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.

     

Fabrication of hybrid proton-exchange membranes using a brandnew high temperature ionic liquid as charge transporting and clay modifier

The search for more compatibility between ionic liquids (ILs) and polymer matrices in proton-exchange membrane fuel cells (PEMFCs) is one of the ways in which IL leaking from proton-exchange membranes could be minimized. In this work, it is presented the synthesis of an aromatic high temperature ionic liquid (HTIL), which, incorporated into an aromatic matrix such as sulfonated polyether ether ketone (sPEEK), is expected to diminish the IL leaking that normally affects PEMFC. Phenylethylammonium trifluoromethane sulfonate (PhetaTfO) was successfully synthesized and characterized. Its melting point of 88°C makes it to classify as a HTIL and it was employed as modifier of natural Montmorillonite, forming the phenylethylammonium intercalated montmorillonite (MmtPheta) and thus, ternary membranes containing PhetaTfO, MmtPheta, and sPEEK were prepared and characterized. Immersion tests demonstrated a higher compatibility of PhetaTfO with matrix when compared to the reference DemaTfO, which was reflected in up to 30% lower IL loss by the synthesized IL than the DemaTfO; X-rays diffraction (XRD) patterns demonstrated that the modified clay was properly dispersed inside the membranes, while dynamic mechanical analyses (DMA) results indicated a strong plasticizer effect along the increase of PhetaTfO content inside the membrane, while at the same time, the conductivity increased in an exponential manner, which permitted to identify an empiric exponential equation to evaluate the effect of concentration on ionic conductivity. The maximum conductivity obtained at IL concentrations of around 38 wt% was 0.2 mS/cm. It could expect high ionic conductivities of 10 mS/cm when the concentration of this IL is 60%; nevertheless, in order to achieve that, crosslinking treatments should be done to give the membranes enough mechanical resistance.     

Rheological,thermal and morphological properties of polyethylene terephthalate/polyamide 6/rice husk ash composites

This work deals with the rheological, morphological, and thermal properties of composites having poly(ethylene terephthalate) (PET), polyamide-6 (PA6), and their blends as matrices, and rice husk ash (RHA) as a filler. The study determines the effect of composition on the change in viscosity and rate of degradation during processing in a torque rheometer. Our data indicates that thermal stability and degradation during processing depend on matrix composition and filler concentration. SEM micrographs show both partial adhesion of the filler to the matrices and filler pullout. Optical microscopy shows particle agglomeration and that agglomerate size increased with filler content. FTIR investigates the shifting of absorption bands of PET/PA6 composite after the addition of RHA and attributes the selective dispersion of RHA to the formation of hydrogen bonds. Our data supports the idea that filler employed here is an option to develop polymer composites with improved properties.     

Experimental design to evaluate properties of electrospun fibers of zein/poly (ethylene oxide) for biomaterial applications

The production of polymer fibers from the combination of zein and PEO might have great potential in the field of biomaterial. Zein/PEO fibers were obtained in this work through solution electrospinning. An experimental design, 2^4-1, was used for evaluating the influences of PEO content in the blend, distance from the needle tip to the collector, applied electric voltage and solution flow for average fiber diameter and relative-yield process. Beyond this, the relationship between PEO content in the blend and the fiber properties were evaluated through FTIR, DSC, TG, tensile tests, and cytotoxic tests. The factor that exerts the greatest effect on the average fiber diameter response was the electrical voltage. The increase in PEO content in the blend decreased the thermal stability and increased the degree of the fibers' crystallinity. The mechanical tests showed that fibers with higher elongation were obtained at richer PEO blends. The fibers presented cytocompatible characteristics.     

Long-term effect of diesel degradation on polyoxymethylene at different temperatures

Diesel is an important fuel, partly because of the longevity and cleanliness of diesel engines. Often, polymers are in direct contact with diesel and understanding compatibility is critical. Polyoxymethylene (POM) is a thermoplastic used to manufacture automotive fuel pump gears and rotors due to its low coefficient of friction and thermal and dimensional stability. In this study, tensile tests were performed on plain and glass fiber reinforced (POM and POMGF) after immersion in diesel at different temperatures (−10°C, 23°C, and 60°C) for 1000, 2000, 3000, 5000, and 10 000 hour. A mathematical model was developed using data from just three tensile stress-strain curves obtained at two different fluid temperatures and three different immersion times. Model and experimental results show good agreement with one another for all conditions tested.     

