The controller has been developed for wall-following behaviour, and its design is modularized into two blocks: angular and linear velocity control.
Pyroclastic materials are classified according to their size, measured in millimetres: dust (less than 0.6 mm), ash (fragments between 0.6 and 2 mm), cinders (fragments between 2 and 64 mm, also known as lapilli), blocks (angular fragments greater than 64 mm), and bombs (rounded fragments greater than 64 mm).
The model is solved by the state-of-the-art Block-Angular Linear Ratio Programming algorithm (see El Noshokaty, 2014).
The state-of-the-art Block-Angular Linear Ratio programming methodology is used to solve this formulation (see SOS voyager optimisation model for details).
In this algorithm, the problem mathematically takes a block-angular form, with a block of objective and constraints assigned to each ship.
Tillite, sedimentary rock that consists of consolidated masses of unweathered blocks (large, angular, detached rock bodies) and glacial till (unsorted and unstratified rock material deposited by glacial ice) in a rock flour (matrix or paste of unweathered rock).
The prehistoric Vajont rockslide was characterized by an enormous 'en masse' motion of a rigid overlying rock mass (100 130 m thick) that moved downslope, sliding onto a very thick shear zone (40 50 m thick, on average) made up of a chaotic assemblage of blocks, limestone angular gravel, and high plasticity clays (montmorillonitic clays).
Approximately 3 mm of lengthening was added into the correction to prevent the lateral tibial cortex blocking the angular correction.
