Energy Consumption Optimization for Mobile Robots Motion Using Predictive Control

Operation of mobile robots in off-road environment requires the attention to the torque saturation problem that occurs in the wheels DC motors while climbing hills. In the present work, off-road conditions are utilized to benefit while avoiding torque saturation. Energy optimization algorithm using predictive control is implemented on a two-DC motor-driven wheels mobile robot while crossing a ditch. The predictive control algorithm is simulated and compared with the PID control and the open-loop control. Predictive control showed more capability to avoid torque saturation and noticeable reduction in the energy consumption. Furthermore, using the wheels motors armature current instead of the supply voltage as control variable in the predictive control showed more efficient speed control. Simulation results showed that in case of known ditch dimensions ahead of time, the developed algorithm is feasible. Experimental examination of the developed energy optimization algorithm is presented. The experimental results showed a good agreement with the simulation results. The effects of the road slope and the prediction horizon length on the consumed energy are evaluated. The analytical study showed that the energy consumption is reduced by increasing the prediction horizon until it reaches a limit at which no more energy reduction is obtained. This limit is proportional to the width of the ditch in front of the mobile robot. Curve fitting is applied to the obtained results to address further the effect of the parameters on the energy consumption.     

Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC)

Manipulator mounted on an unmanned satellite could be used for performing orbital capture maneuver in order to repair satellites or remove space debris from orbit. Use of manipulators for such purposes presents unique challenges, as high level of autonomy is required and the motion of the manipulator influences the position and orientation of the manipulator-equipped satellite. This paper presents a new control system that consists of two modules: trajectory planning module (based on trajectory optimization algorithm) and Model Predictive Controller. Both modules take into account the free-floating nature of the satellite-manipulator system. Proposed control system was tested in numerical simulations performed for a simplified planar case. In the first set of simulations Nonlinear Model Predictive Control (NMPC) was used to ensure realization of a square reference end-effector trajectory, while in the second set control system was used for optimizing and then ensuring realization of the trajectory that leads to grasping of the rotating target satellite. Simulations were performed with disturbances and with the assumed non-perfect knowledge of parameters of the satellite-manipulator system. Results obtained with NMPC are better than results obtained with the controller based on the Dynamic Jacobian inverse and with the Modified Simple Adaptive Control (MSAC).     

Conditions and costs for renewables electricity grid connection: Examples in Europe

This paper compares conditions and costs for RES-E grid connection in selected European countries. These are Germany, the Netherlands, the United Kingdom, Sweden, Austria, Lithuania and Slovenia. Country specific case studies are presented for wind onshore and offshore, biomass and photovoltaic power systems, as based on literature reviews and stakeholder interviews. It is shown that, especially for wind offshore, the allocation of grid connection costs can form a significant barrier for the installation of new RES-E generation if the developer has to bear all such costs. If energy policy makers want to reduce the barriers for new large-scale RES-E deployment, then it is concluded that the grid connection costs should be covered by the respective grid operator. These costs may then be recouped by increasing consumer tariffs for the use of the grid.     

Vitamin C blocks inflammatory platelet-activating factor mimetics created by cigarette smoking

Cigarette smoking within minutes induces leukocyte adhesion to the vascular wall and formation of intravascular leukocyte-platelet aggregates. We find this is inhibited by platelet-activating factor (PAF) receptor antagonists, and correlates with the accumulation of PAF-like mediators in the blood of cigarette smoke-exposed hamsters. These mediators were PAF-like lipids, formed by nonenzymatic oxidative modification of existing phospholipids, that were distinct from biosynthetic PAF. These PAF-like lipids induced isolated human monocytes and platelets to aggregate, which greatly increased their secretion of IL-8 and macrophage inflammatory protein-1alpha. Both events were blocked by a PAF receptor antagonist. Similarly, blocking the PAF receptor in vivo blocked smoke-induced leukocyte aggregation and pavementing along the vascular wall. Dietary supplementation with the antioxidant vitamin C prevented the accumulation of PAF-like lipids, and it prevented cigarette smoke-induced leukocyte adhesion to the vascular wall and formation of leukocyte-platelet aggregates. This is the first in vivo demonstration of inflammatory phospholipid oxidation products and it suggests a molecular mechanism coupling cigarette smoke with rapid inflammatory changes. Inhibition of PAF-like lipid formation and their intravascular sequela by vitamin C suggests a simple dietary means to reduce smoking-related cardiovascular disease.     

The critical role of phosphorus in world production of cereal grains and legume seeds

The production of food for the nearly 7 billion people on the earth today requires a large input of phosphorus (P), a non-renewable resource. Over the 14 year period 1995–2008, the global production of dry cereal grains plus legume seeds has not increased per capita and the area farmed to obtain these yields has declined steadily. There is great concern about the availability of food, the rising cost of food and the availability of P to maintain crop yields of key food staples. Known P reserves are finite. We report the rates of change in the area of agricultural land, the production of food staples, the use of fertilizer P and the export of elemental P in the major cereal and legume crops on a per capita basis. We seek to draw attention to the urgent need to utilize world P reserves more wisely so as to delay the impact of dwindling amounts of P and increasing costs of P on world food security. We strongly urge agriculturalists to pursue more P-efficient crop genotypes and land management which reduces losses of P from agricultural ecosystems and we support the engineering of P-recycling schemes which convert the current P-loss system nearer to a closed P-cycle system. Unless these avenues are developed in the immediate future there are likely to be severe consequences for food security in the longer term.     

