Project Profile: Hydrogen Fuel Cell Mobile Lighting Tower (HFCML)

Science.gov (United States)

McLaughlin, Russell

2013-01-01

NASA is committed to finding innovative solutions that improve the operational performance of ground support equipment while providing environment and cost benefits, as well. Through the Hydrogen Fuel Cell Mobile Lighting Tower (HFCML) project, NASA gained operational exposure to a novel application of high efficiency technologies. Traditionally, outdoor lighting and auxiliary power at security gates, launch viewing sites, fallback areas, outage support, and special events is provided by diesel generators with metal halide lights. Diesel generators inherently contribute to C02, NOx, particulate emissions, and are very noisy. In 2010, engineers from NASA's Technology Evaluation for Environmental Risk Mitigation Principal Center (TEERM) introduced KSC operations to a novel technology for outdoor lighting needs. Developed by a team led by Sandia National Laboratory (SNL), the technology pairs a 5kW hydrogen fuel cell with robust high efficiency plasma lights in a towable trailer. Increased efficiency, in both the fuel cell power source and lighting load, yields longer run times between fueling operations while providing greater auxiliary power. Because of the unit's quiet operation and no exhaust fumes, it is capable of being used indoors and in emergency situations, and meets the needs of all other operational roles for metal halide/diesel generators. The only discharge is some water and warm air. Environmental benefits include elimination of diesel particulate emissions and estimated 73% greenhouse gas emissions savings when the hydrogen source is natural gas (per GREET model). As the technology matures the costs could become competitive for the fuel cell units which are approximately 5 times diesel units. Initial operational . concerns included the hydrogen storage tanks and valves, lightning safety/grounding, and required operating and refueling procedures. TEERM facilitated technical information exchange (design drawings, technical standards, and operations

LEDs for the Implementation of Advanced Hydrogenation Using Hydrogen Charge-State Control

Directory of Open Access Journals (Sweden)

Chee Mun Chong

2018-01-01

Full Text Available Light-induced degradation (LID of p-type Cz solar cells has plagued the industry for many decades. However, in recent years, new techniques for solving this LID have been developed, with hydrogen passivation of the boron-oxygen defects appearing to be an important contributor to the solution. Advanced hydrogenation approaches involving the control of the charge state for the hydrogen atoms in silicon to enhance their diffusivity and reactivity are developed and evaluated in this work for commercial application using a prototype industrial tool in conjunction with solar cells manufactured on commercial production lines. This prototype tool, unlike the previous successful laser-based laboratory approaches, is based on the use of LEDs for controlling the charge state of the hydrogen atoms. The illumination from the LEDs is also used in this work to passivate process-induced defects and contamination from the respective production lines with significant improvements in both efficiency and stability. The results indicate that the low-cost LED-based industrial tool performs as well as the laser-based laboratory tool for implementing these advanced hydrogen passivation approaches.

Control of wheeled mobile robot in restricted environment

Science.gov (United States)

Ali, Mohammed A. H.; En, Chang Yong

2018-03-01

This paper presents a simulation and practical control system for wheeled mobile robot in restricted environment. A wheeled mobile robot with 3 wheels is fabricated and controlled by proportional derivative active force control (PD-AFC) to move in a pre-planned restricted environment to maintain the tracking errors at zero level. A control system with two loops, outer by PD controller and inner loop by Active Force Control, are designed to control the wheeled mobile robot. Fuzzy logic controller is implemented in the Active force Control to estimate the inertia matrix that will be used to calculate the actual torque applied on the wheeled mobile robot. The mobile robot is tested in two different trajectories, namely are circular and straight path. The actual path and desired path are compared.

Ion Mobility Spectrometry-Mass Spectrometry Coupled with Gas-Phase Hydrogen/Deuterium Exchange for Metabolomics Analyses

Science.gov (United States)

Maleki, Hossein; Karanji, Ahmad K.; Majuta, Sandra; Maurer, Megan M.; Valentine, Stephen J.

2018-02-01

Ion mobility spectrometry-mass spectrometry (IMS-MS) in combination with gas-phase hydrogen/deuterium exchange (HDX) and collision-induced dissociation (CID) is evaluated as an analytical method for small-molecule standard and mixture characterization. Experiments show that compound ions exhibit unique HDX reactivities that can be used to distinguish different species. Additionally, it is shown that gas-phase HDX kinetics can be exploited to provide even further distinguishing capabilities by using different partial pressures of reagent gas. The relative HDX reactivity of a wide variety of molecules is discussed in light of the various molecular structures. Additionally, hydrogen accessibility scoring (HAS) and HDX kinetics modeling of candidate ( in silico) ion structures is utilized to estimate the relative ion conformer populations giving rise to specific HDX behavior. These data interpretation methods are discussed with a focus on developing predictive tools for HDX behavior. Finally, an example is provided in which ion mobility information is supplemented with HDX reactivity data to aid identification efforts of compounds in a metabolite extract.

Catalytic on-board hydrogen production from methanol and ammonia for mobile application

Energy Technology Data Exchange (ETDEWEB)

Soerijanto, H.

2008-08-15

This PhD thesis deals with the catalytic hydrogen production for mobile application, for example for the use in fuel cells for electric cars. Electric powered buses with fuel cells as driving system are well known, but the secure hydrogen storage in adequate amounts for long distance drive is still a topic of discussion. Methanol is an excellent hydrogen carrier. First of all it has a high H:C ratio and therefore a high energy density. Secondly the operating temperature of steam reforming of methanol is comparatively low (250 C) and there is no risk of coking since methanol has no C-C bond. Thirdly methanol is a liquid, which means that the present gasoline infrastructure can be used. For the further development of catalysts and for the construction of a reformer it is very important to characterize the catalysts very well. For the dimensioning and the control of an on-board production of hydrogen it is essential to draw accurately on the thermodynamic, chemical and kinetic data of the reaction. At the first part of this work the mesoporous Cu/ZrO{sub 2}/CeO{sub 2}-catalysts with various copper contents were characterized and their long-term stability and selectivity were investigated, and the kinetic data were determined. Carbon monoxide is generated by reforming of carbon containing material. This process is undesired since CO poisons the Pt electrode of the fuel cell. The separation of hydrogen by metal membranes is technically feasible and a high purity of hydrogen can be obtained. However, due to their high density this procedure is not favourable because of its energy loss. In this study a concept is presented, which enables an autothermal mode by application of ceramic membrane and simultaneously could help to deal with the CO problem. The search for an absolutely selective catalyst is uncertain. The production of CO can be neither chemically nor thermodynamically excluded, if carbon is present in the hydrogen carrier. Since enrichment or separation are

Catalytic on-board hydrogen production from methanol and ammonia for mobile application

Energy Technology Data Exchange (ETDEWEB)

Soerijanto, H

2008-08-15

This PhD thesis deals with the catalytic hydrogen production for mobile application, for example for the use in fuel cells for electric cars. Electric powered buses with fuel cells as driving system are well known, but the secure hydrogen storage in adequate amounts for long distance drive is still a topic of discussion. Methanol is an excellent hydrogen carrier. First of all it has a high H:C ratio and therefore a high energy density. Secondly the operating temperature of steam reforming of methanol is comparatively low (250 C) and there is no risk of coking since methanol has no C-C bond. Thirdly methanol is a liquid, which means that the present gasoline infrastructure can be used. For the further development of catalysts and for the construction of a reformer it is very important to characterize the catalysts very well. For the dimensioning and the control of an on-board production of hydrogen it is essential to draw accurately on the thermodynamic, chemical and kinetic data of the reaction. At the first part of this work the mesoporous Cu/ZrO{sub 2}/CeO{sub 2}-catalysts with various copper contents were characterized and their long-term stability and selectivity were investigated, and the kinetic data were determined. Carbon monoxide is generated by reforming of carbon containing material. This process is undesired since CO poisons the Pt electrode of the fuel cell. The separation of hydrogen by metal membranes is technically feasible and a high purity of hydrogen can be obtained. However, due to their high density this procedure is not favourable because of its energy loss. In this study a concept is presented, which enables an autothermal mode by application of ceramic membrane and simultaneously could help to deal with the CO problem. The search for an absolutely selective catalyst is uncertain. The production of CO can be neither chemically nor thermodynamically excluded, if carbon is present in the hydrogen carrier. Since enrichment or separation are

First-principles calculation for the effect of hydrogen atoms on the mobility of a screw dislocation in BCC iron

International Nuclear Information System (INIS)

Itakura, Mitsuhiro; Kaburaki, Hideo; Yamaguchi, Masatake; Endo, Tatsuro; Higuchi, Kenji; Ogata, Shigenobu; Kimizuka, Hajime

2012-01-01

Effect of hydrogen atoms on the mobility of a screw dislocation in BCC iron has been evaluated using the first-principles calculation. The stable position of a hydrogen atom is found to be near the screw dislocation core and inside the core respectively when the dislocation is at the easy-core or hard-core configuration in BCC iron. The intrinsically unstable hard-core configuration of the screw dislocation is stabilized when a hydrogen atom is trapped inside the core. On the basis of this first-principles result, an elastic string model of a dislocation is developed to predict the kink motion in the presence of a hydrogen atom. It is found that a double-kink formation is facilitated when a hydrogen atom is located near a dislocation line, however, a kink motion is retarded when a hydrogen atom is behind the kink. (author)

Controlling Hydrogenation of Graphene on Ir(111)

DEFF Research Database (Denmark)

Balog, Richard; Andersen, Mie; Jørgensen, Bjarke

2013-01-01

Combined fast X-ray photoelectron spectroscopy and density functional theory calculations reveal the presence of two types of hydrogen adsorbate structures at the graphene/ Ir(111) interface, namely, graphane-like islands and hydrogen dimer structures. While the former give rise to a periodic...... pattern, dimers tend to destroy the periodicity. Our data reveal distinctive growth rates and stability of both types of structures, thereby allowing one to obtain well-defined patterns of hydrogen clusters. The ability to control and manipulate the formation and size of hydrogen structures on graphene...

