An intelligent navigator for seamless INS/GPS integrated land vehicle navigation applications

The Kalman filter (KF) has been implemented as the primary integration scheme of the global positioning system (GPS) and inertial navigation systems (INS) for many land vehicle navigation and positioning applications. However, it has been reported that KF-based techniques have certain limitations, which reflect on the position error accumulation during GPS signal outages. Therefore, this article exploits the idea of incorporating artificial neural networks to develop an alternative INS/GPS integration scheme, the intelligent navigator, for next generation land vehicle navigation and positioning applications. Real land vehicle test results demonstrated the capability of using stored navigation knowledge to provide real-time reliable positioning information for stand-alone INS-based navigation for up to 20 min with errors less than 16 m (as compared to 2.6 km in the case of the KF). For relatively short GPS outages, the KF was superior to the intelligent navigator for up to 30 s outages. In contrast, the intelligent navigator was superior to the KF when the length of GPS outages was extended to 90 s. The average improvement of the intelligent navigator reached 60% in the latter scenario. The results presented in this article strongly indicate the potential of including the intelligent navigator as the core algorithm for INS/GPS integrated land vehicle navigation systems.     

A route and speed optimization model to find conflict-free routes for automated guided vehicles in large warehouses based on quick response code technology

This paper focuses on exploring conflict-free routes for automated guided vehicles (AGVs) based on quick response (QR) code technology. Intelligent warehousing has become an industrial development trend, with an increasing number of enterprises deploying AGVs based on QR code technology for transportation tasks, especially in large warehouses. Unlike the early single lane path following navigation systems, AGVs using QR code technology can freely switch tracks at any position. And two AGVs can be accommodated side by side. The conditions of conflict-free routes are analyzed firstly when AGVs use QR code navigation system. After that, a route and speed optimization model (RSOM) that aims at minimizing energy consumption and taking conflict-free routes with time windows as the constraint condition is established. Then a branch-and-bound (B&B) algorithm scheme is proposed by altering AGV routes or speed to arrive at schemes with conflict-free routes to complete transportation tasks. Lastly, the effectiveness and validity of our proposed model and algorithm are verified by numerical examples and a case study. The results show that resolving conflicts during route planning for AGVs guided through QR code have advantages over avoiding collision in the running phase by technology and path following techniques in both aspects of solution time and energy. In addition, the established B&B algorithm has better performance than the rapid-exploring random tree (RRT) algorithm in numerical examples. The gaps between them widen as the size of AGVs increases. The research work has potential for application to meet the requirements of AGV development.     

Development of a slender continuum robotic system for on-wing inspection/repair of gas turbine engines

The maintenance works (e.g. inspection, repair) of aero-engines while still attached on the airframes requires a desirable approach since this can significantly shorten both the time and cost of such interventions as the aerospace industry commonly operates based on the generic concept “power by the hour”. However, navigating and performing a multi-axis movement of an end-effector in a very constrained environment such as gas turbine engines is a challenging task. This paper reports on the development of a highly flexible slender (i.e. low diameter-to-length ratios) continuum robot of 25 degrees of freedom capable to uncoil from a drum to provide the feeding motion needed to navigate into crammed environments and then perform, with its last 6 DoF, complex trajectories with a camera equipped machining end-effector for allowing in-situ interventions at a low-pressure compressor of a gas turbine engine. This continuum robot is a compact system and presents a set of innovative mechatronics solutions such as: (i) twin commanding cables to minimise the number of actuators; (ii) twin compliant joints to enable large bending angles (±90°) arranged on a tapered structure (start from 40 mm to 13 mm at its end); (iii) feeding motion provided by a rotating drum for coiling/uncoiling the continuum robot; (iv) machining end-effector equipped with vision system. To be able to achieve the in-situ maintenance tasks, a set of innovative control algorithms to enable the navigation and end-effector path generation have been developed and implemented. Finally, the continuum robot has been tested both for navigation and movement of the end-effector against a specified target within a gas turbine engine mock-up proving that: (i) max. deviations in navigation from the desired path (1000 mm length with bends between 45° and 90°) are ±10 mm; (ii) max. errors in positioning the end-effector against a target situated at the end of navigation path is 1 mm. Thus, this paper presents a compact continuum robot that could be considered as a step forward in providing aero-engine manufacturers with a solution to perform complex tasks in an invasive manner.     

