Search for: All records

Since the 1987 Clean Water Act Section 319 amendment, the US Government has required and funded the development of nonpoint source pollution programs with about $5 billion dollars. Despite these expenditures, nonpoint source pollution from urban watersheds is still a significant cause of impaired waters in the United States. Urban stormwater management has rapidly evolved over recent decades with decision-making made at a local or city scale. To address the need for a better understanding of how stormwater management has been implemented in different cities, we used stormwater control measure (SCM) network data from 23 US cities and assessed what physical, climatic, socioeconomic, and/or regulatory explanatory variables, if any, are related to SCM assemblages at the municipal scale. Spearman’s correlation and Wilcoxon rank-sum tests were used to investigate relationships between explanatory variables and SCM types and assemblages of SCMs in each city. The results from these analyses showed that for the cities assessed, physical explanatory variables (e.g. impervious percentage and depth to water table) explained the greatest portion of variability in SCM assemblages. Additionally, it was found that cities with combined sewers favored filters, swales and strips, and infiltrators over basins, and cities that are under consent decrees with the Environmental Protection Agency tended to include filters more frequently in their SCM inventories. Future work can build on the SCM assemblages used in this study and their explanatory variables to better understand the differences and drivers of differences in SCM effectiveness across cities, improve watershed modeling, and investigate city- and watershed-scale impacts of SCM assemblages.

 

Mechanical search, the finding and extracting of a known target object from a cluttered environment, is a key challenge in automating warehouse, home, retail, and industrial tasks. In this paper, we consider contexts in which occluding objects are to remain untouched, thus minimizing disruptions and avoiding toppling. We assume a 6-DOF robot with an RGBD camera and unicontact suction gripper mounted on its wrist. With this setup, the robot can move both camera and gripper in order to identify a suitable approach vector, reach in to achieve a suction grasp of the target object, and extract it. We present AVPLUG: Approach Vector PLanning for Unicontact Grasping, an algorithm that uses an octree occupancy model and Minkowski sum computation to find a collision-free grasp approach vector. Experiments in simulation and with a physical Fetch robot suggest that AVPLUG finds an approach vector up to 20× faster than a baseline search policy. 

Consumer demand for augmented reality (AR) in mobile phone applications, such as the Apple ARKit. Such applications have potential to expand access to robot grasp planning systems such as Dex-Net. AR apps use structure from motion methods to compute a point cloud from a sequence of RGB images taken by the camera as it is moved around an object. However, the resulting point clouds are often noisy due to estimation errors. We present a distributed pipeline, DexNet AR, that allows point clouds to be uploaded to a server in our lab, cleaned, and evaluated by Dex-Net grasp planner to generate a grasp axis that is returned and displayed as an overlay on the object. We implement Dex-Net AR using the iPhone and ARKit and compare results with those generated with high-performance depth sensors. The success rates with AR on harder adversarial objects are higher than traditional depth images.