Dynamics of hydrogen in hydrogenated amorphous silicon

Indian Academy of Sciences (India)

is mobile and can easily move through the material). Hydrogen diffuses ... The determination of the relationship of light-enhanced hydrogen motion to ... term is negligible, and using the thermodynamic relation given below f(c) = kBT .... device-applications problematic but the normal state can be recovered by a thermal an-.

Adaptive learning fuzzy control of a mobile robot

International Nuclear Information System (INIS)

Tsukada, Akira; Suzuki, Katsuo; Fujii, Yoshio; Shinohara, Yoshikuni

1989-11-01

In this report a problem is studied to construct a fuzzy controller for a mobile robot to move autonomously along a given reference direction curve, for which control rules are generated and acquired through an adaptive learning process. An adaptive learning fuzzy controller has been developed for a mobile robot. Good properties of the controller are shown through the travelling experiments of the mobile robot. (author)

Hydrogen control in the System 80+TM ALWR design

International Nuclear Information System (INIS)

Schneider, R.E.; Jacob, M.C.; Carpentino, F.L.; Wachowiak, R.M.

2004-01-01

This paper provides an assessment of the features built into the System 80 +TM Advanced Light Water Reactor (ALWR) design for controlling hydrogen concentration during a hypothetical severe accident. Although the significantly larger System 80 + containment volume serves to passively maintain the global average below detonable limits, the design incorporates a Hydrogen Mitigation System (HMS) to further reduce the local hydrogen concentration. The HMS consists of a large number of hydrogen ignitors distributed within the containment to selectively burn-off hydrogen at low concentrations. The criteria for the placement of these igniters are discussed along with an assessment of the effectiveness of the igniters to control the hydrogen concentrations. This assessment, which was performed using the generalized containment model of the MAAP 4 code, evaluated the potential for hydrogen build-up in the containment and calculated the best-estimate response of the igniters. (author)

Interaction control of a redundant mobile manipulator

International Nuclear Information System (INIS)

Chung, J.H.; Velinsky, S.A.; Hess, R.A.

1998-01-01

This paper discusses the modeling and control of a spatial mobile manipulator that consists of a robotic manipulator mounted on a wheeled mobile platform. The Lagrange-d'Alembert formulation is used to obtain a concise description of the dynamics of the system, which is subject to nonholonomic constraints. The complexity of the model is increased by introducing kinematic redundancy, which is created when a multilinked manipulator is used. The kinematic redundancy is resolved by decomposing the mobile manipulator into two subsystems: the mobile platform and the manipulator. The redundancy resolution scheme employs a nonlinear interaction-control algorithm, which is developed and applied to coordinate the two subsystems' controllers. The subsystem controllers are independently designed, based on each subsystem's dynamic characteristics. Simulation results show the promise of the developed algorithm

Modelling and Control of a Mobile Robot

DEFF Research Database (Denmark)

Christensen, Georg Kronborg

1998-01-01

In order to control a mobile robot, kinematic odels as well as dynamic models are required. This parer describes these basic models for an experimental mobile robot under construction at the Department of Control and Engineering Design. A description of a set of trajectory control rules is given...

Resolution of Unresolved Safety Issue A-48, ''Hydrogen control measures and effects of hydrogen burns on safety equipment''

International Nuclear Information System (INIS)

Ferrell, C.M.; Soffer, L.

1989-09-01

Unresolved Safety Issue (USI) A-48 arose as a result of the large amount of hydrogen generated and burned within containment during the Three Mile Island accident. This issue covers hydrogen control measures for recoverable degraded-core accidents for all boiling-water reactors (BWRs) and those pressurized-water reactors (PWRs) with ice-condenser containments. The Commission and the nuclear industry have sponsored extensive research in this area, which has led to significant revision of the Commission's hydrogen control regulations, given in Title 10, Code of Federal Regulations, Part 50 (10 CFR 50), Section 50.44. BWRs having Mark I and II containments are presently required to operate with inerted containment atmospheres that effectively prevent hydrogen combustion. BWRs with Mark III containments and PWRs with ice-condenser containments are now required to be equipped with hydrogen control systems to protect containment integrity and safety systems inside containment. Industry has chosen to use hydrogen igniter systems to burn hydrogen produced in a controlled fashion to prevent damage. An independent review by a Committee of the National Research Council concluded that, for most accident scenarios, current regulatory requirements make it highly unlikely that hydrogen detonation would be the cause of containment failure. On the basis of the extensive research effort conducted and current regulatory requirements, including their implementation, the staff concludes that no new regulatory guidance on hydrogen control for recoverable degraded-core accidents for these types of plants is necessary and that USI A-48 is resolved

Differential Mobility Spectrometry-Hydrogen Deuterium Exchange (DMS-HDX) as a Probe of Protein Conformation in Solution.

Science.gov (United States)

Zhu, Shaolong; Campbell, J Larry; Chernushevich, Igor; Le Blanc, J C Yves; Wilson, Derek J

2016-06-01

Differential mobility spectrometry (DMS) is an ion mobility technique that has been adopted chiefly as a pre-filter for small- to medium-sized analytes (DMS-field asymmetric waveform ion mobility spectroscopy (FAIMS)-the application of DMS to intact biomacromolecules remains largely unexplored. In this work, we employ DMS combined with gas-phase hydrogen deuterium exchange (DMS-HDX) to probe the gas-phase conformations generated from proteins that were initially folded, partially-folded, and unfolded in solution. Our findings indicate that proteins with distinct structural features in solution exhibit unique deuterium uptake profiles as function of their optimal transmission through the DMS. Ultimately we propose that DMS-HDX can, if properly implemented, provide rapid measurements of liquid-phase protein structural stability that could be of use in biopharmaceuticals development. Graphical Abstract ᅟ.

Solar-hydrogen energy as an alternative energy source for mobile robots and the new-age car

International Nuclear Information System (INIS)

Sulaiman, A; Inambao, F; Bright, G

2014-01-01

The disastrous effects of climate change as witnessed in recent violent storms, and the stark reality that fossil fuels are not going to last forever, is certain to create renewed demands for alternative energy sources. One such alternative source, namely solar energy, although unreliable because of its dependence on available sunlight, can nevertheless be utilised to generate a secondary source of energy, namely hydrogen, which can be stored and thereby provide a constant and reliable source of energy. The only draw-back with hydrogen, though, is finding efficient means for its storage. This study demonstrates how this problem can be overcome by the use of metal hydrides which offers a very compact and safe way of storing hydrogen. It also provides a case study of how solar and hydrogen energy can be combined in an energy system to provide an efficient source of energy that can be applied for modern technologies such as a mobile robot. Hydrogen energy holds out the most promise amongst the various alternative energy sources, so much so that it is proving to be the energy source of choice for automobile manufacturers in their quest for alternative fuels to power their cars of the future

Solar-hydrogen energy as an alternative energy source for mobile robots and the new-age car

Science.gov (United States)

Sulaiman, A.; Inambao, F.; Bright, G.

2014-07-01

The disastrous effects of climate change as witnessed in recent violent storms, and the stark reality that fossil fuels are not going to last forever, is certain to create renewed demands for alternative energy sources. One such alternative source, namely solar energy, although unreliable because of its dependence on available sunlight, can nevertheless be utilised to generate a secondary source of energy, namely hydrogen, which can be stored and thereby provide a constant and reliable source of energy. The only draw-back with hydrogen, though, is finding efficient means for its storage. This study demonstrates how this problem can be overcome by the use of metal hydrides which offers a very compact and safe way of storing hydrogen. It also provides a case study of how solar and hydrogen energy can be combined in an energy system to provide an efficient source of energy that can be applied for modern technologies such as a mobile robot. Hydrogen energy holds out the most promise amongst the various alternative energy sources, so much so that it is proving to be the energy source of choice for automobile manufacturers in their quest for alternative fuels to power their cars of the future.