Algorithms for acoustic localization based on microphone array in service robotics

This paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is detected with a microphone array based algorithm; localization information is passed to a navigation module which sets up a navigation mission using knowledge of the environment map. In fact, the system we have developed aims at integrating acoustic, odometric and collision sensors with the mobile robot control architecture. Good performance with real acoustic data have been obtained using neural network approach with spectral subtraction and a noise robust voice activity detector. The experiments show that the average absolute localization error is about 40 cm at 0 dB and about 10 cm at 10 dB of SNR for the named localization. Experimental results describing mobile robot performance in a talker following task are reported.     

Predictive functional control of an axis positioning system with an estimator-based internal model

This paper deals with an application of the predictive functional control with a state estimator-based internal model (PFC_ EBIM). The PFC_ EBIM has been shown to be effective in simulation. However, neither detailed experimental validation nor comparison with other controllers has been reported thus far. Here, the PFC_ EBIM is implemented in a single-axis positioning system, and a few experimental tests are conducted. Tracking performance of the PFC_ EBIM, standard PFC, and P – PI control for both smooth and non-smooth reference signals are compared. The experimental results prove the effectiveness of the PFC_ EBIM.     

On active acceleration control of vibration isolation systems

Active vibration isolation systems (VIS) have been widely used from the space shuttle applications to the ground vehicle suspensions. The main control objective is to achieve the minimum vibrations at the flotor for given vibrations at the stator. With respect to a fundamental limitation of using the PD type flotor acceleration controller, an I (integral) and II (double integral) type flotor acceleration controller is proposed in this paper. By incorporating the feedforward compensation of the umbilical dynamics, the proposed acceleration controller is able to experimentally push down the lowest isolation frequency from 1.4 Hz (when PID control is used) to 0.03 Hz with a sufficiently improved vibration isolation performance up to 10 Hz, with respect to a MIM (Microgravity Vibration Isolation Mount) system tested on the ground. A unique frequency selective filter (FSF) is also proposed, which experimentally suppresses a fixed-frequency umbilical resonant mode at 22.2 Hz with an attenuation of 20 dB.     

Mechanical design and characterization of a resonant magnetic field microsensor with linear response and high resolution

A resonant magnetic field microsensor based on Microelectromechanical Systems (MEMS) technology including a piezoresistive detection system has been designed, fabricated, and characterized. The mechanical design for the microsensor includes a symmetrical resonant structure integrated into a seesaw rectangular loop (700 μm × 450 μm) of 5 μm thick silicon beams. An analytical model for estimating the first resonant frequency and deflections of the resonant structure by means of Rayleigh and Macaulay's methods is developed. The microsensor exploits the Lorentz force and presents a linear response in the weak magnetic field range (40–2000 μT). It has a resonant frequency of 22.99 kHz, a sensitivity of 1.94 V T^?1, a quality factor of 96.6 at atmospheric pressure, and a resolution close to 43 nT for a frequency difference of 1 Hz. In addition, the microsensor has a compact structure, requires simple signal processing, has low power consumption (16 mW), as well as an uncomplicated fabrication process. This microsensor could be useful in applications such as the automotive sector, the telecommunications industry, in consumer electronic products, and in some medical applications.     

Active noise control in a forced-air cooling system

This paper discusses the design methodology for the active noise control of sound disturbances in a forced-air cooling system. The active sound cancellation algorithm uses the framework of output-error based optimization of a linearly parametrized filter for feedforward sound compensation to select microphone location and demonstrate the effectiveness of active noise cancellation in a small portable data projector. Successful implementation of the feedforward based active noise controller on a NEC LT170 data projector shows a 20–40 dB reduction per frequency point in the spectrum of external noise of the forced-air cooling system can be obtained over a broad frequency range from 1 to 5 kHz. A total noise reduction (unweighted) of 9.3 dB is achieved.     

Software sensors are a real alternative to true sensors

At the Ejby Mølle WWTP in Odense Denmark a software sensor predicts the ammonium and nitrite + nitrate concentration in real-time based on ammonium and redox potential measurements. The predicted ammonium concentration is used to control the length of the nitrification phase in a Biodenipho^® activated sludge unit because the software sensor has a shorter response time and a better up-time than the ammonium meter. The software sensor simplifies meter service and can reduce maintenance costs. The computed nitrite + nitrate concentration is an added benefit of the software sensor. On 4 different days, series of grab samples of the mixed liquor were collected in the aeration tanks. The average difference between the ammonium concentrations in the grab samples and the predicted ammonium concentration was 0.2 mgN L^?1 and the average difference between the predicted and the measured nitrite + nitrate concentration was 0.3 mgN L^?1. The agreement between the predicted and the measured ammonium concentration in the grab samples was better than the agreement between the ammonium meter and the grab samples. This was due to the shorter response time of the software sensor compared with the ammonium meter.     

