High accuracy path tracking for vehicles in presence of sliding: Application to farm vehicle automatic guidance for agricultural tasks

When designing an accurate automated guidance system for vehicles, a major problem is sliding and pseudo-sliding effects. This is especially the case in agricultural applications, where five-centimetre accuracy with respect to the desired trajectory is required, although the vehicles are moving on slippery ground. It has been established that RTK GPS was a very suitable sensor to achieve automated guidance with such high precision: several control laws have been designed for vehicles equipped with this sensor, and provide the expected guidance accuracy as long as the vehicles do not slide. In previous work, further control developments have been proposed to take sliding into account: guidance accuracy in slippery environments has been shown to be preserved, except transiently at the beginning/end of curves. In this paper, the design of this control law is first recalled and discussed. A Model Predictive Control method is then applied in order to preserve accuracy of guidance even during these curvature transitions. Finally, the overall control scheme is implemented, and improvements with respect to previous guidance laws are demonstrated through full-scale experiments.     

Complex system reliability modelling with Dynamic Object Oriented Bayesian Networks (DOOBN)

Nowadays, the complex manufacturing processes have to be dynamically modelled and controlled to optimise the diagnosis and the maintenance policies. This article presents a methodology that will help developing Dynamic Object Oriented Bayesian Networks (DOOBNs) to formalise such complex dynamic models. The goal is to have a general reliability evaluation of a manufacturing process, from its implementation to its operating phase. The added value of this formalisation methodology consists in using the a priori knowledge of both the system's functioning and malfunctioning. Networks are built on principles of adaptability and integrate uncertainties on the relationships between causes and effects. Thus, the purpose is to evaluate, in terms of reliability, the impact of several decisions on the maintenance of the system. This methodology has been tested, in an industrial context, to model the reliability of a water (immersion) heater system.     

Microwave heating of poly(ethylene terephthalate) bottle preforms used in the thermoforming process

Thermoforming (free blowing) of poly(ethylene terephthalate) preforms was successfully and quickly performed in a rotating system designed for dielectric hysteresis heating. Temperature profile modeling was carried out with the amorphous poly(ethylene terephthalate) permittivity at different temperatures. The Maxwell and heat equations were used to determine the best profile and power tuning. The determination of the theoretical boundary conditions was accomplished by the adjustment of the numerical transient external surface wall temperature with experimental infrared pyrometry results. In comparison with infrared, microwaves allowed high power density absorption inside the perform wall without a dramatic temperature gradient. Consequently, the heat blowing stage could be accelerated, and the process took at least 5 times less energy than infrared heating. Industrial applications involve the integration of the molding step and the design of the overall process. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci, 2008     

Ring-opening polymerization of decamethylcyclopentasiloxane initiated by a superbase: Kinetics and rheology

The use of phosphazene bases in combination with water was proved to be efficient in order to obtain polysiloxane polymers from cyclic monomers. Only a few minutes are necessary to obtain polymer chains with a monomer concentration of 5% at the equilibrium. For that purpose the space which is between a rheometer's plates is the most convenient device to monitor this reaction concerning a chemical and viscoelastic point of view. Therefore, here is proposed a chemo-rheology study that leads in the same time to the chemical kinetics equations and to the variation of the viscoelastic functions during the polymerization. In this way different catalysts are used and their efficiencies are compared as a function of their “basicity tank”. Whatever the experimental conditions involved are, viscosity versus polymer concentration or conversion shows a master curve for catalysts suitable to be used under extrusive conditions. Thus, only a few experiments are needed in order to develop a model which can be used to foresee the variation of the viscosity during the reaction.     

