Time filter

Source Type

Abo-Hammour Z.S.,University of Jordan | Alsmadi O.M.,University of Jordan | Bataineh S.I.,Ministry of Water and Irrigation | Al-Omari M.A.,University of Jordan | Affach N.,Damascus University
International Journal of Advanced Robotic Systems | Year: 2011

A novel continuous genetic algorithm (CGA) along with distance algorithm for solving collisions-free path planning problem for robot manipulators is presented in this paper. Given the desired Cartesian path to be followed by the manipulator, the robot configuration as described by the D-H parameters, and the available stationary obstacles in the workspace of the manipulator, the proposed approach will autonomously select a collision free path for the manipulator that minimizes the deviation between the generated and the desired Cartesian path, satisfy the joints limits of the manipulator, and maximize the minimum distance between the manipulator links and the obstacles. One of the main features of the algorithm is that it avoids the manipulator kinematic singularities due to the inclusion of forward kinematics model in the calculations instead of the inverse kinematics. The new robot path planning approach has been applied to two different robot configurations; 2R and PUMA 560, as nonredundant manipulators. Simulation results show that the proposed CGA will always select the safest path avoiding obstacles within the manipulator workspace regardless of whether there is a unique feasible solution, in terms of joint limits, or there are multiple feasible solutions. In addition to that, the generated path in Cartesian space will be of very minimal deviation from the desired one. © 2011 Abo-Hammour et al. Source

Steinel A.,Federal Institute for Geosciences and Natural Resources | Steinel A.,German Society for International Cooperation | Schelkes K.,Federal Institute for Geosciences and Natural Resources | Subah A.,Ministry of Water and Irrigation | Himmelsbach T.,Federal Institute for Geosciences and Natural Resources
Hydrogeology Journal | Year: 2016

In (semi-)arid regions, available water resources are scarce and groundwater resources are often overused. Therefore, the option to increase available water resources by managed aquifer recharge (MAR) via infiltration of captured surface runoff was investigated for two basins in northern Jordan. This study evaluated the general suitability of catchments to generate sufficient runoff and tried to identify promising sites to harvest and infiltrate the runoff into the aquifer for later recovery. Large sets of available data were used to create regional thematic maps, which were then combined to constraint maps using Boolean logic and to create suitability maps using weighted linear combination. This approach might serve as a blueprint which could be adapted and applied to similar regions. The evaluation showed that non-committed source water availability is the most restricting factor for successful water harvesting in regions with <200 mm/a rainfall. Experiences with existing structures showed that sediment loads of runoff are high. Therefore, the effectiveness of any existing MAR scheme will decrease rapidly to the point where it results in an overall negative impact due to increased evaporation if maintenance is not undertaken. It is recommended to improve system operation and maintenance, as well as monitoring, in order to achieve a better and constant effectiveness of the infiltration activities. © 2016 Springer-Verlag Berlin Heidelberg Source

Van Afferden M.,Helmholtz Center for Environmental Research | Cardona J.A.,Helmholtz Center for Environmental Research | Cardona J.A.,Training and Demonstration Center for Decentralised Sewage Treatment | Muller R.A.,Helmholtz Center for Environmental Research | And 2 more authors.
Water Science and Technology | Year: 2015

Planners and decision-makers in the wastewater sector are often confronted with the problem of identifying adequate development strategies and most suitable finance schemes for decentralized wastewater infrastructure. This paper research has focused on providing an approach in support of such decision-making. It is based on basic principles that stand for an integrated perspective towards sustainable wastewater management. We operationalize these principles by means of a geographic information system (GIS)-based approach 'Assessment of Local Lowest-Cost Wastewater Solutions' - ALLOWS. The main product of ALLOWS is the identification of cost-effective local wastewater management solutions for any given demographic and physical context. By using universally available input data the tool allows decision-makers to compare different wastewater solutions for any given wastewater situation. This paper introduces the ALLOWS-GIS tool. Its application and functionality are illustrated by assessing different wastewater solutions for two neighboring communities in rural Jordan. Source

Abu-Ghunmi L.,University of Jordan | Badawi M.,Ministry of Water and Irrigation | Fayyad M.,University of Jordan
Journal of Surfactants and Detergents | Year: 2014

Triton X-100 applications as surfactant raises concern on water and soil environment due to its non-biodegradability and inhibition effect. This paper aims at reviewing Triton X-100 biodegradability and inhibition literature. It shows Triton X-100 is biodegradable by aerobic and anaerobic municipal wastewater sludge and Vibrio cyclitrophicus-sp-Nov organism. Adsorption and biodegradation are mechanisms of Triton removal. Triton inhibits anaerobic sludge organisms and some single aerobic organisms. Inhibition mechanisms are substrate shortage, physiological membrane-damaging and/or alteration in organism cell membrane. Thus Triton X-100 fate in the environment and its sustainable application can be controlled via proper selection of organism type, Triton concentration, and substrate. © 2014 AOCS. Source

Rabadi A.,Ministry of Water and Irrigation
Desalination and Water Treatment | Year: 2016

The Red Sea–Dead Sea desalination project is a joint initiative to promote regional cooperation among Israel, Jordan, and the Palestinian Authority. As a result of such cooperation, a memorandum of understanding (MoU) was signed on 9 December 2013 at the World Bank in Washington DC in which all parties agreed to start the implementation of phase 1 of the project. The MoU has been followed by signing of a project bi-lateral agreement between Jordan and Israel on 26 February 2015 in which both parties have agreed on the modalities of their cooperation in all stages of the project and on management and procedures. The project aims to extract 190–300 million cubic meters per year (mcm/y) of seawater from the Red Sea and convey them via pipelines to a desalination plant north of Aqaba airport in Jordan to produce about 65–85 mcm/y of desalinated fresh water of which 35–50 mcm/y are to be supplied to Israel in the south. In exchange, Israel will supply about 30 mcm/y to the northern governorates in Jordan at a previously agreed price. Also, 30 mcm/y will be supplied to the Aqaba region, and the brine and seawater of about 110–220 mcm/y are to be discharged to the Dead Sea. Phase II comprises increase in the amount of desalinated water by construction of a second treatment plant south of the Dead Sea with a water transmission system to deliver additional fresh water to Amman. The additional quantities are yet to be defined. Ultimately, the project aims to augment Jordan’s water resources and replenish, or at least maintain, the level of the Dead Sea water, hence preserving its environment and economic benefits. To implement the RSDS regional project based on a BOT scheme, the Government of Jordan is seeking private sector participation and partnership with a capacity to build, operate and transfer of a desalination plant, water and brine pipelines, booster pump stations and provide technology and knowledge transfer to Jordanian counterparts. The capital cost of the project is expected to be approximately USD 950 million to provide 65–85 mcm of desalinated water annually. © 2016 Balaban Desalination Publications. All rights reserved. Source

Discover hidden collaborations