Experimental evaluation of decentralized cooperative cruise control for heavy-duty vehicle platooning

In this paper, we consider the problem of finding decentralized controllers for heavy-duty vehicle (HDV) platooning by establishing empiric results for a qualitative verification of a control design methodology. We present a linear quadratic control framework for the design of a high-level cooperative platooning controller suitable for modern HDVs. A nonlinear low-level dynamical model is utilized, where realistic response delays in certain modes of operation are considered. The controller performance is evaluated through numerical and experimental studies. It is concluded that the proposed controller behaves well in the sense that experiments show that it allows for short time headways to achieve fuel efficiency, without compromising safety. Simulation results indicate that the model mimics real life behavior. Experiment results show that the dynamic behavior of the platooning vehicles depends strongly on the gear switching logic, which is confirmed by the simulation model. Both simulation and experiment results show that the third vehicle never displays a bigger undershoot than its preceding vehicle. The spacing errors stay bounded within 6.8 m in the simulation results and 7.2 m in the experiment results for varying transient responses. Furthermore, a minimum spacing of −0.6 m and −1.9 m during braking is observed in simulations and experiments, respectively. The results indicate that HDV platooning can be conducted at close spacings with standardized sensors and control units that are already present on commercial HDVs today.     

Real-Time Visual Sensing for Task Planning in a Field Navigation Vehicle

Some agricultural tasks consist of applying chemical treatment to the crops, but the products are applied throughout the field in most cases. In order to automate these tasks, and to apply the products more accurately, an autonomous vehicle can be used. The vehicle is intended to navigate autonomously through a field where plants are arranged in rows, following the crop rows. Its main sensor is a camera which takes perspective images of the area close to and in front of the vehicle. The vehicle is equipped with a treating device consisting of a bar with 30 spray nozzles. When the plants, which have been identified at some distance in front of the vehicle, reach the position of the treating device, the nozzles which are over a plant are switched on, thus applying the treatment. The typical vehicle speed is 1 m/s and the video frame rate is 10 Hz. A distributed system, consisting of several processors interconnected by serial links, is used, where each module accomplishes a different task: vehicle control, guidance information, image segmentation, map building and nozzle switching. The work explained in this paper is mainly focused on the latter parts of the system, map building and nozzle switching, and stresses the methods used to fit the time requirements. Real-time performance is achieved. Some results and time measurements are given.     

High speed detection of potato and clod using an acoustic based intelligent system

Discriminating between potato tubers and clods is the first step in developing an automatic separation system on potato harvesters. In this study, an acoustic-based intelligent system was developed for high speed discriminating between potato tubers and soil clods. About 500 kg mixture of potato tubers and clods were loaded on a belt conveyer and were impacted against a steel plate at four different velocities. The resulting acoustic signals were recorded, processed and potential features were extracted from the analysis of sound signals in both time and frequency domains. A multilayer perceptron neural network with a back propagation algorithm was used for pattern recognition. Altogether, 17 potential discriminating features were selected and fed as input vectors to the artificial neural network models. Optimal network was selected based on mean square error, correct detection rate and correlation coefficient. At the belt velocity of 1 m s^?1, detection accuracy of the presented system was about 97.3% and 97.6% for potatoes and clods, respectively. Increasing the belt velocity resulted in the reduction of detection accuracy and increase in the number of miss classified samples. By using this system, it is expected that a potato harvester may operate at a capacity of 20 ton hr^?1 with the accuracy of about 97%.     

Design and implementation of a protocol offload engine for TCP/IP and remote direct memory access based on hardware/software coprocessing

This paper presents the design and implementation of a protocol offload engine that processes TCP/IP and remote direct memory access (RDMA) protocols by means of hardware/software coprocessing. In the offload engine, time-consuming operations such as TCP/IP header generation are implemented as hardware to improve performance. The software performs control operations and RDMA header generation. In the experiments and analyses, it is proved that the hardware can provide satisfactory performance to process all operations at speeds of over 1 Gbps. Our engine can offload most protocol processing overheads – up to 95% to 100% – from the host CPU. Finally, although the embedded processors operate with a 300 MHz clock that is seven times slower than the clock of the host CPU, our engine shows maximum bandwidths of 673 Mbps for TCP/IP and 551 Mbps for RDMA on a gigabit Ethernet network.     