Towards a new definition of EPOC parameters for anionic electrochemical catalysts: case of propene combustion

The electrochemical promotion of catalysis (EPOC) of propene combustion was investigated using Pt sputtered thin film on an O²⁻ conductor, 8 mol% Y₂O₃-stabilized-ZrO₂ (YSZ). In order to separate the influence of the thermal migration of the O²⁻ oxide ions from the electrolyte to the catalyst surface and the impact of an electrical polarization on the catalytic activity, several light-off experiments (cool down and heat up procedures) were successively performed under different polarizations, i.e. OCV, +2 and −2 V. These experiments have clearly shown that the presence of O²⁻ (thermally or electrochemically induced) inhibits the catalytic activity of the platinum for the propene deep oxidation. These results demonstrate the importance to define a normalized rate enhancement ratio, ρ _n , from a reference value of the catalytic rate corresponding to a Pt surface state free of O²⁻ ions.     

Catalysis, the turntable for a clean future

Upgrading the bottom of the barrel for clean fuel production, developing new engines with optimized catalytic posttreatments, implementing clean catalytic combustion technologies, improving the overall CO₂ balance via catalytic processes and, lastly, developing new water purification techniques represent major upheavals in catalysis linked to refining and environmental protection. This paper, thus, will focus on the determining contribution of catalysis to the most recent achievements in these domains. A technico-economic approach will follow, underlining their main incentives and drawbacks within the framework of future environmental constraints.     

As Hangs the Flexible Line: Equilibrium of Masonry Arches

In 1675, English scientist Robert Hooke discovered “the true... ...manner of arches for building,” which he summarized with a single phrase: “As hangs the flexible line, so but inverted will stand the rigid arch.” In the centuries that followed, Hooke’s simple idea has been used to understand and design numerous important works. Recent research at MIT on the interactive analysis of structural forces provides new graphical tools for the understanding of arch behavior, which are useful for relating the forces and geometry of masonry structures. The key mathematical principle is the use of graphical analysis to determine possible equilibrium states.     

Partial or total silylation of dextran with hexamethyldisilazane

The silylation reaction of dextran with 1,1,1,3,3,3-hexamethyldisilazane (HMDS) in DMSO was studied as the first step of the synthesis of new amphiphilic polyester-grafted dextrans. According to the experimental conditions, i.e. dextran molar weight, medium temperature and reaction time, HMDS/OH ratio, addition of a catalyst and co-solvent, partially or totally silylated dextrans were recovered. The highest silylation yields were obtained with the lowest molecular weight dextrans. The increase in temperature medium and/or reaction time, the presence of catalyst or co-solvent favored the protection yield. Whatever the dextran used, complete silylation of the polysaccharide chain could be achieved by adequate selection of the experimental conditions. The thermal properties of resulting silylated polysaccharides were investigated by temperature modulated DSC. It was observed that T_g values of partially silylated dextran were maintained between 120 and 140 °C, independently of the dextran molecular weight. Interestingly, DMSO proved to behave as an efficient plasticizer of (partially) silylated dextrans. The partially silylated dextrans were efficiently used as multifunctional macroinitiators for the controlled ring-opening polymerization (ROP) of lactone. The ROP was then promoted from the remaining hydroxyl groups in the presence of tin or aluminium activator. After polymerization and ultimate deprotection of the silylated dextran backbone, amphiphilic polyester-grafted dextrans were readily recovered.     

Selectors Make Set-Based Analysis Too Hard

A set-based program analysis establishes constraints between sets of abstract values for all expressions in a program. Solving the system of constraints produces a conservative approximation to the program's runtime flow of values. Some practical set-based analyses use explicit selectors to extract the relevant values from an approximation set. For example, if the analysis needs to determine the possible return values of a procedure, it uses the appropriate selector to extract the relevant component from the abstract representation of the procedure. In this paper, we show that this selector-based approach complicates the constraint solving phase of the analysis too much and thus fails to scale up to realistic programming languages. We demonstrate this claim with a full-fledged value flow analysis for case-lambda, a multi-branched version of lambda. We show how both the theoretical underpinnings and the practical implementation become too complex. In response, we present a variant of set-based closure analysis that computes equivalent results in a much more efficient manner.