Nonlinear Interval Parameter Programming Combined with Cooperative Games: a Tool for Addressing Uncertainty in Water Allocation Using Water Diplomacy Framework

Water Resources Management - This paper shows the utility of a new interval cooperative game theory as an effective water diplomacy tool to resolve competing and conflicting needs of water users...     

State and Impedance Reflection Based Control Interface for Bilateral Telerobotic System with Asymmetric Delay

In this paper, we investigate state and imped-ance reflection based robust control strategy for bilateral shared telerobotic system under unsymmetrical time varying delay. Shared input for both master and slave robot is designed by combining delayed position and position-velocity signals with impedance reflection properties of the interaction between slave and environment and between human and master robot manipulator. Adaptive control algorithm is proposed to estimate the interaction properties between human and master manipulator and between slave and remote environment. Then, the delayed estimated interaction properties are reflected back to the master and slave robot manipulator to match with the estimated impedance properties of the interaction between human and remote environment. We combine robust term with adaptive control term to deal with the uncertainty associated with gravity loading vector, unmodeled dynamic and external disturbance. The stability conditions with time varying delays are derived by using Lyapunov-Krasovskii functional. Experimental results are given to demonstrate the validity of the proposed design for real-time applications.     

Prediction of turbulent flow structure in a fully developed rib-roughened narrow rectangular channel

Fully developed turbulent water-flow structure over one-side repeated-ribs in narrow two-dimensional rectangular channels was investigated experimentally by Particle Image Velocimetry (PIV) and analytically by the standard κ-ɛ and nonlinear κ-ɛ turbulent models. Two rib-pitch to height ratios (p/k) of 10 and 20 were investigated while the rib height was held constant at 4 mm. The rib height-to-channel equivalent diameter ratio (k/De) was 0.1. The streamwise mean velocity and turbulent kinetic energy distributions at six selected axial stations from the center rib for the two Reynolds number (Re) of 7,000 and 20,000 were obtained and compared with the predicted one. The performance ability in predicting separating and reattaching turbulent water-flow between the standard κ-ɛ and nonlinear κ-ɛ models had yielded no clear conclusion. A large-scale turbulent eddy was generated by the rib promoter and then propagated into the mainstream flow, which led to the deformation of the velocity profile. The turbulent kinetic energy was increased about two times higher at p/k = 20 than that at p/k =10 under the two Reynolds numbers. The effect of the p/k value and the Reynolds number (Re) on reattachment length (XR) was investigated and showed that the p/k and Re had no significant effect on the reattachment length beyond a critical value of Re = 15,000 where XR was found to be approximately 4 times of the rib height under water-flow condition.     

Atomic layer deposition of TiO2 thin films on glass fibers for enhanced photocatalytic activity

Photocatalytic wastewater treatment is expected to become a sustainable way of eliminating toxic chemicals. Due to the surface-driven mechanism of the photocatalysis, surface area of the catalyst material plays a crucial role in the efficiency of the process, which is usually achieved by nanoparticles. However, using powder materials introduces a new problem: removing the catalyst materials out of clean water. As an alternative, atomic layer deposition (ALD) can form conformal thin films on high surface area substrates providing an immobilization route with high photocatalytic activity. Textile materials are inexpensive and accessible therefore good candidates for the substrate materials. Here, we deposit thin films on TiO₂ on fiberglass fabrics and investigate the photocatalytic activity. Since the as-deposited ALD TiO₂ films are amorphous, they have very limited photocatalytic activity. Upon thermal treatment of the films after deposition, photocatalytic activity is achieved. After four hours of exposure to the solar simulator and UV lamp, TiO₂-coated fibers demonstrated much higher photocatalytic activity than films on planar substrates previously described in the literature. The photocatalytic activity and structure of the coated fibers were investigated using XRD, XPS, UV–Vis, and PL analyses.

     

Multiscaling properties of soil moisture images and decomposition of large- and small-scale features using wavelet transforms

The scaling-multiscaling properties of passive microwave remotely sensed soil moisture images from the Washita '92 experiment are investigated. Analysis of moments of the soil moisture shows a log-log linearity of moments with spatial scale and the concavity of corresponding slopes with the order of moments. These properties suggest a deviation from simple scaling and the possible presence of multiscaling. By decomposing the soil moisture images into large-scale and small-scale fluctuation parts using wavelet transforms, it is shown that the small-scale fluctuation features obey a simple scaling law. The implications for such a decomposition and the coupling between the large-scale and small-scale features are discussed.     