An ergonomic study on the optimal gear ratio for a multi-speed bicycle

With respect to human performance and power efficiency, the gear system in typical multi-speed bicycles is often biased and redundant. A preliminary user survey in this study reveals that the average utilization of each shift for a multi-speed gear system is less than 40%. This study attempts to measure the optimal pedaling rates for given power output levels as well as design the optimal number of gears and the corresponding gear ratios.Heart rate, ratings of perceived exertion and electromyogram of quadriceps femoris for five male subjects are measured at three different power output levels (40, 80 and 120 W) and four different pedaling rate levels (40, 60, 80 and 100 rpm). Various riding conditions including slope gradient and cruising velocity are also converted to the equivalent power output level.The optimal pedaling rates for the given power output are 40 rpm for 40 W power output level, 40 – 60 rpm for 80 and 120 W power output levels. By using a heuristic rule which finds the least number of gears and the most efficient gear ratio under the given physiological condition, a four speed gear system with the ratio of 0.26–0.38, 0.38–0.53, 0.53–0.7 and 0.7–1.0 is recommended as the most efficient gear system. Based on the optimal gear ratio suggested in this study, an ergonomic gear system using a novel/unique type of planet gear sets (US patent No. 5 378 201) is developed.Relevance to industryA bicycle's gear system is frequently designed without ergonomic expertise in terms of performance and efficiency. This study provides guidelines, design specifications, and performance measures to design an efficient bicycle gear system. This study also contributes valuable finding regarding the optimal performance during bicycle riding, thereby facilitating the efficiency and effectiveness of human exercise using a bicycle.     

Remote sensing of canopy light use efficiency in temperate and boreal forests of North America using MODIS imagery

Light use efficiency (LUE) is an important variable characterizing plant eco-physiological functions and refers to the efficiency at which absorbed solar radiation is converted into photosynthates. The estimation of LUE at regional to global scales would be a significant advantage for global carbon cycle research. Traditional methods for canopy level LUE determination require meteorological inputs which cannot be easily obtained by remote sensing. Here we propose a new algorithm that incorporates the enhanced vegetation index (EVI) and a modified form of land surface temperature (T_m) for the estimation of monthly forest LUE based on Moderate Resolution Imaging Spectroradiometer (MODIS) imagery. Results demonstrate that a model based on EVI × T_m parameterized from ten forest sites can provide reasonable estimates of monthly LUE for temperate and boreal forest ecosystems in North America with an R² of 0.51 (p < 0.001) for the overall dataset. The regression coefficients (a, b) of the LUE–EVI × T_m correlation for these ten sites have been found to be closely correlated with the average EVI (EVI_ave, R² = 0.68, p = 0.003) and the minimum land surface temperature (LST_min, R² = 0.81, p = 0.009), providing a possible approach for model calibration. The calibrated model shows comparably good estimates of LUE for another ten independent forest ecosystems with an overall root mean square error (RMSE) of 0.055 g C per mol photosynthetically active radiation. These results are especially important for the evergreen species due to their limited variability in canopy greenness. The usefulness of this new LUE algorithm is further validated for the estimation of gross primary production (GPP) at these sites with an RMSE of 37.6 g C m^? 2 month^? 1 for all observations, which reflects a 28% improvement over the standard MODIS GPP products. These analyses should be helpful in the further development of ecosystem remote sensing methods and improving our understanding of the responses of various ecosystems to climate change.     

A note on two-stage hybrid flowshop scheduling with missing operations

The scheduling problem in a multi-stage hybrid flowshop has been the subject of considerable research. All the studies on this subject assume that each job has to be processed on all the stages, i.e., there are no missing operations for a job at any stage. However, missing operations usually exist in many real-life production systems, such as a system in a stainless steel factory investigated in this note. The studied production system in the factory is composed of two stages in series. The first stage contains only one machine while the second stage consists of two identical machines (namely a 1 × 2 hybrid flowshop). In the system, some jobs have to be processed on both stages, but others need only to be processed on the second stage. Accordingly, the addressed scheduling problem is a 1 × 2 hybrid flowshop with missing operations at the first stage. In this note, we develop a heuristic for the problem to generate a non-permutation schedule (NPS) from a given permutation schedule, with the objective of minimizing the makespan. Computational results demonstrate that the heuristic can efficiently generate better NPS solutions.     

