For an autonomous system to perform maintenance tasks in a networking device or a radio base station (RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper’s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper’s robustness against the continuous operation.
Bulletin of Engineering Geology and the Environment - Construction of long tunnels in difficult sites is associated with various risks. Such risks are usually resulted on one hand from the lack of... 相似文献
Recent decades have witnessed the birth of major applications of wireless communication technology, further supported by the increasing capabilities of portable devices, low cost and ubiquitous presence. Despite radio technology diversity, a great deal of existing research focuses on a single and isolated wireless technology at a time, where homogeneous elements are identified by IP addresses. This work presents a heterogeneous technology routing (HTR) Framework, targeted towards scenarios where the heterogeneity of devices and networking technologies is present. Our contribution is many fold. It consists of a framework, which encompasses a process for bootstrapping networks, a routing protocol capable of dealing with multiple network interfaces, and a tuning with multipath extensions. We evaluate the performance of the bootstrap, routing and multipath mechanisms by way of simulation and an actual testbed implementation. The multipath evaluation simulates HTR networks with WiMAX, 3GPP LTE and Wi-Fi support. Results show that our proposal can effectively improve the data delivery ratio for ad-hoc networks and that it reduces the end-to-end delay without major impact on network energy consumption. As part of HTR tuning, we investigate next the impacts of tuning the HELLO refresh interval timer on route convergence and its subsequent energy consumption reduction during this phase. We also compare our tuned HTR with the widely used optimized link state routing protocol. Results show that varying the HELLO refresh interval can improve the convergence time and reduce the energy consumption without major impact on network behavior. Our proposal also includes a new distributed address allocation algorithm, namely, the dynamic node configuration protocol (DNCP). This paper conducts a comparative analysis between the Prime, Prophet and the DNCP schemes using static and dynamic topologies in terms of network setup time, energy consumption and control message overhead. Results show that the DNCP had a lower battery power consumption and less control message overhead while it slightly suffers with regard to setup.
The color of polymer solar cells using an opaque electrode is given by the reflected light, which depends on the composition and thickness of each layer of the device. Metal‐oxide‐based optical spacers are intensively studied in polymer solar cells aiming to optimize the light absorption. However, the low conductivity of materials such as ZnO and TiO2 limits the thickness of such optical spacers to tenths of nanometers. A novel synthesis route of cluster‐free Al‐doped ZnO (AZO) nanocrystals (NCs) is presented for solution processing of highly conductive layers without the need of temperature annealing, including thick optical spacers on top of polymer blends. The processing of 80 nm thick optical spacers based on AZO nanocrystal solutions on top of 200 nm thick polymer blend layer is demonstrated leading to improved photocurrent density of 17% compared to solar cells using standard active layers of 90 nm in combination with thin ZnO‐based optical spacers. These AZO NCs also open new opportunities for the processing of high‐efficiency color tuned solar cells. For the first time, it is shown that applying solution‐processed thick optical spacer with polymer blends of different thicknesses can process solar cells of similar efficiency over 7% but of different colors. 相似文献
In this paper, a manufacturing system composed of a single-product machine, a buffer and a stochastic demand is considered. Two models are presented: continuous and discrete flow models including constant delivery times, machine failures and random demands. The objective is to determine the value of the optimal buffer level, for a hedging point policy which minimises the total average cost function. The cost function is the sum of inventory, transportation and lost sales costs. Infinitesimal perturbation analysis is used for optimisation of the failure-prone manufacturing system. The trajectories of buffer level are studied for the continuous and discrete cases and the infinitesimal perturbation analysis estimators are evaluated. These estimators are shown to be unbiased and then they are implemented in an optimisation algorithm which determines the optimal buffer level in the presence of constant delivery time. Numerical results are presented for continuous and discrete flow models and then compared in order to evaluate the application of the infinitesimal perturbation analysis on the discrete flow model. 相似文献
This paper presents two novel frameworks for session admission control and resource reservation in the context of next generation mobile and cellular networks. We also devised a special scheme that avoids per-user reservation signaling overhead in order to meet scalability requirements needed for next generation multi-access networks. The first proposal, Distributed Call Admission Control with Aggregate Resource Reservation (VR), uses mobility prediction based on mobile positioning system location information and takes into account the expected bandwidth to be used by calls handing off to and from neighboring cells within a configurable estimation time window. In conjunction, a novel concept called virtual reservation has been devised to prevent per-user reservation. Our second proposal, Local Call Admission Control and Time Series-based Resource Reservation, takes into account the expected bandwidth to be used by calls handed off from neighboring cells based only on local information stored into the current cell a user is seeking admission to. To this end, we suggest the use of two time series-based models for predicting handoff load: the Trigg and Leach (TL), which is an adaptive exponential smoothing technique, and Autoregressive Integrated Moving Average (ARIMA) that uses the Box and Jenkins methodology. It is worth to emphasize that the use of bandwidth prediction based on ARIMA technique still exist for wireless networks. The novelty of our approach is to build an adaptive framework based on ARIMA technique that takes into account the measured handoff dropping probability in order to tuning the prediction time window size so increasing the prediction accuracy. The proposed schemes are compared through simulations with the fixed guard channel (GC) and other optimized dynamic reservation-based proposals present in the literature. The results show that our schemes outperform many others and that the simpler local proposal based on TL can grant nearly similar levels of handoff dropping probability as compared to those from more the complex distributed approach. 相似文献
In the food industry, the use of the oil is determined by the composition of fatty acids, and this is highly dependent on its natural origin. The fatty acid composition of whole corn kernel was determined in three varieties of corn (Astro, GH2547, and Local). Linoleic acid was the predominant fatty acid in the oil of Astro and Local at all collection dates, whereas it was the major fatty acid in the oil of GH2547 only between 40 and 60 days after pollination (DAP). The fatty acid accumulation in the endosperm, pericarp and germ fractions of the corn kernel during maturation was determined. The accumulation pattern of oil content was different in these three kernel fractions. The highest levels of oil content in the endosperm (2.2%), germ (34.3%) and pericarp (10.8%) fractions were detected at 20, 40 and 30 (DAP), respectively. The fatty acid accumulation patterns were different amongst the analysed kernel parts, indicating a numerous differences between the three corn kernel parts. Throughout the sampling periods, the endosperm fraction was distinguished by the highest and the lowest levels of oleic and linoleic acids, respectively. At all stages of kernel development, the pericarp fraction had the highest levels of total polyunsaturated fatty acids, which has numerous healthy applications. These results may be useful in the understanding of the potential source of the beneficial unsaturated fatty acids amongst the different fractions of the corn kernel during maturation. 相似文献