Hydrogen as a link between sustainable mobility and transition of the German energy system

Energy Technology Data Exchange (ETDEWEB)

Conreder, Alexander [EnBW Energie Baden-Wuerttemberg AG, Karlsruhe (Germany)

2013-06-01

Even 15 years ago, the predictions with regard to the market penetration of fuel cell automobiles or of so-called fuel cell heaters were communicated with differing statements. Daimler Benz AG, as it still was back then, had put their faith in the rapid integration of a fuel cell into the vehicle, whereas companies such as Vaillant, Hamburger Gas Consult, Sulzer Hexis or even MTU and Siemens were working on stationary fuel cell systems. The expectations at that time with regard to market and technology development have still not yet been fulfilled. Today, the subject has been given a new lease of life thanks to the public discussions regarding the energy transition and the current framework conditions. Many concepts that have already been under consideration, but which very few have considered realistic in the short-term, now appear at least to have come within reach. As a result of the fluctuations in the generation of renewable energies, Germany needs loads that can be switched and, above all, methods of storing energy. In conjunction with new technologies, such as PEM electrolysis and the pressure which has been put on politics to react and to create the necessary framework conditions, a new momentum has developed with regard to the use of hydrogen. This article analyses to what extent synergies between energy transition and mobility can be expected within the context of hydrogen. With a view to quantity, times and local relationships, quality and price, we have been able to determine that the relevant amounts and dependencies have a positive and relevant magnitude to one another, thus synergies are present. It should be noted that hydrogen will not be the sole solution for the Federal Government when it comes to achieving CO{sub 2} reduction aims. Electrical mobility with approaches for bidirectional charging, new storage technologies and alternative energy carriers, switchable loads as well as the local public transport systems and new mobility concepts will

EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

Directory of Open Access Journals (Sweden)

Michal KOPČÍK

2017-09-01

Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

Controlled Hydrogen Fleet and Infrastructure Demonstration and Validation Project

Energy Technology Data Exchange (ETDEWEB)

Stottler, Gary

2012-02-08

General Motors, LLC and energy partner Shell Hydrogen, LLC, deployed a system of hydrogen fuel cell electric vehicles integrated with a hydrogen fueling station infrastructure to operate under real world conditions as part of the U.S. Department of Energy's Controlled Hydrogen Fleet and Infrastructure Validation and Demonstration Project. This technical report documents the performance and describes the learnings from progressive generations of vehicle fuel cell system technology and multiple approaches to hydrogen generation and delivery for vehicle fueling.

Improved hydrogen monitoring helps control corrosion

International Nuclear Information System (INIS)

Strauss, S.D.

1985-01-01

Hydrogen analyzers have long been used for corrosion monitoring in both fossil-fired boilers and nuclear steam generators. The most recent stimulus for hydrogen monitoring has been provided by cracking of recirculation piping in water reactors. This paper examines the Hydran 202N, which represents an adaption of one instrument that has been used to monitor the degradation of transformer oils and fiberoptic cables. The sensing probe consists of a flow-through cell, an isolating membrane, and a miniature hydrogen/air fuel cell. The use of Hydran 202N at several fossil-fired and nuclear plants is described and the fossilplant application related to the effectiveness of water-chemistry control for a 400 psig oil-fired boiler is examined at a refinery

Laser controlled magnetism in hydrogenated fullerene films

International Nuclear Information System (INIS)

Makarova, Tatiana L.; Shelankov, Andrei L.; Kvyatkovskii, Oleg E.; Zakharova, Irina B.; Buga, Sergei G.; Volkov, Aleksandr P.

2011-01-01

Room temperature ferromagnetic-like behavior in fullerene photopolymerized films treated with monatomic hydrogen is reported. The hydrogen treatment controllably varies the paramagnetic spin concentration and laser induced polymerization transforms the paramagnetic phase to a ferromagnetic-like one. Excess laser irradiation destroys magnetic ordering, presumably due to structural changes, which was continuously monitored by Raman spectroscopy. We suggest an interpretation of the data based on first-principles density-functional spin-unrestricted calculations which show that the excess spin from mono-atomic hydrogen is delocalized within the host fullerene and the laser-induced polymerization promotes spin exchange interaction and spin alignment in the polymerized phase.

Wireless Control of Miniaturized Mobile Vehicle for Indoor Surveillance

International Nuclear Information System (INIS)

Saquib, Syed M Taha; Hameed, Sarmad; Jafri, Raza; Usman Ali, Syed M; Amin, Imran

2013-01-01

This work is based upon electronic automation and Smart Control techniques, which constitute the basis of Control Area Network (CAN) and Personal Area Network (PAN). Bluetooth technology has been interfaced with a programmable controller to provide multi-dimensional vehicle control. A network is proposed which contains a remote, mobile host controller and an android operating system based mobile set (Client). The client communicates with a host controller through a Bluetooth device. The system incorporates duplex communication after successful confirmation between the host and the client; the android based mobile unit controls the vehicle through the Bluetooth module

Biogeochemical Controls on Technetium Mobility in Biogeochemical Controls on Technetium Mobility in FRC Sediments

International Nuclear Information System (INIS)

Lloyd, J.R.; McBeth, J.M.; Livens, F.R.; Bryan, N.D.; Ellis, B.; Sharma, H.; Burke, I.T.; Morris, K.

2004-01-01

Technetium-99 is a priority pollutant at numerous DOE sites, due to its long half-life (2.1 x 10 5 years), high mobility as Tc(VII) in oxic waters, and bioavailability as a sulfate analog. 99 Tc is far less mobile under anaerobic conditions, forming insoluble Tc(IV) precipitates. As anaerobic microorganisms can reduce soluble Tc(VII) to insoluble Tc(IV), microbial metabolism may have the potential to treat sediments and waters contaminated with Tc. Baseline studies of fundamental mechanisms of Tc(VII) bioreduction and precipitation (reviewed by Lloyd et al, 2002) have generally used pure cultures of metal-reducing bacteria, in order to develop conceptual models for the biogeochemical cycling of Tc. There is, however, comparatively little known about interactions of metal-reducing bacteria with environmentally relevant trace concentrations of Tc, against a more complex biogeochemical background provided by mixed microbial communities in the subsurface. The objective of this new NABIR project is to probe the site specific biogeochemical conditions that control the mobility of Tc at the FRC (Oak Ridge, TN). This information is required for the rational design of in situ bioremediation strategies for technetium-contaminated subsurface environments. We will use a combination of geochemical, mineralogical, microbiological and spectroscopic techniques to determine the solubility and phase associations of Tc in FRC sediments, and characterize the underpinning biogeochemical controls. A key strength of this project is that many of the techniques we are using have already been optimized by our research team, who are also studying the biogeochemical controls on Tc mobility in marine and freshwater sediments in the UK in a NERC funded companion study.

Collision cascades enhanced hydrogen redistribution in cobalt implanted hydrogenated diamond-like carbon films

International Nuclear Information System (INIS)

Gupta, P.; Becker, H.-W.; Williams, G.V.M.; Hübner, R.; Heinig, K.-H.; Markwitz, A.

2017-01-01

Highlights: • This paper reports for the first time redistribution of hydrogen atoms in diamond like carbon thin films during ion implantation of low energy magnetic ions. • The results point towards new routes of controlling the composition and distribution of elements at the nanoscale within a base matrix without using any heat treatment methods. • Exploring these opportunities can lead to a new horizon of materials and device engineering needed for enabling advanced technologies and applications. - Abstract: Hydrogenated diamond-like carbon films produced by C_3H_6 deposition at 5 kV and implanted at room temperature with 30 keV Co atoms to 12 at.% show not only a bimodal distribution of Co atoms but also a massive redistribution of hydrogen in the films. Resonant nuclear reaction analysis was used to measure the hydrogen depth profiles (15N-method). Depletion of hydrogen near the surface was measured to be as low as 7 at.% followed by hydrogen accumulation from 27 to 35 at.%. A model is proposed considering the thermal energy deposited by collision cascade for thermal insulators. In this model, sufficient energy is provided for dissociated hydrogen to diffuse out of the sample from the surface and diffuse into the sample towards the interface which is however limited by the range of the incoming Co ions. At a hydrogen concentration of ∼35 at.%, the concentration gradient of the mobile unbounded hydrogen atoms is neutralised effectively stopping diffusion towards the interface. The results point towards new routes of controlling the composition and distribution of elements at the nanoscale within a base matrix without using any heat treatment methods. Exploring these opportunities can lead to a new horizon of materials and device engineering needed for enabling advanced technologies and applications.

