Increasing the Level of Automation in the Forestry Logging Process with Crane Trajectory Planning and Control

Working with forestry machines requires a great deal of training to be sufficiently skilled to operate forestry cranes. In view of this, it would be desirable within the forestry industry to introduce automated motions, such as those seen in robotic arms, to shorten the training time and make the work of the operator easier. Motivated by this fact, we have developed two experimental platforms for testing control systems and motion‐planning algorithms in real time. They correspond to a laboratory setup and a commercial version of a hydraulic manipulator used in forwarder machines. The aim of this article is to present the results of this development by providing an overview of our trajectory‐planning algorithm and motion‐control method, with a subsequent view of the experimental results. For motion control, we design feedback controllers that are able to track reference trajectories based on sensor measurements. Likewise, we provide arguments to design controllers in an open‐loop for machines that lack sensing devices. Relying on the tracking efficiency of these controllers, we design time‐efficient reference trajectories of motions that correspond to logging tasks. To demonstrate performance, we provide an overview of extensive testing done on these machines.     

A review of biodiesel production by integrated reactive separation technologies

Biodiesel is a biodegradable and renewable fuel, emerging as a viable alternative to petroleum diesel. Conventional biodiesel processes still suffer from problems associated with the use of homogeneous catalysts and the limitations imposed by the chemical reaction equilibrium, thus leading to severe economic and environmental penalties. This work provides a detailed review—illustrated with relevant examples—of novel reactive separation technologies used in biodiesel production: reactive distillation/absorption/extraction, and membrane reactors. Reactive separation offers new and exciting opportunities for manufacturing the fatty acid alkyl esters involved in the industrial production of biodiesel and specialty chemicals. The integration of reaction and separation into one operating unit overcomes equilibrium limitations and provides major benefits such as low capital investment and operating costs. These reactive separation processes can be further enhanced by heat‐integration and powered by heterogeneous catalysts, to eliminate all conventional catalyst related operations, using efficiently the raw materials and the reaction volume, while offering higher conversion and selectivity, as well as significant energy savings compared with conventional biodiesel processes. Remarkable, in spite of the high degree of integration, such integrated reactive‐separation processes are still very well controllable as illustrated by the included examples. Copyright © 2012 Society of Chemical Industry     

Modeling of prebreakdown stage of gaseous discharge

A mathematical model of electron cascade transfer is presented. It is developed for studying the prebreakdown stage of gaseous discharge based on the kinetic equation for electrons in a self-consistent electromagnetic field. An elastic scattering of electrons, excitation of molecules by electron impact, and impact ionization are taken into account. A natural ionization background is used as the initial distribution of free electrons. The results of the computational experiment are compared to the data of measurements of drift velocity and the average energy of electrons of discharge, as well as the Townsend coefficient in a flat charged condensor filled with diluted xenon. The comparison showed that the model is not in contrast with the experiment. In order to contract the volume of the discharge’s full current calculation, a transport approximation is built. It is based on the averaging of angular scattering. The applicability of the transport approximation for modeling the full current of the capillary discharge is studied.     

Further results on the disturbance response of a double integrator controlled by a saturating linear static state feedback

In this paper, we study the response to external disturbances of a double integrator with a saturating feedback. For a class of disturbances that have bounded integrals over all intervals, we show that a linear static feedback law can always be designed to ensure boundedness of the states. Moreover, boundedness can be preserved if the disturbance is biased by a small DC signal. In the special case that the disturbance is made up of a finite number of sinusoids and a small bias, any linear static feedback ensures boundedness of the states. These results are an extension of previous results by Wen, Roy, and Saberi (2008).     

Log Analysis Across System Boundaries

Abstract. This article covers the importance of employing a cross-platform and cross-application log management approach rather than a siloed approach to collecting and reviewing logs for simplifying security and operational monitoring as well as compliance initiatives.     

Control of a chain of integrators subject to actuator saturation and disturbances

In this paper, we study control of a chain of integrators under actuator saturation and non‐additive disturbances. We shall show that boundedness of the states can be ensured if the disturbances are matched and integral‐bounded, misaligned and magnitude‐bounded, or a combination of the two, using either a static or a dynamic low‐gain state feedback. This result is an extension of our earlier work on double integrator. Copyright © 2011 John Wiley & Sons, Ltd.     

A water coverage extraction approach to track inundation in the Saskatchewan River Delta,Canada

Tracking surface water coverage changes is a complicated task for many regions of the world. It is, however, essential to monitor the associated biological changes and bioproductivity. We present a methodology to track contemporary water coverage changes using optical remote sensing and use it to estimate historical summer water coverage in a large river delta. We used a geographical information system automated routine, based on the modified normalized difference water index, to extract the surface water coverage area (SWCA) from optical satellite data sets using the surface water extraction coverage area tool (SWECAT). It was applied to measure SWCA during drought and flood peaks in the Saskatchewan River Delta in Canada, from Landsat, SPOT and RapidEye images. Landsat results compared favourably with Canadian National Hydro Network (CNHN) GeoBase data, with deviations between SWCA classifications and the base CNHN GeoBase shapefile of ~2%. Difference levels between the extracted SWCA layer from Landsat and the higher resolution commercial satellites (SPOT and RapidEye) were also less than 2%. SWCA was tightly linked to discharge and level measurements from in-channel gauges (r² > 0.70). Using the SWCA versus discharge relationship for the gauge with the longest record, we show that peak summer SWCA has declined by half over the last century, from 13% of our study area to 6%, with likely implications for fish and wildlife production.