Pellet production from agricultural raw materials - A systems study

The demand for biofuel pellets has increased considerably in recent years, causing shortage of the traditional raw materials sawdust and wood shavings. In this study, the costs and energy requirements for the production of pellets from agricultural raw materials were analysed. The materials studied were Salix, reed canary grass, hemp, straw, screenings, rape-seed meal, rape cake and distiller’s waste. Four production scales were analysed, having an annual output of 80,000, 8000, 800 and 80 tonnes of pellets per year. It was concluded that the raw materials of greatest interest were Salix and reed canary grass. They had competitive raw material costs and acceptable fuel properties and could be mixed with sawdust in existing large-scale pelleting factories. Straw had low production costs but can cause serious ash-related problems and should, as also is the case for screenings, be avoided in small-scale burners. Hemp had high raw material costs and is of less commercial interest, while distiller’s waste, rape-seed meal and rape cake had higher alternative values when used as protein feed. The scale of production had a crucial influence on production costs. The machinery was used much more efficiently in large-scale plants, resulting in clear cost savings. Small-scale pelleting, both static and mobile, required cheap raw materials, low labour costs and long utilisation times to be profitable. In most cases, briquetting would be more commercially viable. The energy use in manufacturing pellets from air-dried crops was generally no higher than when moist sawdust was used as the raw material.     

A novel sheet metal forming method—Millipede forming

Millipede forming, a novel sheet metal forming method, has been proposed and developed recently to overcome fundamental limitations in conventional roll forming. For this new method, there are two main aspects: use of an optimal transitional surface and implementation of a method to feed the strip through the transition surface. Achieving the optimal transitional surface involves defining the change of surface shape between a flat strip and a final shaped product conceptualised to the strip's mid-surface, regardless of the strip's thickness.In this paper, one method of implementing a transition surface, Millipede forming, is introduced. A prototype has been built to demonstrate the working principle and can be used to produce some simple profiles, within a short forming length of 200 mm.     

Rheological studies of nickel oxide and quartz/hematite mixture systems

This study aimed to investigate the rheology of two-mineral mixture systems as a function of pH and solid concentration. Single minerals (nickel oxide, quartz and hematite) and two-mineral systems (nickel oxide–quartz and nickel oxide–hematite) were studied. Rheology tests were conducted to investigate the effect of pH and solid concentration on shear yield stress of suspensions while zeta potential measurements of suspensions were used to explain the rheology results. Rheology results indicated that single mineral experiments showed that 5 and 10 vol.% of quartz and hematite had no shear yield stress whereas the one of nickel oxide was positive value. Shear yield stress of nickel oxide–quartz mixture and nickel oxide–hematite mixtures increased as increasing pH and solid concentration, and the value was higher than the one obtained with only nickel oxide. These results obtained with two-mineral mixture systems were explained by electrokinetic properties of the minerals, i.e. zeta potential of the minerals.     

An efficient omnidirectional vision system for soccer robots: From calibration to object detection

Robotic soccer is nowadays a popular research domain in the area of multi-robot systems. In the context of RoboCup, the Middle Size League is one of the most challenging. This paper presents an efficient omnidirectional vision system for real-time object detection, developed for the robotic soccer team of the University of Aveiro, CAMBADA. The vision system is used to find the ball and white lines, which are used for self-localization, as well as to find the presence of obstacles. Algorithms for detecting these objects and also for calibrating most of the parameters of the vision system are presented in this paper. We also propose an efficient approach for detecting arbitrary FIFA balls, which is an important topic of research in the Middle Size League. The experimental results that we present show the effectiveness of our algorithms, both in terms of accuracy and processing time, as well as the results that the team has been achieving: 1st place in RoboCup 2008, 3rd place in 2009 and 1st place in the mandatory technical challenge in RoboCup 2009, where the robots have to play with an arbitrary standard FIFA ball.     

Optimized trajectories of the transfer cask system in ITER

The transfer cask system (TCS) is one of the remote handling systems that will operate in ITER, transporting heavy and highly activated in-vessel components between the tokamak building and the hot cell building. A motion planning methodology for the TCS was developed, providing smooth paths that maximize the clearance to obstacles and that incorporate manoeuvres whenever necessary. This paper presents the results of the TCS planning algorithm with trajectories computed for nominal operations. The length of the journey, the velocity, the time duration, and the risk of collision were evaluated individually for each trajectory. A summary of all results, conclusions and future work are presented and discussed.