Collision cascades enhanced hydrogen redistribution in cobalt implanted hydrogenated diamond-like carbon films

Energy Technology Data Exchange (ETDEWEB)

Gupta, P. [National Isotope Centre, GNS Science, Lower Hutt (New Zealand); The MacDiarmid Institute for Advanced Materials and Nanotechnology, School of Chemical and Physical Sciences, Victoria University of Wellington, Wellington (New Zealand); Becker, H.-W. [RUBION, Ruhr-University Bochum (Germany); Williams, G.V.M. [The MacDiarmid Institute for Advanced Materials and Nanotechnology, School of Chemical and Physical Sciences, Victoria University of Wellington, Wellington (New Zealand); Hübner, R.; Heinig, K.-H. [Institute of Ion Beam Physics and Materials Research, Helmholtz-Zentrum Dresden-Rossendorf (Germany); Markwitz, A., E-mail: a.markwitz@gns.cri.nz [National Isotope Centre, GNS Science, Lower Hutt (New Zealand); The MacDiarmid Institute for Advanced Materials and Nanotechnology, School of Chemical and Physical Sciences, Victoria University of Wellington, Wellington (New Zealand)

2017-03-01

Highlights: • This paper reports for the first time redistribution of hydrogen atoms in diamond like carbon thin films during ion implantation of low energy magnetic ions. • The results point towards new routes of controlling the composition and distribution of elements at the nanoscale within a base matrix without using any heat treatment methods. • Exploring these opportunities can lead to a new horizon of materials and device engineering needed for enabling advanced technologies and applications. - Abstract: Hydrogenated diamond-like carbon films produced by C{sub 3}H{sub 6} deposition at 5 kV and implanted at room temperature with 30 keV Co atoms to 12 at.% show not only a bimodal distribution of Co atoms but also a massive redistribution of hydrogen in the films. Resonant nuclear reaction analysis was used to measure the hydrogen depth profiles (15N-method). Depletion of hydrogen near the surface was measured to be as low as 7 at.% followed by hydrogen accumulation from 27 to 35 at.%. A model is proposed considering the thermal energy deposited by collision cascade for thermal insulators. In this model, sufficient energy is provided for dissociated hydrogen to diffuse out of the sample from the surface and diffuse into the sample towards the interface which is however limited by the range of the incoming Co ions. At a hydrogen concentration of ∼35 at.%, the concentration gradient of the mobile unbounded hydrogen atoms is neutralised effectively stopping diffusion towards the interface. The results point towards new routes of controlling the composition and distribution of elements at the nanoscale within a base matrix without using any heat treatment methods. Exploring these opportunities can lead to a new horizon of materials and device engineering needed for enabling advanced technologies and applications.

Integrated mobile robot control

Science.gov (United States)

Amidi, Omead; Thorpe, Chuck E.

1991-03-01

This paper describes the strucwre implementation and operation of a real-time mobile robot controller which integrates capabilities such as: position estimation path specification and hacking human interfaces fast communication and multiple client support The benefits of such high-level capabilities in a low-level controller was shown by its implementation for the Naviab autonomous vehicle. In addition performance results from positioning and tracking systems are reported and analyzed.

Universally applicable design concept of stably controlling an HTGR-hydrogen production system

International Nuclear Information System (INIS)

Hada, Kazuhiko; Shibata, Taiju; Nishihara, Tetsuo; Shiozawa, Shusaku

1996-01-01

An HTGR-hydrogen production system should be designed to have stable controllability because of a large difference in thermal dynamics between reactor and hydrogen production system and such a control design concept should be universally applicable to a variety of hydrogen production processes by the use of nuclear heat from HTGR. A transient response analysis of an HTGR-steam reforming hydrogen production system showed that a steam generator installed in a helium circuit for cooling the nuclear reactor provides stable controllability of the total system, resulting in avoiding a reactor scram. A survey of control design-related characteristics among several hydrogen production processes revealed the similarity of endothermic chemical reactions by the use of high temperature heat and that steam is required as a reactant of the endothermic reaction or for preheating a reactant. Based on these findings, a system design concept with stable controllability and universal applicability was proposed to install a steam generator as a downstream cooler of an endothermic reactor in the helium circuit of an HTGR-hydrogen production system. (author)

Controller Design Of Unicycle Mobile Robot

Directory of Open Access Journals (Sweden)

Mohd Zamzuri Abd Rashid

2012-10-01

Full Text Available ABSTRACT: The ability of unicycle mobile robot to stand and move around using one wheel has attracted a lot of researchers to conduct studies about the system, particularly in the design of the system mechanisms and the control strategies. This paper reports the investigation done on the design of the controller of the unicycle mobile robot system to maintain its stability in both longitudinal and lateral directions. The controller proposed is a Linear Quadratic Controller (LQR type which is based on the linearized model of the system. A thorough simulation studies have been carried out to find out the performance of the LQR controller. The best controller gain, K acquired through the simulation is selected to be implemented and tested in the experimental hardware. Finally, the results obtained from the experimental study are compared to the simulation results to study the controller efficacy. The analysis reveals that the proposed controller design is able to stabilize the unicycle mobile robot.ABSTRAK: Kemampuan robot satu roda untuk berdiri dan bergerak di sekitar telah menarik minat ramai penyelidik untuk mengkaji sistem robot terutamanya didalam bidang rangka mekanikal dan strategi kawalan robot. Kertas kajian ini melaporkan hasil penyelidikan ke atas strategi kawalan robot bagi memastikan sistem robot satu roda dapat distabilkan dari arah sisi dan hadapan. Strategi kawalan yang dicadang, menggunakan teknik kawalan kuadratik sejajar (Linear Quadratic Control yang berdasarkan model robot yang telah dipermudahkan. Kajian simulasi secara terperinci telah dijalankan bagi mengkaji prestasi strategi kawalan yang dicadangkan. Dari kajian simulasi sistem robot, pemilihan faktor konstan, K yang sesuai di dalam strategi kawalan telah dibuat, agar dapat dilaksanakan ke atas sistem robot yang dibangunkan. Keputusan dari kajian simulasi dan tindak balas oleh sistem robot yang dibangunkan akhirnya dibandingkan bagi melihat kesesuaian faktor kostan, K

Hydrogen energy applications

International Nuclear Information System (INIS)

Okken, P.A.

1992-10-01

For the Energy and Material consumption Scenarios (EMS), by which emission reduction of CO 2 and other greenhouse gases can be calculated, calculations are executed by means of the MARKAL model (MARket ALlocation, a process-oriented dynamic linear programming model to minimize the costs of the energy system) for the Netherlands energy economy in the period 2000-2040, using a variable CO 2 emission limit. The results of these calculations are published in a separate report (ECN-C--92-066). The use of hydrogen can play an important part in the above-mentioned period. An overview of several options to produce or use hydrogen is given and added to the MARKAL model. In this report techno-economical data and estimates were compiled for several H 2 -application options, which subsequently also are added to the MARKAL model. After a brief chapter on hydrogen and the impact on the reduction of CO 2 emission attention is paid to stationary and mobile applications. The stationary options concern the mixing of natural gas with 10% hydrogen, a 100% substitution of natural gas by hydrogen, the use of a direct steam generator (combustion of hydrogen by means of pure oxygen, followed by steam injection to produce steam), and the use of fuel cells. The mobile options concern the use of hydrogen in the transportation sector. In brief, attention is paid to a hydrogen passenger car with an Otto engine, and a hydrogen passenger car with a fuel cell, a hybrid (metal)-hydride car, a hydrogen truck, a truck with a methanol fuel cell, a hydrogen bus, an inland canal boat with a hydrogen fuel cell, and finally a hydrogen airplane. 2 figs., 15 tabs., 1 app., 26 refs

High hole mobility p-type GaN with low residual hydrogen concentration prepared by pulsed sputtering

Science.gov (United States)

Arakawa, Yasuaki; Ueno, Kohei; Kobayashi, Atsushi; Ohta, Jitsuo; Fujioka, Hiroshi

2016-08-01

We have grown Mg-doped GaN films with low residual hydrogen concentration using a low-temperature pulsed sputtering deposition (PSD) process. The growth system is inherently hydrogen-free, allowing us to obtain high-purity Mg-doped GaN films with residual hydrogen concentrations below 5 × 1016 cm-3, which is the detection limit of secondary ion mass spectroscopy. In the Mg profile, no memory effect or serious dopant diffusion was detected. The as-deposited Mg-doped GaN films showed clear p-type conductivity at room temperature (RT) without thermal activation. The GaN film doped with a low concentration of Mg (7.9 × 1017 cm-3) deposited by PSD showed hole mobilities of 34 and 62 cm2 V-1 s-1 at RT and 175 K, respectively, which are as high as those of films grown by a state-of-the-art metal-organic chemical vapor deposition apparatus. These results indicate that PSD is a powerful tool for the fabrication of GaN-based vertical power devices.

Surface Magnetism of Cobalt Nanoislands Controlled by Atomic Hydrogen.

Science.gov (United States)

Park, Jewook; Park, Changwon; Yoon, Mina; Li, An-Ping

2017-01-11

Controlling the spin states of the surface and interface is key to spintronic applications of magnetic materials. Here, we report the evolution of surface magnetism of Co nanoislands on Cu(111) upon hydrogen adsorption and desorption with the hope of realizing reversible control of spin-dependent tunneling. Spin-polarized scanning tunneling microscopy reveals three types of hydrogen-induced surface superstructures, 1H-(2 × 2), 2H-(2 × 2), and 6H-(3 × 3), with increasing H coverage. The prominent magnetic surface states of Co, while being preserved at low H coverage, become suppressed as the H coverage level increases, which can then be recovered by H desorption. First-principles calculations reveal the origin of the observed magnetic surface states by capturing the asymmetry between the spin-polarized surface states and identify the role of hydrogen in controlling the magnetic states. Our study offers new insights into the chemical control of magnetism in low-dimensional systems.

Remote-controlled vision-guided mobile robot system

Science.gov (United States)

Ande, Raymond; Samu, Tayib; Hall, Ernest L.

1997-09-01

Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

Shuttle Gaseous Hydrogen Venting Risk from Flow Control Valve Failure

Science.gov (United States)

Drummond, J. Philip; Baurle, Robert A.; Gafney, Richard L.; Norris, Andrew T.; Pellett, Gerald L.; Rock, Kenneth E.

