Acknowledgement of Reviewers 2020

Water Resources Management -     

Effects of microreactor wall heat conduction on the reforming process of methane

In this paper, the effect of wall conduction of an autothermal tubular methane microreformer is investigated numerically. It is found that the axial wall conduction can strongly influence the performance of the microreactor and should not be neglected without a careful a priori investigation of its impact. By increasing the wall thermal conductivity, the maximum wall surface temperature is decreased. Due to the complex exothermic–endothermic nature of the chemistry of reforming, the axial variation of the wall temperature is not monotonic. Methane conversion and hydrogen yield are strongly dependent on the wall inner surface temperature, hence the heat conduction through the channel wall. The equivalence ratio and the wall thickness also significantly affect the reforming effectiveness and must be carefully considered in reactor optimization. Furthermore, it is found that exothermic oxidation reaction mechanisms, especially partial oxidation, are responsible for syngas (hydrogen and carbon monoxide) production near the inlet. Farther downstream, in the oxygen deficient region, endothermic steam reforming is the main hydrogen producing mechanism. By increasing the thermal conductivity, steam reforming becomes stronger and partial oxidation becomes weaker. For all investigated inlet conditions, the highest hydrogen yield is obtained for no or very low conductive walls.     

Drought Severity Assessment Based on Bivariate Probability Analysis

Conventionally drought severity is assessed based on drought indices. Recently the Reconnaissance Drought Index (RDI) was proposed to assess drought severity based on the precipitation to potential evapotranspiration ratio (P/PET). In this paper RDI is studied as a bivariate index under a set of assumptions and simplifications. The paper presents a simple computational procedure for estimating the P/PET ratio for selected reference periods varying from 3 to 12 months, for any return period of drought. Alternatively, based on this procedure, the severity of any drought episode is rationally assessed. A bivariate probability analysis is employed based on the assumption that P and PET values are normally distributed and often negatively correlated. Examples for the application of the proposed procedure are presented using data from several meteorological stations in Greece. It is shown that the assumption of normality of both P and PET holds for long periods at all examined stations.     

Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.     

Biomimetic centering behavior [mobile robots with panoramic sensors]

A reactive robotic centering behavior based on panoramic vision is presented. It is inspired by the way insects exploit visual information in analogous navigation tasks. By employing a panoramic camera, the development of the centering behavior is simplified both from a theoretical and from an implementation point of view. The proposed method relies on the extraction of primitive visual information from appropriately selected areas of a panoramic visual field and its direct use in the control law. Experimental results from an implementation of this method on a robotic platform demonstrate a centering behavior which can be achieved in real-time and with high accuracy. The proposed technique circumvents the need to address complex problems of 3D structure estimation and the resulting control laws were shown to possess the required stability properties.     

Decentralized Navigation Functions for Multiple Robotic Agents with Limited Sensing Capabilities

The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the closed loop system are checked via Lyapunov stability techniques for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations. This work was partially presented in [5].     

Polychaete-Like Undulatory Robotic Locomotion in Unstructured Substrates

A biological paradigm of versatile locomotion and effective motion control is provided by the polychaete annelid worms, whose motion adapts to a large variety of unstructured environmental conditions (sand, mud, sediment, water, etc.), and could thus be of interest to replicate by robotic analogs. Their locomotion is characterized by the combination of a unique form of tail-to-head body undulations (opposite to snakes and eels), with the rowing-like action of numerous lateral appendages distributed along their long segmented body. Focusing on the former aspect of polychaete locomotion, computational models of crawling and swimming by such tail-to-head body undulations have been developed in this paper. These are based on the Lagrangian dynamics of the system and on resistive models of its interaction with the environment, and are used for simulation studies demonstrating the generation of undulatory gaits. Several biomimetic robotic prototypes have been developed, whose undulatory actuation achieves propulsion on sand and other granular unstructured environments. Extensive experimental studies demonstrate the feasibility of robot propulsion by tail-to-head body undulations in such environments, as well as the agreement of its qualitative and quantitative characteristics to the predictions of the corresponding computational models.     

Fast and exergy efficient start-up of micro-solid oxide fuel cell systems by using the reformer or the post-combustor for start-up heating

The start-up process of a micro-solid oxide fuel cell system strongly influences its overall efficiency, especially for portable applications where a frequent switch-on and switch-off is required. We present herein a novel start-up process for such systems that exploits existing units, such as the post-combustor or the reformer, as a heat source to reach the operation temperature of the cell at 600 °C. Our experimental results show that the employment of platinum catalysts in the post-combustor or rhodium catalysts in the reformer for total oxidation of butane by air combined with an electrically heated wire led to a faster and more efficient start-up than conventional start-up methods using only electrical energy. By using the post-combustor as heat source, the start-up time could be reduced by 79% and the exergy cost by 86%. The latter includes the cost of the stand-alone fuel cell system to produce electrical energy for the joule heating of the wire (i.e. the system efficiency is accounted for). There are several advantages to use the reformer as heat source during start-up, such as prevention of coking of the fuel cell or improved heat transfer by internal heating of the other components. The start-up performance, however, was lower than that of the post-combustor: the start-up time could be reduced by 65% and the exergy cost by 68% compared to a conventional start-up.