outflow. The feasibility of the scheme has been confirmed by the tracer tests. This report provides references for the evaluation of artificial groundwater recharge and protection strategies, particularly in large and poorly investigated karst spring fields.
This paper presents a control technique for structured undersea tasks that require a high degree of precision. The overall efficiency of tele-operated underwater manipulation is improved by reducing the burden on the human operator. A new workspace-control system composed of a computer and input devices in workspace was developed to support the operator. The computer transforms the desired velocity of end-effector in workspaces to desired joint angles by solving the inverse kinematics of the slave manipulators. The desired joint angles are transferred to the slave controller through RS-485 serial communication, and be followed by the slave manipulator. The developed master system provides advantages in conducting structured tasks(coring, drilling, underwater connector mating, etc.) that require precise control of the end-effector’s motion and attitude. The existing master system, however, is more useful for unstructured tasks than newly developed master system. By combining the two master systems, the work efficiency of the underwater tele-operated manipulator system was improved. This paper presents the development of the workspace-control system and a working strategy to alleviate operator’s burden in underwater works. Experimental results are presented to evaluate the effectiveness of the proposed method using underwater manipulators mounted on the KORDI deep-sea ROV Hemire. 相似文献
