There has been a need for replacing human labors with a robot in such dangerous and hard jobs of various construction sites. For that reason, many researches have been made about the high quality robot, which performs its duty instead of human labors. This study is about auto surveying system development based on VRS-GPS which enables autodriving in dangerous areas where it's difficult for humans to measure directly. This study is about the auto-surveying system development, based on VRS-GPS, which enables auto-drive in dangerous areas, whereas difficult for humans to measure directly. The GPS is made with GRXI and SHC250 controllers of the SOKKIA company. The auto surveying system is composed of DPS module, geomagnetism sensor, bluetooth, gimbals, IMU, etc to automatic drive via enter into a route of position. The developed auto surveying system has installed the carmeras for front and vertical axis as well as systems to grasp situation of surveying with smartphone in real time. The result from analysed RMSE of auto surveying system and VRS-GPS surveying is 0.0169m of X-axis and 0.0246m of Y-axis. This is an Open Access article distributed under the terms of the Creative Commons Attribution Non-Commercial License (http:// creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.
Seven tetracycline classes of antibiotics were treated using ultraviolet (UV) and UV/H2O2 oxidation. Two different UV lamps were used for the UV and UV/H2O2 oxidation. The performance of the UV oxidation was different depending on the lamp type. The medium pressure lamp showed better performance than the low pressure lamp. Combining the low pressure lamp with hydrogen peroxide (H2O2) improved the removal performance substantially. The by-products formation of tetracycline by UV and UV/H2O2 were investigated. The protonated form ([1 + H] + ) of tetracycline was m/z 445, reacted to yield almost exclusively two oxidation by-products by UV and UV/H2O2 oxidation. Their protonated forms of by-products were m/z 461 and m/z 477. The structures of tetracycline's by-products in UV and UV/H2O2 system were similar.
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