Short- and long-term effects of students’ self-directed metacognitive prompts on navigation behavior and learning performance

This study seeks to promote learning in computer-based learning environments utilizing students’ self-directed metacognitive prompts. Such prompts are based on the idea of instructing students to design their own metacognitive scaffolds and learn with them afterward. In a pre-post experimental design, students in the experimental group (n = 35) were instructed to configure their own metacognitive prompts before learning whereas students in the control group (n = 35) learned without prompts. Log file analysis of navigation behavior indicates that students who learned with their individually designed, self-directed prompts visited relevant webpages significantly more often and spent a longer time on them compared with students in the control group. Moreover, participants in the experimental group attained better transfer performance immediately after learning. The long-term effect in transfer performance was even greater in a follow-up learning session conducted after three weeks without any instructional support in either group. These results are consistent with theories of metacognition and self-regulated learning and indicate that self-directed prompts can lead to sustainable effects.     

Design and fabrication of a new MEMS capacitive microphone using a perforated aluminum diaphragm

In this paper, a novel single-chip MEMS capacitive microphone is presented. The novelties of the method relies on the moveable aluminum (Al) diaphragm positioned over the backplate electrode, where the diaphragm includes a plurality of holes to allow the air in the gap between the electrode and the diaphragm to escape and thus reducing acoustical damping in the microphone. Spin-on-glass (SOG) was used as a sacrificial and isolating layer. Backplate is monocrystalline silicon wafer, that it is more stiff. This work will focus on design, simulation, fabrication and characterization of the microphone. The structure has a diaphragm thickness of 3 μm, a diaphragm size of 0.5 mm × 0.5 mm, and an air gap of 1.0 μm. The results show that the pull-in voltage is 105 V, the initial stress of evaporated aluminum diaphragm is around 1500 MPa and the zero bias capacitance of microphone is 2.12 pF. Comparing with the previous works, this microphone has several advantages: the holes have been made on diaphragm, therefore no need of KOH etching to make back chamber, in this way the chip size of each microphone is reduced. The fabrication process uses minimal number of layers and masks to reduce the fabrication cost.     

Design and performance of a microcantilever-based hydrogen sensor

This paper describes the design of, and the effects of basic environmental parameters on, a microelectromechanical (MEMS) hydrogen sensor. The sensor contains an array of 10 micromachined cantilever beams. Each cantilever is 500 μm wide×267 μm long×2 μm thick and has a capacitance readout capable of measuring cantilever deflection to within 1 nm. A 20-nm-thick coating of 90% palladium–10% nickel bends some of the cantilevers in the presence of hydrogen. The palladium–nickel coatings are deposited in ultra-high-vacuum (UHV) to ensure freedom from a “relaxation” artifact apparently caused by oxidation of the coatings. The sensor consumes 84 mW of power in continuous operation, and can detect hydrogen concentrations between 0.1 and 100% with a roughly linear response between 10 and 90% hydrogen. The response magnitude decreases with increasing temperature, humidity, and oxygen concentration, and the response time decreases with increasing temperature and hydrogen concentration. The 0–90% response time of an unheated cantilever to 1% hydrogen in air is about 90 s at 25 °C and 0% humidity.     

Thermodynamic model for acidic Ni(II) sulfate from solubility data

Acidic nickel sulfate solutions are generated in a large scale in the hydro- and pyrometallurgical industries. They are also produced in many industrial processes from nickel refining to surface finishing of metals by electroplating. Acid mine drainage has long been a significant environmental problem in coal and metal mining. The demand of recycling and reuse of materials has increased significantly especially in EU. Dumping a neutralized deposit is not an option any more. Thus, several techniques of recycling and reuse of sulfuric acid and/or metal sulfates from the side streams are needed.When developing alternative solutions, a better understanding of the thermodynamic behavior of NiSO₄–H₂SO₄–H₂O system is needed. In this study a thermodynamic model of this system has been developed in order to yield a thermodynamically consistent set of values for the solubility of nickel sulfate in a wide temperature and concentration range. The current model presents the experimental data available with a good accuracy and consistently up to 90 °C, and sulfuric acid concentrations up to 10 mol/kg. The model also predicts well the solubility measurements available in dilute up to 1.55 mol/kg sulfuric acid solutions at 200–250 °C.