2009-01-01

This paper describes a series of studies to assess the potential risk associated with the failure of one of three gaseous hydrogen flow control valves in the orbiter's main propulsion system during the launch of Shuttle Endeavour (STS-126) in November 2008. The studies focused on critical issues associated with the possibility of combustion resulting from release of gaseous hydrogen from the external tank into the atmosphere during assent. The Shuttle Program currently assumes hydrogen venting from the external tank will result in a critical failure. The current effort was conducted to increase understanding of the risk associated with venting hydrogen given the flow control valve failure scenarios being considered in the Integrated In-Flight Anomaly Investigation being conducted by NASA.

Self-control and problematic mobile phone use in Chinese college students: the mediating role of mobile phone use patterns

OpenAIRE

Jiang, Zhaocai; Zhao, Xiuxin

2016-01-01

Background With the popularity of mobile phones, problematic mobile phone use is getting increasing attention in recent years. Although self-control was found to be a critical predictor of problematic mobile phone use, no study has ever explored the association between self-control and mobile phone use patterns as well as the possible pathway how self-control affects problematic mobile phone use. Methods Four hundred sixty-eight college students were randomly selected in this study. Data were...

Training for power plant personnel on hydrogen production and control

International Nuclear Information System (INIS)

Dickelman, G.J.

1982-01-01

It is the purpose of this paper to address the issue of training for power plant personnel in the area of hydrogen control. The authors experience in the training business indicates that most of the operations and engineering personnel have a very limited awareness of this phenomenon. Topics discussed in this paper include: 1) theory of hydrogen combustion kinetics; 2) incidents involving hydrogen combustion events; 3) normal operations interfacing with hydrogen; 4) accident conditions; and 5) mitigation schemes

Information needs and instrumentation availability for hydrogen control and management

Energy Technology Data Exchange (ETDEWEB)

Park, Jae Hong [Korea Institute of Nuclear Safety, Taejon (Korea, Republic of); Park, Gun Chul; Suh, Kune Y.; Lee, Seung Dong; Lee, Jin Yong [Seoul National Univ., Seoul (Korea, Republic of); Jae, Moo Sung [Hansung Univ., Seoul (Korea, Republic of)

1999-03-15

This study is concerned with development of comprehensive hydrogen management strategies based on identification of a severe accident condition and formulation of hydrogen models. Reducing containment hydrogen during a severe accident will mitigate a potential containment failure mechanism. One of the hydrogen control strategies is intentional burning by the hydrogen igniter. Though intentional hydrogen burn strategy will cause pressure and temperature spikes, it is the fastest way of reducing the containment hydrogen concentration. Based on the Westinghouse owners group Severe Accident Management Guidance (SAMG) hydrogen ignition decision tree was developed. From the information of decision tree, hydrogen ignition decision can be determined in Containment Event Tree (CET). We have examined previous hydrogen generation related models in fuel coolant interaction (FCI) and developed transient model for it. Using this model, we have simulated the Argonne National Laboratory (ANL) tests which are single droplet experiments, and Fully Instrumented Test Site (FITS) tests which contain dynamic fragmentation.

Mobile robot navigation in unknown static environments using ANFIS controller

Directory of Open Access Journals (Sweden)

Anish Pandey

2016-09-01

Full Text Available Navigation and obstacle avoidance are the most important task for any mobile robots. This article presents the Adaptive Neuro-Fuzzy Inference System (ANFIS controller for mobile robot navigation and obstacle avoidance in the unknown static environments. The different sensors such as ultrasonic range finder sensor and sharp infrared range sensor are used to detect the forward obstacles in the environments. The inputs of the ANFIS controller are obstacle distances obtained from the sensors, and the controller output is a robot steering angle. The primary objective of the present work is to use ANFIS controller to guide the mobile robot in the given environments. Computer simulations are conducted through MATLAB software and implemented in real time by using C/C++ language running Arduino microcontroller based mobile robot. Moreover, the successful experimental results on the actual mobile robot demonstrate the effectiveness and efficiency of the proposed controller.

Can hydrogen bonds improve the hole-mobility in amorphous organic semiconductors? Experimental and theoretical insights

KAUST Repository

Mimaite, Viktorija; Grazulevicius, Juozas Vidas; Laurinaviciute, Rasa; Volyniuk, Dmytro; Jankauskas, Vygintas; Sini, Gjergji

2015-01-01

© The Royal Society of Chemistry 2015. Five hole-transporting triphenylamine derivatives containing methoxy and methyl groups are synthesized and investigated. The hole-mobility increases in the presence of methyl and methoxy substituents, exceeding 10-2 cm2 V-1 s-1 in the case of methyl groups. Quantum mechanical calculations on these compounds indicate very different dipole moments and intermolecular interaction strengths, with intriguing correlations with the trend in hole-mobility. Temperature dependent hole-mobility measurements indicate disorder dominated hole transport. The values of the energetic disorder parameter (σ) decrease upon methyl and methoxy substitutions despite the increase in dipole moments. This trend is discussed as a function of the interaction energy between adjacent molecules, the dipole moment, the molecular polarizability, and the conformational degree of freedom. Our results indicate that the global decrease of σ upon methyl and methoxy substitutions is dominated by the larger decrease in the geometrical randomness component of the energetic disorder. A direct correlation is established between the decrease in geometrical randomness and the increase in intermolecular interaction energies, mainly stemming from the additional C-H⋯π, O, N hydrogen bonds induced by methyl and methoxy groups.

Dynamic Modelling and Adaptive Traction Control for Mobile Robots

Directory of Open Access Journals (Sweden)

A. Albagul

2004-09-01

Full Text Available Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control techniques for robot motion and path planning. A large number of researchers have used kinematic models to develop motion control strategy for mobile robots. Their argument and assumption that these models are valid if the robot has low speed, low acceleration and light load. However, dynamic modelling of mobile robots is very important as they are designed to travel at higher speed and perform heavy duty work. This paper presents and discusses a new approach to develop a dynamic model and control strategy for wheeled mobile robot which I modelled as a rigid body that roles on two wheels and a castor. The motion control strategy consists of two levels. The first level is dealing with the dynamic of the system and denoted as ‘Low’ level controller. The second level is developed to take care of path planning and trajectory generation.

Bake-Out Mobile Controls for Large Vacuum Systems

CERN Document Server

Blanchard, S; Gomes, P; Pereira, H; Kopylov, L; Merker, S; Mikheev, M

2014-01-01

Large vacuum systems at CERN (Large Hadron Collider - LHC, Low Energy Ion Rings - LEIR...) require bake-out to achieve ultra-high vacuum specifications. The bake-out cycle is used to decrease the outgassing rate of the vacuum vessel and to activate the Non-Evaporable Getter (NEG) thin film. Bake-out control is a Proportional-Integral-Derivative (PID) regulation with complex recipes, interlocks and troubleshooting management and remote control. It is based on mobile Programmable Logic Controller (PLC) cabinets, fieldbus network and Supervisory Control and Data Acquisition (SCADA) application. The CERN vacuum installations include more than 7 km of baked vessels; using mobile cabinets reduces considerably the cost of the control system. The cabinets are installed close to the vacuum vessels during the time of the bake-out cycle. Mobile cabinets can be used in any of the CERN vacuum facilities. Remote control is provided through a fieldbus network and a SCADA application

Solid state cloaking for electrical charge carrier mobility control

Science.gov (United States)

Zebarjadi, Mona; Liao, Bolin; Esfarjani, Keivan; Chen, Gang

2015-07-07

An electrical mobility-controlled material includes a solid state host material having a controllable Fermi energy level and electrical charge carriers with a charge carrier mobility. At least one Fermi level energy at which a peak in charge carrier mobility is to occur is prespecified for the host material. A plurality of particles are distributed in the host material, with at least one particle disposed with an effective mass and a radius that minimize scattering of the electrical charge carriers for the at least one prespecified Fermi level energy of peak charge carrier mobility. The minimized scattering of electrical charge carriers produces the peak charge carrier mobility only at the at least one prespecified Fermi level energy, set by the particle effective mass and radius, the charge carrier mobility being less than the peak charge carrier mobility at Fermi level energies other than the at least one prespecified Fermi level energy.

Navigation Algorithm Using Fuzzy Control Method in Mobile Robotics

Directory of Open Access Journals (Sweden)

Cviklovič Vladimír

2016-03-01

Full Text Available The issue of navigation methods is being continuously developed globally. The aim of this article is to test the fuzzy control algorithm for track finding in mobile robotics. The concept of an autonomous mobile robot EN20 has been designed to test its behaviour. The odometry navigation method was used. The benefits of fuzzy control are in the evidence of mobile robot’s behaviour. These benefits are obtained when more physical variables on the base of more input variables are controlled at the same time. In our case, there are two input variables - heading angle and distance, and two output variables - the angular velocity of the left and right wheel. The autonomous mobile robot is moving with human logic.

Is there room for hydrogen in energy transition?

