Adaptive input shaping for single-link flexible manipulators using an algebraic identification

This work proposes an adaptive control scheme applied to single link-flexible manipulators, which combines a feedback controller of the joint angle with an adaptive input shaper updated by an algebraic non-asymptotic identification. The feedback controller is designed to guarantee trajectory tracking of the joint angle, simplifying thus the input shaper, which can be designed for the arm dynamics only. The input shaper is updated by an algebraic identification of the natural frequency corresponding to the first vibration mode of the arm. In addition, the influence of the assumptions adopted to derive the algebraic identification on the performance of the estimation is studied. Finally, the proposed adaptive control strategy is implemented in practice.     

Disinfection Capacity of High-Power Ultrasound Against E. coli O157:H7 in Process Water of the Fresh-Cut Industry

The fresh-cut industry must treat process water to guarantee its microbial quality before reuse or recirculation back into the processing line. In the present study, the suitability of high-power ultrasound (HPU) for disinfecting and recycling process water was evaluated. An ultrasonic horn (20 kHz) was used to inactivate Escherichia coli O157:H7 inoculated in five types of process water which showed different physical and chemical characteristics. Differences in the inactivation level of E. coli O157:H7 at different HPU densities (0.14, 0.28, 0.56, and 1.12 kW/L) with controlled (20–25 °C) and uncontrolled (15–72 °C, 3.6 °C/min) temperature increase were studied. Results showed that the higher the power density and temperature, the higher the efficiency, reaching up to 6 log reductions of E. coli O157:H7. Alkalinity (between 0 and 253 mg HCO₃ ^?/L) and organic matter concentration (between 9 and 3,525 mg O₂/L) in water did not reduce ultrasonic efficacy against E. coli O157:H7. Agglomerates >90 μm, which represented 34 % of those present in the process water, were reduced to only 11 % by HPU. Results indicate that HPU can be successfully applied to treat process water of the fresh produce industry because the antimicrobial efficacy was not affected by the continuous variation of the process water quality. HPU can be a suitable technology for the fresh produce industry to be able to reduce consumption of water and decrease wastewater and the generation of disinfection by-products.     

A novel augmented Lagrangian‐based formulation for upper‐bound limit analysis

This paper describes a novel upper‐bound formulation of limit analysis. This formulation is an innovative variant of an existing two‐field mixed formulation based on the augmented Lagrangian method also developed by the authors. A natural approach is used to describe the deformation of each finite element. Furthermore, and in contrast to the previous formulation, two independent field approximations are now both used to define the velocity field, defined globally and at element level. It is shown that this feature allows a governing system of uncoupled linear equations to be obtained. Some numerical examples in plane strain conditions are presented in order to illustrate the current model performance. In conclusion, the potential and advantages of this new approach are discussed. Copyright © 2011 John Wiley & Sons, Ltd.     

A review on the performance of Savonius wind turbines

This paper presents a review on the performance of Savonius wind turbines. This type of turbine is unusual and its application for obtaining useful energy from air stream is an alternative to the use of conventional wind turbines. Simple construction, high start up and full operation moment, wind acceptance from any direction, low noise and angular velocity in operation, reducing wear on moving parts, are some advantages of using this type of machine. Over the years, numerous adaptations for this device were proposed. The variety of possible configurations of the rotor is another advantage in using such machine. Each different arrangement of Savonius rotor affects its performance. Savonius rotor performance is affected by operational conditions, geometric and air flow parameters. The range of reported values for maximum averaged power coefficient includes values around 0.05–0.30 for most settings. Performance gains of up to 50% for tip speed ratio of maximum averaged power coefficient are also reported with the use of stators. Present article aims to gather relevant information about Savonius turbines, bringing a discussion about their performance. It is intended to provide useful knowledge for future studies.     

Ferrofluid Lubrication of Compliant Polymeric Contacts: Effect of Non-homogeneous Magnetic Fields

This paper demonstrates a new route to control friction in the isoviscous elastic lubrication regime between compliant point contacts. For this aim, the superposition of non-homogeneous magnetic fields in ferrofluid lubricated contacts is proposed. Under appropriate conditions, a friction reduction is observed by simply displacing the magnetic field distribution in the flow direction towards the inlet of the contact. This friction reduction is associated with a lower Couette friction contribution as a result of the fact that surfaces become more separated under field. Experiments and simulations are in good qualitative agreement.     

A fuzzy aid rear-end collision warning/avoidance system

To decrease traffic accidents is a declared target of Intelligent Transportation Systems (ITS). Among them, rear-end collisions are one of the most common and constitute one of the as yet unsolved topics in the automotive sector. This paper presents an approach to the avoidance of rear-end collisions in congested traffic situations. To this end, two fuzzy controllers, a Collision Warning System (CWS) and a Collision Avoidance System (CAS), have been developed. The former is in charge of alerting the driver in case of an impending rear-end collision to prevent or mitigate the crash. The latter is in charge of generating an output control signal for the steering wheel in order to avoid the collision. Both CWS and CAS have been tested with real cars using vehicle-to-infrastructure (V2I) communications to acquire data of vehicles. A system installed in the infrastructure capable of assessing road traffic conditions in real time is responsible for transmitting the data of the vehicles in the surrounding area. The systems have been tested at the Center for Automation and Robotics (CAR)’s facilities with two mass-produced cars.