Robot coordination using task-priority and sliding-mode techniques

In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.     

Robot measuring form errors

This work presents an automated system for the measurement of form errors of mechanical components using an industrial robot. A three-probe error separation technique was employed to allow decoupling between the measured form error and errors introduced by the robotic system. A mathematical model of the measuring system was developed to provide inspection results by means of the solution of a system of linear equations. A new self-calibration procedure, which employs redundant data from several runs, minimizes the influence of probes zero-adjustment on the final result. Experimental tests applied to the measurement of straightness errors of mechanical components were accomplished and demonstrated the effectiveness of the employed methodology.     

Second-order sliding mode observer for multiple kinetic rates estimation in bioprocesses

Specific kinetic rates are key variables regarding metabolic activity in bioprocesses. They are non-linear functions of concentrations and operating conditions and therefore of difficult access for process control. In this paper, a multiple kinetic rates observer based on second-order sliding mode ideas is proposed. The main difference with other proposals is that smooth estimates are achieved in finite-time without adding additional dynamics. The resulting estimator is robust against uncertainty in the model of the estimated variables. Experimental results from continuous fermentation of S. cerevisiae are presented, where microbial specific growth rate and net ethanol production rate are estimated.     

Semibatch styrene suspension polymerization processes

Emulsion and suspension polymerization processes have widely been studied for more than 40 years. Although both polymerization processes are performed in heterogeneous media, each one presents its own typical characteristics, such as the particle size distribution, molecular weight distribution, polymer particle nucleation rate, and polymerization rate. In this study, semibatch styrene suspension polymerizations were carried out with feed compositions typical of emulsion processes. The initial reactor charge resembled the recipe of standard styrene suspension polymerizations, and the emulsion polymerization constituents were added during the batch. The influence of the moment at which the emulsion feed was started on the course of the polymerization and the effects of the feed on the polymer properties were analyzed. The polymer particle morphology and the average molecular weights changed very significantly with the emulsion feed time, and the changes could lead to the production of broad molecular weight distributions. Core–shell polymer particles could also be obtained, with the core being formed of polymer particles originating from the suspension polymerization process and the shell being formed of polymer particles originating from the emulsion polymerization. © 2003 Wiley Periodicals, Inc. J Appl Polym Sci 89: 3021–3038, 2003     

Cost- and energy-efficient backhaul options for heterogeneous mobile network deployments

Heterogeneous networks (HetNets) have the potential to cater for the capacity requirements of mobile broadband services at reduced cost and energy consumption levels. One key aspect in HetNets is the role of the backhaul. More specifically, it is crucial for a mobile operator to understand the impact of specific technological and architectural upgrades in the mobile backhaul network on the capital and operational expenditure (i.e., CAPEX and OPEX). This paper proposes a comprehensive methodology that can be used to analyze the total cost of ownership of a number of backhaul options based on fiber, microwave, and copper technologies. The study considers both a Greenfield and a Brownfield scenario and takes into account the mobile broadband capacity requirements for the time period between years 2015 and 2025. From the results presented in the paper it can be concluded that even though microwave and fiber will be predominately used in the future, the possible migration paths leading to such fiber- and microwave-based backhaul scenarios might be different, depending upon factors such as spectrum and license costs, time to deployment, availability of equipment, and required quality of service levels.     

Access to Enantiopure α‐Alkyl‐β‐hydroxy Esters through Dynamic Kinetic Resolutions Employing Purified/Overexpressed Alcohol Dehydrogenases

α‐Alkyl‐β‐hydroxy esters were obtained via dynamic kinetic resolution (DKR) employing purified or crude E. coli overexpressed alcohol dehydrogenases (ADHs). ADH‐A from R. ruber, CPADH from C. parapsilosis and TesADH from T. ethanolicus afforded syn‐(2R,3S) derivatives with very high selectivities for sterically not impeded ketones (‘small‐bulky’ substrates), while ADHs from S. yanoikuyae (SyADH) and Ralstonia sp. (RasADH) could also accept bulkier keto esters (‘bulky‐bulky’ substrates). SyADH also provided preferentially syn‐(2R,3S) isomers and RasADH showed in some cases good selectivity towards the formation of anti‐(2S,3S) derivatives. With anti‐Prelog ADHs such as LBADH from L. brevis or LKADH from L. kefir, syn‐(2S,3R) alcohols were obtained with high conversions and diastereomeric excess in some cases, especially with LBADH. Furthermore, due to the thermodynamically favoured reduction of these substrates, it was possible to employ just a minimal excess of 2‐propanol to obtain the final products with quantitative conversions.     

A systems-integration approach to the optimization of macroscopic water desalination and distribution networks: a general framework applied to Qatar’s water resources

The objective of this article is to introduce an optimization-based approach for the integrated design and operation of macroscopic water networks. A structural representation approach is developed to embed all potential configurations of interest. This representation accounts for water resources, desalination plants, water users, wastewater treatment facilities, and storage. Water recycle/reuse is enhanced via the use of treated water. Water utilization is improved by minimizing the losses of discharged water resulting from the linkage of power plants and thermal desalination plants and the lack of integration between water production and consumption. Excess water is saved in storage systems or injected in aquifers for strategic (long-term) storage. The developed approach also accounts for the economic values of water uses and storage and for the cost of water production and allocation. An optimization formulation is developed and solved to determine the optimal operation of the infrastructure. The solution also determines the optimal monthly allocation and storage of water resources. A case study is solved for managing the water resources in the State of Qatar while accounting for desalination, distribution, and storage. The solution indicates that storage in tanks reaches its maximum capacity in less than a month while storage in aquifers continues throughout the year as a strategic step towards water security. The solution also illustrates the need to treat wastewater in addition to using desalination of seawater. The output water streams with different qualities are assigned to proper destinations.     

Impact of silica pore structure on the performance of metallocene catalysts in ethylene gas-phase polymerization

Several commercial silicas were used to support metallocene active centres, and the resulting precatalysts were used to study the impact of the pore size and pore size distribution of the support on the polymerization kinetics and resulting polymer properties. Pore volume distribution played a major role in the fragmentation of silica-supported catalysts, where mesoporous silicas with a narrow distribution in the region obtained higher activities and faster fragmentation than silicas with a broad pore volume distribution. Therefore, it is shown that care must be taken when using standard information on particle porosity, as this quantity can be misleading. It appears that the minimum pore size, particularly on the particle surface, can be a very important parameter even if it does not impact the estimate of the porosity.     

Construction and validation of the Disability Rights Attitude Scale: Assessing attitudes toward the Americans with Disabilities Act (ADA).

The authors constructed and validated an instrument that assesses attitudes toward the Americans With Disabilities Act (ADA), a law that protects the civil rights of individuals with disabilities. The Disability Rights Attitude Scale (DRAS) demonstrated acceptable reliability and validity with 2 samples of university students (N?=?421). Reliability analysis resulted in Cronbach's alphas of .91 (Sample 1) and .90 (Sample 2). Principal-components factor analysis indicated that the DRAS essentially consists of 1 factor that accounted for 27% (Sample 1) and 31% (Sample 2) of the total variance. Construct validity analysis resulted in predicted, significant positive correlations with other relevant measures. A stepwise multiple regression analysis revealed that sex, ethnicity, and prior contact with people with disabilities were significant predictors of attitudes toward the law. The DRAS provides a psychometrically sound means of assessing attitudes toward disability rights that may encourage or impede implementation of the ADA. (PsycINFO Database Record (c) 2010 APA, all rights reserved)