International Nuclear Information System (INIS)

Beeker, Etienne

2014-08-01

As Germany decided to use hydrogen to store huge quantities of renewable energies, this report aims at assessing the opportunities associated with hydrogen in the context of energy transition. The author addresses the various techniques and technologies of hydrogen production, and proposes a prospective economic analysis of these processes: steam reforming, alkaline electrolysis, polymer electrolyte membrane (PEM) electrolysis, and other processes still at R and D level. He gives an overview of existing and potential uses of hydrogen in industry, in energy storage (power-to-gas, power-to-power, methanation) and in mobility (hydrogen-mobility could be a response to hydrocarbon shortage, but the cost is still very high, and issues like hydrogen distribution must be addressed), and also evokes their emergence potential

Configuration and mobility of hydrogen implanted in aluminium

International Nuclear Information System (INIS)

Bugeat, J.P.; Chami, A.C.; Ligeon, E.

1976-01-01

Localization methods through channeling and nuclear reaction analysis using low energy ion beam were applied to the study of deuterium and hydrogen implanted in aluminium single crystals. It was shown that implanted hydrogen occupies a tetrahedral site in the lattice as far as the implantation temperature is lower than 175K. This fact is interpreted by considering an interaction between hydrogen and monovacancies created during the implantation [fr

Hydrogen Village : creating hydrogen and fuel cell communities

International Nuclear Information System (INIS)

Smith, G.R.

2009-01-01

The Hydrogen Village (H2V) is a collaborative public-private partnership administered through Hydrogen and Fuel Cells Canada and funded by the Governments of Canada and Ontario. This end user-driven, market development program accelerates the commercialization of hydrogen and fuel cell (FC) technologies throughout the Greater Toronto Area (GTA). The program targets 3 specific aspects of market development, notably deployment of near market technologies in community based stationary and mobile applications; development of a coordinated hydrogen delivery and equipment service infrastructure; and societal factors involving corporate policy and public education. This presentation focused on lessons learned through outreach programs and the deployment of solid oxide fuel cell (SOFC) heat and power generation; indoor and outdoor fuel cell back up power systems; fuel cell-powered forklifts, delivery vehicles, and utility vehicles; hydrogen internal combustion engine powered shuttle buses, sedans, parade float; hydrogen production/refueling stations in the downtown core; and temporary fuel cell power systems

Residential Mobility, Inhibitory Control, and Academic Achievement in Preschool

Science.gov (United States)

Schmitt, Sara A.; Finders, Jennifer K.; McClelland, Megan M.

2015-01-01

Research Findings: The present study investigated the direct effects of residential mobility on children's inhibitory control and academic achievement during the preschool year. It also explored fall inhibitory control and academic skills as mediators linking residential mobility and spring achievement. Participants included 359 preschool children…

Controlled delamination of metal films by hydrogen loading

Energy Technology Data Exchange (ETDEWEB)

Nikitin, Eugen

2008-11-18

n this work we quantitatively determine the adhesion energy between metal films and their substrates. Therefore a new controlled buckling technique is established, applying the strong compressive in-plane stress that results in thin films clamped on rigid substrates during hydrogen loading. When the elastic energy stored in the H-loaded thin film exceeds the adhesion energy between film and substrate, delamination occurs. At the onset of delamination, a critical hydrogen concentration, a critical stress value and a critical bending of the substrate are present, which are quantitative measures for the adhesion energy and permit its calculation. As the critical values are determined at the onset of delamination, plastic deformation is negligible, which denies the quantitative determination of adhesion energies in conventional test setups. In multilayer-systems, adhesion energies between substrates and films that hardly absorb hydrogen can be measured by the controlled buckling technique, when the films of interest are coated with hydrogen absorbing films (active layer). The measurements are performed easily and can be repeated under the same test conditions, while variables such as the thickness of the coating materials or the boundary surface structure can be varied and optimized. In this work the adhesion energies of different materials on polycarbonate and niobium on sapphire are investigated. (orig.)

Light mobility applications towards public education and research

Energy Technology Data Exchange (ETDEWEB)

Ceviz, Y.; Eroglu, M.; Akfidan, T.; Altinel, S.; Yazici, M.S. [UNIDO-ICHET - International Centre for Hydrogen Energy Technologies, Istanbul (Turkey)

2010-07-01

International Center for Hydrogen Energy Technologies (ICHET) has been implementing measures to demonstrate potential benefits of the ''hydrogen and fuel cell systems'' in developing countries. As part of applied R and D activities, various prototype vehicles (a small tri-wheel scooter, a four-passenger cart integrated with a 2 kW fuel cell, a mobile caravan with wind, solar and fuel cell power and a forklift with the necessary fuelling options and controls) were demonstrated utilizing hydrogen as fuel. Performance analysis, sizing of the various system components and modeling will be carried out as part of applied R and D program. A long-term objective of the projects is to push for use of fuel cell powered light mobile vehicles in public places and encourage local industry to manufacturer similar vehicles and explore market potential for such use. As a benefit of this activity, public awareness on applications of renewable and fuel cell technologies will increase and viability of such systems will be demonstrated to change public perception. (orig.)

NRC Information No. 89-44: Hydrogen storage on the roof of the control room

International Nuclear Information System (INIS)

Rossi, C.E.

1992-01-01

During the Region V Chemistry Team Inspection at the Trojan Nuclear Plant the week of April 17, 1989, the inspectors identified a potential safety problem concerning the location of the hydrogen storage facility. Hydrogen is used on pressurized water reactor (PWR) plants for (1) providing a cover gas in the volume control tank, and (2) for cooling the main turbine generator. At boiling water reactor (BWR) plants, hydrogen is also used for cooling the main turbine generator and for injection into the feed system for plants which have implemented hydrogen water chemistry. The Trojan hydrogen storage facility is located on the control room roof which is 30-inch-thick reinforced concrete. The Trojan plant hydrogen facility does not meet guidelines from the standpoint of (1) the separation distance needed between a hydrogen pipe break and the control room ventilation intake to prevent buildup of a flammable or explosive gas mixture inside the control room, and (2) the separation distance needed to prevent damage to safety-related structures resulting from the explosion of an 8,000-scf hydrogen tank

Control synchronization of differential mobile robots

NARCIS (Netherlands)

Nijmeijer, H.; Rodriguez Angeles, A.; Allgoewer, F.

2004-01-01

In this paper a synchronization controller for differential mobile robots is proposed. The synchronization goal is to control the angular position of each wheel to a desired trajectory and at the same time the differential (or synchronization) error between the angular positions of the two wheels.

Hydrogen Permeation in Cold-Rolled High-Mn Twinning-Induced Plasticity Steels

Science.gov (United States)

Han, Do Kyeong; Hwang, A. In; Byeon, Woo Jun; Noh, Seung Jeong; Suh, Dong-Woo

2017-11-01

Hydrogen permeation is investigated in cold-rolled Fe-0.6C-18Mn-(1.5Al) alloys. The hydrogen mobility is lower in cold-rolled alloys compared with annealed alloys. Al-containing alloy shows less deceleration of hydrogen mobility compared with the Al-free alloy. This is attributed to the reduced formation of mechanical twins and dislocations. Mechanical twins trap hydrogen strongly but are vulnerable to crack initiation; suppression of these is thought to be a major favorable influence of Al on hydrogen-induced mechanical degradation.

Robust tracking control of two-degrees-of-freedom mobile robots

NARCIS (Netherlands)

Oelen, W.; Oelen, W.; van Amerongen, J.

1994-01-01

A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of

FUZZY CONTROLLER FOR THE CONTROL OF THE MOBILE PLATFORM OF THE CORBYS ROBOTIC GAIT REHABILITATION SYSTEM

Directory of Open Access Journals (Sweden)

Maria Kyrarini

2014-12-01

Full Text Available In this paper, an inverse kinematics based control algorithm for the joystick control of the mobile platform of the novel mobile robot-assisted gait rehabilitation system CORBYS is presented. The mobile platform has four independently steered and driven wheels. Given the linear and angular velocities of the mobile platform, the inverse kinematics algorithm gives as its output the steering angle and the driving angular velocity of each of the four wheels. The paper is focused on the steering control of the platform for which a fuzzy logic controller is developed and implemented. The experimental results of the real-world steering of the platform are presented in the paper.

Peculiarities of hydrogen permeation through Zr–1%Nb alloy and evaluation of terminal solid solubility

Energy Technology Data Exchange (ETDEWEB)

Denisov, E.A.; Kompaniets, M.V.; Kompaniets, T.N., E-mail: tkompaniets@spbu.ru; Bobkova, I.S.

2016-04-15

Hydrogen permeation through Zr–1%Nb alloy was studied at the temperature below the temperature of α-β transition. Analysis of the transient permeation curves from a closed volume in a surface limited regime allowed to determine total and mobile hydrogen concentrations. At the mobile hydrogen concentration of 4.3 at% a part of the absorbed hydrogen is cut out of permeation process. Increase of the mobile hydrogen concentration in α-phase of Zr–1%Nb alloy is ceasing at the concentration of (5.5 ± 0.3) at%, which is the maximum possible concentration of the mobile hydrogen in α-phase of the studied alloy. From this moment on all absorbed hydrogen is spent on hydride formation. The obtained results are compared with those obtained by means of traditional techniques for terminal solid solubility determination.

