Gripper Design for Radio Base Station Autonomous Maintenance System

For an autonomous system to perform maintenance tasks in a networking device or a radio base station (RBS), it has to deal with a series of technological challenges ranging from identifying hardware-related problems to manipulating connectors. This paper describes the development of a robot maintenance system dedicated to detect and resolve faulty links caused by unplugged or poorly connected cables. Although the maintenance system relies on four subsystems, we significantly focus on our low-cost and efficient custom gripper solution developed to handle RJ45 Ethernet connectors. To examine our gripper, we conducted three experiments. First, a qualitative questionnaire was submitted to 30 users in the case of the teleoperated scenario of the gripper attached to a robotic arm. Similarly, we also tested the automatic operation mode. The results showed that our system is reliable and delivers a highly efficient maintenance tool in both teleoperated and autonomous operation modes. The practical experiment containing the removal or unplugging of connectors demonstrated our gripper’s ability to adequately handle these, whereas the feedback from the questionnaire pointed to a positive user experience. The automatic test assessed the gripper’s robustness against the continuous operation.

     

Guaranteeing performance for uncertain nonlinear systems with bounded state constraint and mismatching condition

The control design problem for the uncertain nonlinear system with bounded state constraint and mismatching condition is considered in this paper. The uncertainty in the system, which may be due to unknown system parameters and external disturbance, is nonlinear and time‐varying. The state of the system is constrained to be bounded. The system does not satisfy the (global) matching condition. A creative one‐to‐one state transformation is proposed by converting the bounded states into the unbounded ones. A step‐by‐step state transformation is proposed to convert the mismatched system into a matched system. The robust control is then proposed based on the transformed system. The control is demonstrated to be able to guarantee the uniform boundedness and uniform ultimate boundedness of the system in the presence of uncertainty, while the state constraint can be always guaranteed.     

Hierarchical inversion‐based output tracking control for uncertain autonomous underwater vehicles using extended Kalman filter

In this study, a hierarchical inversion‐based output tracking controller (HIOTC) is developed for an autonomous underwater vehicle (AUV) subject to random uncertainties (e.g., current disturbances, unmodeled dynamics, and parameter variations) and noises (e.g., process and measurement noises). The proposed HIOTC respectively utilizes a combination of feedforward and feedback controls in a hierarchical structure based on the kinematic and dynamic models of the system. Moreover, to obtain uncontaminated or unavailable states for implementing the proposed control law, the extended Kalman filter (EKF) is employed to estimate the system states. Then, the position outputs, orientation, and velocity of the AUV are reached with guaranteed asymptotic stability. The robustness of the proposed HIOTC is verified through injection of random uncertainties into the system model. The closed‐loop stability of the proposed individual subsystems is respectively guaranteed to have uniformly ultimately bounded (UUB) performance based on the Lyapunov stability criteria. In addition, the asymptotic tracking of the overall system is demonstrated using Barbalat's lemma. Finally, the feasibility and effectiveness of the proposed control scheme are evaluated through computer simulations and it is shown that the overall system achieves good asymptotic tracking performance.     

Performance‐based near‐optimal vibration control for nonlinear offshore platforms with delayed input

This paper investigates the vibration control problem for offshore platform, where the nonlinear characteristics, delayed input and external wave force are considered in time domain. By introducing a delay‐free reconstructional vector and applying the maximum principle, the original vibration problem for offshore platform is formulated as a nonlinear two‐point‐boundary‐value (TPBV) problem with delayed items. The major contribution of this paper is that a performance‐based near‐optimal vibration control strategy is proposed by solving this nonlinear TPBV problem, which includes a feedback item with offshore platform system state, a feedforward item with wave force state, and a compensator for nonlinear and delayed items with infinite supersensitive component. In particular, the designed compensator is calculated from two group series of linear differential equations by introducing a parameter for expending the Maclaurin series of nonlinear and delay items. Meanwhile, an iterative algorithm is designed to make the proposed vibration control scheme computable based on the control performance in each iterative procedure. Finally, experimental results show that the displacement, velocity and performance index of an employed offshore platform achieved small values under the proposed control strategy and designed algorithm.     

Invertebrate response to impacts of water diversion and flow regulation in high‐altitude tropical streams

Water supply systems are critical infrastructure that provides food and energy security for developed societies. The operation of reservoirs (flow regulation) and water intakes (water diversion) has known negative impacts on aquatic ecosystems; however, quantification of ecological impacts and examination of these two types of flow alteration remain a developing area of research. We investigated the individual and combined impact of flow regulation and water diversion on stream ecosystem integrity, the freshwater macroinvertebrate community, and the population structure of flow‐sensitive insects. For 2 years, we monitored quarterly discharge, physical and chemical stream conditions, and benthic invertebrates of four high‐altitude tropical streams that are part of the water supply system of Quito, Ecuador. Flow regulation caused a loss of the hydrological seasonality of these streams, including a decrease in stream depth and biotic quality. Water diversion caused a decrease in dissolved oxygen and overall ecosystem integrity. Freshwater invertebrate density and richness decreased as a result of water diversion and flow regulation. The combined flow alteration in these streams decreased the density of nymphal stages of the widely distributed mayfly Andesiops peruvianus. Given the societal needs for food and energy security, water management for diversion (e.g., irrigation) and in‐line storage practices (e.g., hydroelectric dams) are anticipated to increase. This research suggests that the negative environmental impacts of flow alteration could be mitigated with discharge releases designed to approximate the natural hydrologic regime of undisturbed streams.     

