Development of an Autonomous Robot for Gas Storage Spheres Inspection

Inspection for corrosion of gas storage spheres at the welding seam lines must be done periodically. Until now this inspection is being done manually and has a high cost associated to it and a high risk of inspection personel injuries. The Brazilian Petroleum Company, Petrobras, is seeking cost reduction and personel safety by the use of autonomous robot technology. This paper presents the development of a robot capable of autonomously follow a welding line and transporting corrosion measurement sensors. The robot uses a pair of sensors each composed of a laser source and a video camera that allows the estimation of the center of the welding line. The mechanical robot uses four magnetic wheels to adhere to the sphere’s surface and was constructed in a way that always three wheels are in contact with the sphere’s metallic surface which guarantees enough magnetic atraction to hold the robot in the sphere’s surface all the time. Additionally, an independently actuated table for attaching the corrosion inspection sensors was included for small position corrections. Tests were conducted at the laboratory and in a real sphere showing the validity of the proposed approach and implementation.     

Preference-based multi-objective evolutionary algorithms for power-aware application mapping on NoC platforms

Network-on-chip (NoC) are considered the next generation of communication infrastructure in embedded systems. In the platform-based design methodology, an application is implemented by a set of collaborative intellectual property (IP) blocks. The selection of the most suited set of IPs as well as their physical mapping onto the NoC infrastructure to implement efficiently the application at hand are two hard combinatorial problems that occur during the synthesis process of Noc-based embedded system implementation. In this paper, we propose an innovative preference-based multi-objective evolutionary methodology to perform the assignment and mapping stages. We use one of the well-known and efficient multi-objective evolutionary algorithms NSGA-II and microGA as a kernel. The optimization processes of assignment and mapping are both driven by the minimization of the required silicon area and imposed execution time of the application, considering that the decision maker’s preference is a pre-specified value of the overall power consumption of the implementation.     

Computer simulation of the precordial QRS complex: effects of simulated changes in ventricular wall thickness and volume

Over a 4-year period 40,923 operations and 44,716 surgical admissions were monitored for both community and hospital onset infections. One thousand eight hundred sixty-five patients had 1966 surgical wound infections and 2056 remote infections including 1652 hospital onset and 404 community onset infections. One thousand one hudnred forty-four patients with multiple infections averaged 40 days in the hospital contrasted with 24 days for 721 patients with a single wound infection. The total excess cost of hospitalization for these patients was $951,150. A statistically significant reduction occurred for urinary tract infections, lower respiratory infections and clean and contaminated surgical wound infections. It is suggested that these are all inter-related and a significant reduction in surgical wound infections can be achieved through control of infections at remote sites, particularly those associated with medical devices. The coagulase positive staphylococcus is still the most important single bacterial species in the primary etiology of surgical wound infections. When the gastrointestinal tract is entered or "supra" infecting organisms appear, gram negative bacteria and mixed gram negative and gram positive infections are dominant. Reduction in remote site infections occurring in surgical patients is necessary to reduce the incidence of surgical wound infections, suggest preventive and control measures, and document the effectiveness of such measures.     

Interplay Between Wetting and Phase Behavior in Binary Polymer Films and Wedges: Monte Carlo Simulations and Mean Field Calculations

Confining a binary mixture, one can profoundly alter its miscibility behavior. The qualitative features of miscibility in confined geometry are ratheruniversal and shared by polymer mixtures as well as small molecules, but the unmixing transition in the bulk and the wetting transition are typically well separated in polymer blends. The interplay between wetting and miscibility of a symmetric polymer mixture via large-scale Monte Carlo simulations in the framework of the bond fluctuation model and via numerical self–consistent field calculations is studied. The film surfaces interact with the monomers via short ranged potentials, and the wetting transition of the semi–infinite system is of first order. It can be accurately located in the simulations by measuring the surface and interface tensions and using Young’s equation. If both surfaces in a film attract the same component, capillary condensation occurs and the critical point is close to the critical point of the bulk. If surfaces attract different components, an interface localization/delocalization occurs which gives rise to phase diagrams with two critical points in the vicinity of the pre-wetting critical point of the semi–infinite system. The crossover between these two types of phase diagrams as a function of the surface field asymmetry is studied. The dependence of the phase diagram on the film thickness Δ for antisymmetric surface fields is investigated. Upon decreasing the film thickness, the two critical points approach the symmetry axis of the phase diagram, and below a certain thickness Δ_tri, there remains only a single critical point at the symmetric composition. This corresponds to a second-order interface localization/delocalization transition even though the wetting transition is of first order. At a specific film thickness, Δ_tri, tricritical behavior is found. The behavior of antisymmetric films is compared with the phase behavior in an antisymmetric double wedge. While the former is the analog of the wetting transition of a planar surface, the latter is related to the filling behavior of a single wedge. Evidence for a second-order interface localization/delocalization transition in an antisymmetric double wedge is presented, and its unconventional critical behavior is related to the predictions of Parry et al. (Phys. Rev. Lett. 83:5535 (1999)) for wedge filling. The critical behavior differs from the Ising universality class and is characterized by strong anisotropic fluctuations.Invited paper presented at the Fifteenth Symposium on Thermophysical Properties, June 022–27, 2003, Boulder, Colorado, U.S.A.     