Hydrogen: the great debate. 'Power to Gas - how to cope with the challenge of electricity storage?; Hydrogen in energy transition: which challenges to be faced?; Hydrogen, essential today, indispensable tomorrow; Electrolytic hydrogen, a solution for energy transition?; Development of high power electrolysis systems: need and approach; Hydrogen as energy vector, Potential and stakes: a perspective; The Toyota Fuel Cell System: a new era for the automotive industry; Three key factors: production, applications to mobility, and public acceptance; Hydrogen, benevolent fairy or tempting demon

International Nuclear Information System (INIS)

Hauet, Jean-Pierre; Boucly, Philippe; Beeker, Etienne; Mauberger, Pascal; Quint, Aliette; Pierre, Helene; Lucchese, Paul; Bouillon-Delporte, Valerie; Chauvet, Bertrand; Brisse, Annabelle; Gautier, Ludmila; Hercberg, Sylvain; De Volder, Marc; Gruson, Jean-Francois; Marion, Pierre; Grellier, Sebastien; Devezeaux, Jean-Guy; Mansilla, Christine; Le Net, Elisabeth; Le Duigou, Alain; Maire, Jacques

2015-01-01

This publication proposes a set of contributions which address various issues related to the development of the use of hydrogen as an energy source. More precisely, these contributions discuss how to face the challenge of electricity storage by using the Power-to-Gas technology, the challenges to be faced regarding the role of hydrogen in energy transition, the essential current role of hydrogen and its indispensable role for tomorrow, the possible role of electrolytic hydrogen as a solution for energy transition, the need of and the approach to a development of high power electrolysis systems, the potential and stakes of hydrogen as an energy vector, the Toyota fuel cell system as a sign for new era for automotive industry, the three main factors (production, applications to mobility, and public acceptance) for the use of hydrogen in energy transition, and the role of hydrogen perceived either as a benevolent fairy or a tempting demon

Robot motion control in mobile environment

Institute of Scientific and Technical Information of China (English)

Iliya V Miroshnik; HUANG Xian-lin(黄显林); HE Jie(贺杰)

2003-01-01

With the problem of robot motion control in dynamic environment represented by mobile obstacles,working pieces and external mechanisms considered, a relevant control actions design procedure has been pro-posed to provide coordination of robot motions with respect to the moving external objects so that an extension ofrobot spatial motion techniques and active robotic strategies based on approaches of nonlinear control theory canbe achieved.

Connection adaption for control of networked mobile chaotic agents.

Science.gov (United States)

Zhou, Jie; Zou, Yong; Guan, Shuguang; Liu, Zonghua; Xiao, Gaoxi; Boccaletti, S

2017-11-22

In this paper, we propose a strategy for the control of mobile chaotic oscillators by adaptively rewiring connections between nearby agents with local information. In contrast to the dominant adaptive control schemes where coupling strength is adjusted continuously according to the states of the oscillators, our method does not request adaption of coupling strength. As the resulting interaction structure generated by this proposed strategy is strongly related to unidirectional chains, by investigating synchronization property of unidirectional chains, we reveal that there exists a certain coupling range in which the agents could be controlled regardless of the length of the chain. This feature enables the adaptive strategy to control the mobile oscillators regardless of their moving speed. Compared with existing adaptive control strategies for networked mobile agents, our proposed strategy is simpler for implementation where the resulting interaction networks are kept unweighted at all time.

Seasonal storage and alternative carriers: A flexible hydrogen supply chain model

International Nuclear Information System (INIS)

Reuß, M.; Grube, T.; Robinius, M.; Preuster, P.; Wasserscheid, P.; Stolten, D.

2017-01-01

Highlights: •Techno-economic model of future hydrogen supply chains. •Implementation of liquid organic hydrogen carriers into a hydrogen mobility analysis. •Consideration of large-scale seasonal storage for fluctuating renewable hydrogen production. •Implementation of different technologies for hydrogen storage and transportation. -- Abstract: A viable hydrogen infrastructure is one of the main challenges for fuel cells in mobile applications. Several studies have investigated the most cost-efficient hydrogen supply chain structure, with a focus on hydrogen transportation. However, supply chain models based on hydrogen produced by electrolysis require additional seasonal hydrogen storage capacity to close the gap between fluctuation in renewable generation from surplus electricity and fuelling station demand. To address this issue, we developed a model that draws on and extends approaches in the literature with respect to long-term storage. Thus, we analyse Liquid Organic Hydrogen Carriers (LOHC) and show their potential impact on future hydrogen mobility. We demonstrate that LOHC-based pathways are highly promising especially for smaller-scale hydrogen demand and if storage in salt caverns remains uncompetitive, but emit more greenhouse gases (GHG) than other gaseous or hydrogen ones. Liquid hydrogen as a seasonal storage medium offers no advantage compared to LOHC or cavern storage since lower electricity prices for flexible operation cannot balance the investment costs of liquefaction plants. A well-to-wheel analysis indicates that all investigated pathways have less than 30% GHG-emissions compared to conventional fossil fuel pathways within a European framework.

CO2-free hydrogen as a substitute to fossil fuels: What are the targets? Prospective assessment of the hydrogen market attractiveness

International Nuclear Information System (INIS)

Mansilla, C.; Avril, S.; Imbach, J.; Le Duigou, A.

2012-01-01

Hydrogen is usually presented as a promising energy carrier that has a major role to play in low carbon mobility, through the use of fuel cells. However, such a market is not expected in the short term. In the meantime, hydrogen may also contribute to reduce carbon emissions in diverse sectors: oil refining, low carbon mobility through the industrial deployment of advanced bio-fuels, natural gas consumption, and methanol production. According to the targeted market, objective costs are rather different; and so is the reachable mitigated CO 2 amount. This paper assesses the dynamics of these markets' attractiveness, in order to provide target costs for CO 2 -free hydrogen production. The potential of the markets of hydrogen as a fuel and hydrogen for the biomass-to-liquid production is highlighted, as they could represent significant volumes by 2050, as well as interesting perspectives for CO 2 emission reduction. However the targets are very sensitive to the CO 2 price, thus highlighting the requirement for economic instruments in order to facilitate the penetration of such technologies. Hydrogen is then highlighted as a key player of the energy system in the years to come, as the connection of the energy and mobility sectors. (authors)

Model predictive Controller for Mobile Robot

OpenAIRE

Alireza Rezaee

2017-01-01

This paper proposes a Model Predictive Controller (MPC) for control of a P2AT mobile robot. MPC refers to a group of controllers that employ a distinctly identical model of process to predict its future behavior over an extended prediction horizon. The design of a MPC is formulated as an optimal control problem. Then this problem is considered as linear quadratic equation (LQR) and is solved by making use of Ricatti equation. To show the effectiveness of the proposed method this controller is...

Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

Directory of Open Access Journals (Sweden)

Noureddine Ouadah

2008-11-01

Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called "Oriented Positioning", two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called "Robucar", developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

Car-Like Mobile Robot Oriented Positioning by Fuzzy Controllers

Directory of Open Access Journals (Sweden)

Noureddine Ouadah

2008-09-01

Full Text Available In this paper, fuzzy logic controllers (FLC are used to implement an efficient and accurate positioning of an autonomous car-like mobile robot, respecting final orientation. To accomplish this task, called “Oriented Positioning”, two FLC have been developed: robot positioning controller (RPC and robot following controller (RFC. Computer simulation results illustrate the effectiveness of the proposed technique. Finally, real-time experiments have been made on an autonomous car-like mobile robot called “Robucar”, developed to perform people transportation. Obtained results from experiments demonstrate the effectiveness of the proposed control strategy.

Hydrogen-control systems for severe LWR accident conditions - a state-of-technology report

International Nuclear Information System (INIS)

Hilliard, R.K.; Postma, A.K.; Jeppson, D.W.

1983-03-01

This report reviews the current state of technology regarding hydrogen safety issues in light water reactor plants. Topics considered in this report relate to control systems and include combustion prevention, controlled combustion, minimization of combustion effects, combination of control concepts, and post-accident disposal. A companion report addresses hydrogen generation, distribution, and combustion. The objectives of the study were to identify the key safety issues related to hydrogen produced under severe accident conditions, to describe the state of technology for each issue, and to point out ongoing programs aimed at resolving the open issues

Questioning hydrogen

International Nuclear Information System (INIS)

Hammerschlag, Roel; Mazza, Patrick

2005-01-01

As an energy carrier, hydrogen is to be compared to electricity, the only widespread and viable alternative. When hydrogen is used to transmit renewable electricity, only 51% can reach the end user due to losses in electrolysis, hydrogen compression, and the fuel cell. In contrast, conventional electric storage technologies allow between 75% and 85% of the original electricity to be delivered. Even when hydrogen is extracted from gasified coal (with carbon sequestration) or from water cracked in high-temperature nuclear reactors, more of the primary energy reaches the end user if a conventional electric process is used instead. Hydrogen performs no better in mobile applications, where electric vehicles that are far closer to commercialization exceed fuel cell vehicles in efficiency, cost and performance. New, carbon-neutral energy can prevent twice the quantity of GHG's by displacing fossil electricity than it can by powering fuel cell vehicles. The same is true for new, natural gas energy. New energy resources should be used to displace high-GHG electric generation, not to manufacture hydrogen

Modeling and control design of hydrogen production process for an active hydrogen/wind hybrid power system

Energy Technology Data Exchange (ETDEWEB)

Zhou, Tao; Francois, Bruno [L2EP, Ecole Centrale de Lille, Cite Scientifique, BP48, 59651, Villeneuve d' Ascq (France)