Gas‐phase removal of indoor volatile organic compounds and airborne microorganisms over mono‐ and bimetal‐modified (Pt,Cu, Ag) titanium(IV) oxide nanocomposites

The photocatalytic deactivation of volatile organic compounds and mold fungi using TiO₂ modified with mono‐ and bimetallic (Pt, Cu, Ag) particles is reported in this study. The mono‐ and bimetal‐modified (Pt, Cu, Ag) titanium(IV) oxide photocatalysts were prepared by chemical reduction method and characterized using XRD, XPS, DR/UV‐Vis, BET, and TEM analysis. The effect of incident light, type and content of mono‐ and bimetallic nanoparticles deposited on titanium(IV) oxide was studied. Photocatalytic activity of as‐prepared nanocomposites was examined in the gas phase using LEDs array. High photocatalytic activity of Ag/Pt‐TiO₂ and Cu/Pt‐TiO₂ in the reaction of toluene degradation resulted from improved efficiency of interfacial charge transfer process, which was consistent with the fluorescence quenching effect revealed by photoluminescence (PL) emission spectra. The photocatalytic deactivation of Penicillium chrysogenum, a pathogenic fungi present in the indoor environment, especially in a damp or water‐damaged building using mono‐ and bimetal‐modified (Pt, Cu, Ag) titanium(IV) oxide was evaluated for the first time. TiO₂ modified with mono‐ and bimetallic NPs of Ag/Pt, Cu, and Ag deposited on TiO₂ exhibited improved fungicidal activity under LEDs illumination than pure TiO₂.     

Multipass cold drawing of magnesium alloy minitubes for biodegradable vascular stents

Magnesium alloys possess highly limited room-temperature formabilities. This presents a technological barrier to the fabrication of minitubes for biodegradable vascular stents. The research was aimed at developing precision forming technology to fabricate ZM21 magnesium alloy minitubes with a refined microstructure. A multipass cold drawing process with a moving mandrel was successfully developed to convert seamless hollow billets through five passes of cold drawing and an interpass annealing treatment into minitubes with an outside diameter of 2.9 mm and a wall thickness of 0.217 mm, ready for laser cutting into vascular stents. It was found that a cumulative reduction in cross-section area as much as 32% could be applied to the material without causing fracture. However, a further reduction in cross-section area required annealing at 300 °C for 1 h to change a twinned microstructure into a recrystallized grain structure and to regain formability. The interpass annealing treatment after the fourth pass led to a reduction in drawing force by 22%, in comparison with the drawing force at the fourth pass of drawing. The variations in the outside diameter and wall thickness of the minitubes could be kept within 5 and 12 μm, respectively. Further research is directed toward improvements in dimensional precisions.     

Characterization of TiO2 and ZrO2 coatings on silica slabs and fibres

Titanium and zirconium dioxide coatings were deposited on optical fibres by the sol-gel procedure. The thickness of the layers on fibres was established by measurement of the intensity of characteristic X-rays by an electron microprobe analyser. The accuracy of the measurements was verified on broken layers by scanning electron microscopy. Also determined were the thicknesses of similar layers deposited on flat silica substrates with an ellipsometer and stylus surfometer as well as from reflectivity spectra and from specular total reflection of X-rays. The densities of TiO₂ and ZrO₂ layers on silica glass slabs were determined by X-ray total reflection. Values of 3.16 ± 0.02 and 4.69 ± 0.03 gm cm^–2 were found for titania and zirconia, respectively. The crystallinity of layers on silica plates was investigated by Raman spectroscopy. The thicknesses of coatings prepared by the dipping technique were related to the withdrawal speed. Equations for Newtonian and non-Newtonian fluids were tested and compared. A pseudo-plastic behaviour was suggested for all the solutions used in the experiments.     

Asynchronous deterministic rendezvous in bounded terrains

Two mobile agents (robots) have to meet in an a priori unknown bounded terrain modeled as a polygon, possibly with polygonal obstacles. Robots are modeled as points, and each of them is equipped with a compass. Compasses of robots may be incoherent. Robots construct their routes, but the actual walk of each robot is decided by the adversary that may, e.g., speed up or slow down the robot. We consider several scenarios, depending on three factors: (1) obstacles in the terrain are present, or not, (2) compasses of both robots agree, or not, (3) robots have or do not have a map of the terrain with their positions marked. The cost of a rendezvous algorithm is the worst-case sum of lengths of the robots’ trajectories until they meet. For each scenario, we design a deterministic rendezvous algorithm and analyze its cost. We also prove lower bounds on the cost of any deterministic rendezvous algorithm in each case. For all scenarios these bounds are tight.