Variational Foundations and Generalized Unified Theory of RVE-Based Multiscale Models

A unified variational theory is proposed for a general class of multiscale models based on the concept of Representative Volume Element. The entire theory lies on three fundamental principles: (1) kinematical admissibility, whereby the macro- and micro-scale kinematics are defined and linked in a physically meaningful way; (2) duality, through which the natures of the force- and stress-like quantities are uniquely identified as the duals (power-conjugates) of the adopted kinematical variables; and (3) the Principle of Multiscale Virtual Power, a generalization of the well-known Hill-Mandel Principle of Macrohomogeneity, from which equilibrium equations and homogenization relations for the force- and stress-like quantities are unequivocally obtained by straightforward variational arguments. The proposed theory provides a clear, logically-structured framework within which existing formulations can be rationally justified and new, more general multiscale models can be rigorously derived in well-defined steps. Its generality allows the treatment of problems involving phenomena as diverse as dynamics, higher order strain effects, material failure with kinematical discontinuities, fluid mechanics and coupled multi-physics. This is illustrated in a number of examples where a range of models is systematically derived by following the same steps. Due to the variational basis of the theory, the format in which derived models are presented is naturally well suited for discretization by finite element-based or related methods of numerical approximation. Numerical examples illustrate the use of resulting models, including a non-conventional failure-oriented model with discontinuous kinematics, in practical computations.     

A multivariate fuzzy c-means method

Fuzzy c-means (FCMs) is an important and popular unsupervised partitioning algorithm used in several application domains such as pattern recognition, machine learning and data mining. Although the FCM has shown good performance in detecting clusters, the membership values for each individual computed to each of the clusters cannot indicate how well the individuals are classified. In this paper, a new approach to handle the memberships based on the inherent information in each feature is presented. The algorithm produces a membership matrix for each individual, the membership values are between zero and one and measure the similarity of this individual to the center of each cluster according to each feature. These values can change at each iteration of the algorithm and they are different from one feature to another and from one cluster to another in order to increase the performance of the fuzzy c-means clustering algorithm. To obtain a fuzzy partition by class of the input data set, a way to compute the class membership values is also proposed in this work. Experiments with synthetic and real data sets show that the proposed approach produces good quality of clustering.     

Evaluation of realtime people tracking for indoor environments using ubiquitous motion sensors and limited wireless network infrastructure

We present the development and evaluation of a realtime indoor localisation system for tracking people. Our aim was to track a person’s indoor position using dead-reckoning, while limiting position error without depending on extensive wireless network infrastructure. The Indoor People Tracker used wearable motion sensors, a floor-plan map and a limited wireless sensor network for proximity ranging. We evaluated how the position accuracy of the Indoor People Tracker was affected by floor-plan map features, wireless proximity range and motion information. The advantage of the Indoor People Tracker was found; it was able to achieve accurate position resolution with minimal error, while not depending on wireless proximity.     

Experience with model-based performance, reliability, and adaptability assessment of a complex industrial architecture

In this paper, we report on our experience with the application of validated models to assess performance, reliability, and adaptability of a complex mission critical system that is being developed to dynamically monitor and control the position of an oil-drilling platform. We present real-time modeling results that show that all tasks are schedulable. We performed stochastic analysis of the distribution of task execution time as a function of the number of system interfaces. We report on the variability of task execution times for the expected system configurations. In addition, we have executed a system library for an important task inside the performance model simulator. We report on the measured algorithm convergence as a function of the number of vessel thrusters. We have also studied the system architecture adaptability by comparing the documented system architecture and the implemented source code. We report on the adaptability findings and the recommendations we were able to provide to the system’s architect. Finally, we have developed models of hardware and software reliability. We report on hardware and software reliability results based on the evaluation of the system architecture.