Similarity-based interference during language comprehension: Evidence from eye tracking during reading.

The nature of working memory operation during complex sentence comprehension was studied by means of eye-tracking methodology. Readers had difficulty when the syntax of a sentence required them to hold 2 similar noun phrases (NPs) in working memory before syntactically and semantically integrating either of the NPs with a verb. In sentence structures that placed these NPs at the same linear distances from one another but allowed integration with a verb for 1 of the NPs, the comprehension difficulty was not seen. These results are interpreted as indicating that similarity-based interference occurs online during the comprehension of complex sentences and that the degree of memory accessibility conventionally associated with different types of NPs does not have a strong effect on sentence processing. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Linearization of discrete-time systems via restricted dynamic feedback

We extend the results from a previous paper of ours to multiple-input systems, and utilize these to obtain necessary and sufficient conditions for the linearization of discrete-time nonlinear systems via restricted dynamic feedback. We observe that for discrete-time nonlinear systems, the bound on the number of delays (or integrators) needed to synthesize the linearizing dynamic feedback differs from the continuous-time analogue.     

Low Reynolds number turbulent flows around a dynamically shaped airfoil

A computational investigation for flows surrounding a dynamically shaped airfoil, at a chord Reynolds number of 78,800, is conducted along with a parallel experimental effort. A piezo-actuated flap on the upper surface of a fixed airfoil is adopted for active control. The actuation frequency focused on is 500 Hz. The computational framework consists of a multi-block, moving grid technique, the eⁿ-based laminar-turbulent transition model, the two-equation turbulence closure, and a pressure-based flow solver. The moving grid technique, which handles the geometric variations in time, employs the transfinite interpolation scheme with a spring network approach. Comparing the experimental and computational results for pressure and velocity fields, implications of the detailed flap geometry, the flapping amplitude, turbulence modeling, and grid distributions on the flow structure are assessed. The effect of the flap movement on the separation location and vortex dynamics is also investigated.     

Feasibility of multi-temporal interferometric SAR data for stand-level estimation of boreal forest stem volume

The feasibility of interferometric SAR (INSAR) coherence observations for stem volume (biomass) retrieval is investigated by applying coherence data determined from 14 ERS-1 and ERS-2 C-band SAR image pairs. The image set covers a single forested test area in Finland, and both summer (snow-free) and winter conditions are represented. The data set enabled (a) the study of stem volume retrieval performance under varying conditions, (b) the analysis of the seasonal behavior of interferometric coherence, and (c) the determination of the accuracy characteristics of empirical (nonlinear) coherence modeling. Additionally, a new technique to estimate forest stem volume from INSAR data was developed based on constrained iterative inversion of the applied empirical model. The results indicate that the usability of winter images with snow-covered terrain is superior to that of images obtained under summer conditions. The applied empirical model appears to be adequate for describing the stand-wise coherence of boreal forest. Hence, a practical stem volume estimation method can be established based on it. The highest correlation coefficient between the estimated stem volume and the ground truth stem volume showed values as high as r=0.9 and a relative RMSE level of 48% was obtained, respectively.     

Controlling Spin Qubits in Quantum Dots

We review progress on the spintronics proposal for quantum computing where the quantum bits (qubits) are implemented with electron spins. We calculate the exchange interaction of coupled quantum dots and present experiments, where the exchange coupling is measured via transport. Then, experiments on single spins on dots are described, where long spin relaxation times, on the order of a millisecond, are observed. We consider spin-orbit interaction as sources of spin decoherence and find theoretically that also long decoherence times are expected. Further, we describe the concept of spin filtering using quantum dots and show data of successful experiments. We also show an implementation of a read out scheme for spin qubits and define how qubits can be measured with high precision. Then, we propose new experiments, where the spin decoherence time and the Rabi oscillations of single electrons can be measured via charge transport through quantum dots. Finally, all these achievements have promising applications both in conventional and quantum information processing. PACS: 03.67.Lx, 03.67.Mn, 73.23.Hk, 85.35.Be