Sediment flux from Lesser Zab River in Dokan Reservoir: Implications for the sustainability of long‐term water resources in Iraq

Prudent management of Iraqi water resources under climate change conditions requires plans to be based on actual figures of the storage capacity of existing reservoirs. With the absence of sediment flushing measures, the actual storage capacity of Dokan Reservoir (operated since 1959) has been affected by the amount of sediment delivered during its operational life leading to an undetermined reduction in its storage capacity. In consequence, there has not been an update on the dam's operational storage capacity curves. In this research, new operational curves were established for the reservoir based on a recent bathymetric survey undertaken in 2014. The reduction in reservoir capacity during the period between 1959 and 2014 was calculated by the mean of the difference between the designed storage capacity and the storage capacity which was concluded from the 2014 bathymetric survey. Moreover, the rate of sediment transported to the reservoir was calculated based on the overall quantities of accumulated sediment and the water discharge of the Lesser Zab River into the reservoir. The results indicate that the dam capacity is reduced by 25% due to sedimentation of an estimated volume of 367 million cubic metres at water level 480 m.a.s.l. The annual sedimentation rate was about 6.6 million cubic metres, and the sediment yield was estimated to be 701.2 t?km^?3?year.     

Influence of different reactor types on Nannochloropsis oculata microalgae culture for lipids and fatty acid production

Greenhouse gases emitted into the atmosphere by burning of fossil fuels cause global warming. One option is obtaining biodiesel. Nannochloropsis oculata was cultured under different light intensities and reactors at 25°C for 21 days with f/2 medium to assess their effects on cell density, lipid, and fatty acids (FAs). N. oculata improved cell density on fed-batch glass tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹, yielding 3.5 × 10⁸ cells ml⁻¹, followed by fed-batch Erlenmeyer flask (1 L) at 650 μmol E m⁻² s⁻¹ with 1.7 × 10⁸ cells ml⁻¹. The highest total lipid contents (% g lipid × g dry biomass⁻¹) were 44.4 ± 0.8% for the reactor (1 L) at 650 μmol E m⁻² s⁻¹ and 35.2 ± 0.2% for the tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹, until twice as high compared with the control culture (Erlenmeyer flask 1 L, 80 μmol E m⁻² s⁻¹) with 21.2 ± 1%. Comparing the total lipid content at 200 μmol E m⁻² s⁻¹, tubular reactor (7 L) and reactor 1 L achieved 35.2 ± 0.2% and 28.3 ± 1%, respectively, indicating the effect of shape reactor. The FAs were affected by high light intensity, decreasing SFAs to 2.5%, and increased monounsaturated fatty acids + polyunsaturated fatty acids to 2.5%. PUFAs (20:5n-3) and (20:4n-3) were affected by reactor shape, decreasing by half in the tubular reactor. In the best culture, fed-batch tubular reactor (7 L) at 200 μmol E m⁻² s⁻¹ contains major FAs (16:0; 38.06 ± 0.16%), (16:1n-7; 30.74 ± 0.58%), and (18:1n-9; 17.15 ± 0.91%).     

Air impingement and intermittent drying: Application to apple and to mango

An original drying process combining air impingement and intermittent drying was studied on apple slices and mango cubes. The influence of four operating parameters (air velocity, drying/tempering periods, upper height, and air temperature) on the drying time and on the drying rate was evaluated. Continuous and intermittent drying were compared. The intermittency α = 1/7 (τ_on = 10 seconds and τ_off = 60 seconds) gave the best results. A time savings of 54% for apple and 67% for mango was reached. In continuous drying, a time savings of 4620 seconds was observed by increasing the air velocity from 6 to 40 m s^?1 for apple. Air temperatures of 328 K for apple and of 328 K or 338 K for mango were determined as optimum to prevent case‐hardening. Experimental results were fitted with the analytical solution of Fick's second law and the modified Page equation (average values R² = 0.985 and 0.961, for apple and mango, respectively). For both products, the apparent moisture diffusivity D_app, the drying constant k, the drying coefficient n, and the activation energy E_a, were identified. Activation energies calculated from the analytical solution were 30.3 and 36.8 kJ mol^?1 and were 25.4 and 30.0 kJ mol^?1 using the modified Page equation for apple and mango, respectively. Mango has an increased temperature sensitivity and thus will need less energy for drying than apple.     

Biodegradation of catechol by Pseudomonas fluorescens isolated from petroleum‐impacted soil

Bioremediation strategies have been applied to clean up petroleum hydrocarbon (PHC) impacted sites. Introducing PHC degrading microorganisms (bioaugmentation) and enhancing the in‐situ nutrients availability (biostimulation) are widely used strategies. These strategies can be combined to lead to a better bioremediation performance. In this work, Pseudomonas fluorescens was isolated from a PHC impacted site. Through a 2³ factorial design plan, the effect of various combinations of nitrate, sulphate, and phosphate ions on the PHC bioremediation performance by P. fluorescens was investigated using catechol, an essential metabolic intermediate of BTEX degradation, as the sole carbon source. The maximum specific catechol degradation rate was chosen as the response to evaluate the catechol bioremediation performance. The ANOVA results indicated that the presence of nitrate ions alone lowered the maximum specific catechol degradation rate, which can be explained by the accumulation of nitrites and ammonia during the denitrification process by P. fluorescens. It was noted that dosing sulphate ions alone did not affect the bioremediation performance, which indicates P. fluorescens can grow in a sulphur‐limited environment. In contrast, the presence of sulphate and nitrate ions together can lead to a higher specific catechol degradation rate. This may be caused by the presence of sulphate that can suppress the production of nitrites. The importance of phosphate ions on catechol biodegradation was investigated. The absence of phosphate led to incomplete biodegradation. Introducing phosphate ions can accelerate catechol degradation, which can be explained by the secretion of organic acids.