Evaluating Water Quality Failure Potential in Water Distribution Systems: A Fuzzy-TOPSIS-OWA-based Methodology

The goal of a water distribution system (WDS) is to deliver safe water with desirable quality, quantity and continuity to the consumers. In some cases, a WDS fails to deliver safe water due to the compromise/ failure of water quality which may have devastating consequences. The frequency and consequence of a water quality failure (WQF) can be reduced if prognostic analysis and necessary remedial measures are taken on time. This study developed a prognostic model to predict WQF potential in a WDS. The study identifies important factors (parameters) which can directly and/or indirectly linked to WQFs. These factors are classified into two groups—the causes of WQF such as lack of free residual chlorine, or excess of total organic carbon, and the symptoms of WQF such as taste & odor, color which are in fact the effects of certain causes of WQF. The interrelationships among the symptoms and the causes have been established based on extensive literature review and elicited expert opinion. A fuzzy-TOPSIS-OWA-based model has been developed to identify the impacts of different influencing parameters on the overall WQF potential. The developed model has been implemented for a WDS in Quebec City (Canada). To study the impacts of uncertainties of the influencing factors, a Monte Carlo simulation-based sensitivity analysis has been carried out. It is anticipated that the developed model can help water utilities to understand the role of different factors on WQF.     

Comparative study of survival of altered and hybrid Vibrio cholerae O1 El Tor in association with Anabaena variabilis in fresh and brackish water microcosms

The survival of altered and hybrid Vibrio cholerae O1 El Tor in association with a cyanobacterium, Anabaena variabilis in pond (fresh) and brackish water microcosms was investigated. Survival of culturable bacteria was monitored on taurocholate tellurite gelatine agar plate. Viable but nonculturable (VBNC) bacteria were examined using fluorescent antibody (FA) technique. In pond water, altered and hybrid El Tor survived with cyanobacteria 10 and 18 days respectively and in control water 6 and 12 days respectively in culturable state. In pond water VBNC state altered and hybrid El Tor were found to persist 48 and 53 days respectively but in brackish water 65 and 70 days respectively in association with cyanobacteria. Brackish water was found to be a better habitat than pond water for the survival of these strains. Hybrid El Tor survived longer inside the mucilaginous sheath of A. variabilis than altered El Tor both in pond and brackish water microcosms.     

Adaptive control for robot manipulators using multiple parameter models

In this paper, we propose multiple parameter models based adaptive switching control system for robot manipulators. We first uniformly distribute the parameter set into a finite number of smaller compact subsets. Then, distributed candidate controllers are designed for each of these smaller compact subsets. Using Lyapunov inequality, a candidate controller is identified from the finite set of distributed candidate controllers that best estimates the plant at each instant of time. The design reduced the observer-controller gains by reducing modeling errors and uncertainties via identifying an appropriate control/model via choosing largest guaranteed decrease in the value of the Lyapunov function energy function. Compared with CE based CAC design, the proposed design requires smaller observer-controller gains to ensure stability and tracking performance in the presence of large-scale modeling errors and disturbance uncertainties. In contrast with existing adaptive method, multiple model based distributed hybrid design can be used to reduce the energy consumption of the industrial robotic manipulator for large scale industrial automation by reducing actuator input energy. Finally, the proposed hybrid adaptive control design is experimentally tested on a 3-DOF Phantom^TM robot manipulator to demonstrate the theoretical development for real-time applications.

     

Control schemes for passive teleoperation systems over wide area communication networks with time varying delay

In this paper,the problem of time varying telecommunication delays in passive teleoperation systems is addressed.The design comprises delayed position,velocity and position-velocity signals with the local position and velocity signals of the master and slave manipulators.Nonlinear adaptive control terms are employed locally to cope with uncertain parameters associated with the gravity loading vector of the master and slave manipulators.Lyapunov-Krasovskii function is employed for three methods to establish asymptotic tracking property of the closed loop teleoperation systems.The stability analysis is derived for both symmetrical and unsymmetrical time varying delays in the forward and backward communication channel that connects the local and remote sites.Finally,evaluation results are presented to illustrate the efectiveness of the proposed design for real-time applications.