2009-01-15

This paper gives a control oriented modeling of an electrolyzer, as well as the ancillary system for the hydrogen production process. A Causal Ordering Graph of all necessary equations has been used to illustrate the global scheme for an easy understanding. The model is capable of characterizing the relations among the different physical quantities and can be used to determine the control system ensuring efficient and reliable operation of the electrolyzer. The proposed control method can manage the power flow and the hydrogen flow. The simulation results have highlighted the variation domains and the relations among the different physical quantities. The model has also been experimentally tested in real time with a Hardware-In-the-Loop Simulation before being integrated in the test bench of the active wind energy conversion system. (author)

Spread and Control of Mobile Benign Worm Based on Two-Stage Repairing Mechanism

Directory of Open Access Journals (Sweden)

Meng Wang

2014-01-01

Full Text Available Both in traditional social network and in mobile network environment, the worm is a serious threat, and this threat is growing all the time. Mobile smartphones generally promote the development of mobile network. The traditional antivirus technologies have become powerless when facing mobile networks. The development of benign worms, especially active benign worms and passive benign worms, has become a new network security measure. In this paper, we focused on the spread of worm in mobile environment and proposed the benign worm control and repair mechanism. The control process of mobile benign worms is divided into two stages: the first stage is rapid repair control, which uses active benign worm to deal with malicious worm in the mobile network; when the network is relatively stable, it enters the second stage of postrepair and uses passive mode to optimize the environment for the purpose of controlling the mobile network. Considering whether the existence of benign worm, we simplified the model and analyzed the four situations. Finally, we use simulation to verify the model. This control mechanism for benign worm propagation is of guiding significance to control the network security.

Study of Hydrogen Consumption by Control System in Proton Exchange Membrane Fuel Cell

International Nuclear Information System (INIS)

Ros Emilia Rosli; Edy Herianto Majlan; Siti Afiqah Abd Hamid; Wan Ramli Wan Daud; Ramizi Mohamed; Dedi Rohendi

2016-01-01

Efficient operation results from a proper control strategy. In the operation and performance of a Proton Exchange Membrane Fuel Cell (PEMFC), the hydrogen gas flow rate is one of the most essential control parameter in addition to operating pressure, water management, temperature and humidity. This is because of the high cost and amount of energy are required to produce the purity hydrogen gas. In this paper, a Proportional Integral Derivative (PID) feedback control system is used to control the hydrogen flow rate. A strategy is adapted to balance the hydrogen use based on the loading requirements, especially during start-ups and sudden power demands. This system is implemented using National Instrument (NI) devices powered by the LabVIEW program. This is due to its simplicity and customization flexibility for measuring, processing and recording data. Designed structure allows the real-time implementation of a robust control law that is able to address the related nonlinearities and uncertainties without incurring a heavy computational load for the controller algorithm. While it facilitating a fast sampling rate according to the needs of the power system. Test results from the controller show that the new fuel control system provides good performance by reducing the amount of wasted hydrogen gas compared with that of the previous open loop system by 30 % to over 80 % saved by the varied load. This improvement is beneficial for any PEMFC that experiences fluctuating power demand, especially for vehicle applications. (author)

Safety considerations for compressed hydrogen storage systems

International Nuclear Information System (INIS)

Gleason, D.

2006-01-01

An overview of the safety considerations for various hydrogen storage options, including stationary, vehicle storage, and mobile refueling technologies. Indications of some of the challenges facing the industry as the demand for hydrogen fuel storage systems increases. (author)

Kinematics, dynamics and control design of 4WIS4WID mobile robots

Directory of Open Access Journals (Sweden)

Ming-Han Lee

2015-01-01

Full Text Available Kinematic and dynamic modelling and corresponding control design of a four-wheel-independent steering and four-wheel-independent driving (4WIS4WID mobile robot are presented in this study. Different from the differential or car-like mobile robot, the 4WIS4WID mobile robot is controlled by four steering and four driving motors, so the control scheme should possess the ability to integrate and manipulate the four independent wheels. A trajectory tracking control scheme is developed for the 4WIS4WID mobile robot, where both non-linear kinematic control and dynamic sliding-mode control are designed. All of the stabilities of the kinematic and dynamic control laws are proved by Lyapunov stability analysis. Finally, the feasibility and validity of the proposed trajectory tracking control scheme are confirmed through computer simulations.

Hydrogen storage in engineered carbon nanospaces.

Science.gov (United States)

Burress, Jacob; Kraus, Michael; Beckner, Matt; Cepel, Raina; Suppes, Galen; Wexler, Carlos; Pfeifer, Peter

2009-05-20

It is shown how appropriately engineered nanoporous carbons provide materials for reversible hydrogen storage, based on physisorption, with exceptional storage capacities (approximately 80 g H2/kg carbon, approximately 50 g H2/liter carbon, at 50 bar and 77 K). Nanopores generate high storage capacities (a) by having high surface area to volume ratios, and (b) by hosting deep potential wells through overlapping substrate potentials from opposite pore walls, giving rise to a binding energy nearly twice the binding energy in wide pores. Experimental case studies are presented with surface areas as high as 3100 m(2) g(-1), in which 40% of all surface sites reside in pores of width approximately 0.7 nm and binding energy approximately 9 kJ mol(-1), and 60% of sites in pores of width>1.0 nm and binding energy approximately 5 kJ mol(-1). The findings, including the prevalence of just two distinct binding energies, are in excellent agreement with results from molecular dynamics simulations. It is also shown, from statistical mechanical models, that one can experimentally distinguish between the situation in which molecules do (mobile adsorption) and do not (localized adsorption) move parallel to the surface, how such lateral dynamics affects the hydrogen storage capacity, and how the two situations are controlled by the vibrational frequencies of adsorbed hydrogen molecules parallel and perpendicular to the surface: in the samples presented, adsorption is mobile at 293 K, and localized at 77 K. These findings make a strong case for it being possible to significantly increase hydrogen storage capacities in nanoporous carbons by suitable engineering of the nanopore space.

Electrochemical mass-flow control of hydrogen using a fullerene-based proton conductor

International Nuclear Information System (INIS)

Maruyama, Ryuichiro

2002-01-01

A membrane electrode assembly (MEA) was fabricated using proton conductive hydrogensulfated fullerenol (C 60 (OSO 3 H) n (OH) n ). Rate-controlled mass flow of hydrogen was performed by applying voltage to both electrodes of the MEA without humidification. The amount of the electrochemically transported hydrogen through the MEA increased as the applied current increased, obeying Faraday's law. Residual gas analysis of the transported hydrogen showed that the transported hydrogen contains trace amounts of water less than 1%

The seat of ground water discharge as ore-mabilizing factor in the formatian of hydrogenic uranium deposits

International Nuclear Information System (INIS)

Natal'chenko, B.I.; Gol'dshtejn, R.I.

1982-01-01

The role of structural-hydrogeological factor in the process of ore-controlling zoning development during hydrogeneous deposit formation is discussed, as reflecting in the most objective way the spreading of stratal oxidation zones and morphology of uranium mineralization as regards discharge seats because there are only they which mobilize stratal waters for active displacement. The types of discharge seats of stratal waters and their effect on formation of ore-controlling zones of stratal oxidation with uranium mineralization are presented. The conclusion is drawn that local and regional discharge seats of stratal waters dictate both the spacing of regional fronts of stratal-oxidized rocks and their ore content degree. The displacement of discharge seats or their growing into local regions of alimentation results in reorganization of the total ore-controlling zoning, which enables to consider the seats of water discharge as ore-mobilizing structures in the formation of hydrogenic uranium deposits

Electromigration of hydrogen and deuterium in vanadium and niobium by a resistance method

International Nuclear Information System (INIS)

Peterson, D.T.; Jensen, C.L.

1978-01-01

The electric mobility of hydrogen and deuterium has been measured at 30 0 C in niobium (Cb) and vanadium by a resistance method. The electric mobility was found to be 5.7 x 10 -4 cm 2 /V-s for hydrogen and 2.8 x 10 -4 for deuterium in niobium. In vanadium the electric mobilities were 2.3 x 10 -3 and 1.3 x 10 -3 cm 2 /V-s for hydrogen and deuterium, respectively. The effective charges calculated using reported diffusion coefficients are positive and are slightly greater for deuterium than for hydrogen in both vanadium and niobium. The resistivity increase due to the hydrogen isotopes in vanadium and niobium was also measured. Hydrogen was found to contribute 0.65 μ ohm-cm/at. % and deuterium 0.58 μ ohm-cm/at. % to the resistivity of niobium. In vanadium, the solute resistivities were found to be 0.98 μ ohm-cm/at. % and 0.90 μ ohm-cm/at. % for hydrogen and deuterium, respectively

SMR-CL, A Real-time Control Language for Mobile Robots

DEFF Research Database (Denmark)

Andersen, Nils Axel; Ravn, Ole

2004-01-01

The paper describes requirements and implementation of a tactical control lan¬guage for mobile robots. Emphasis is given to the real-time issues of the language especially the isolation of the hard real-time and the soft real-time layers of the mobile robot control system. The language may be used...

How mobile are protons in the structure of dental glass ionomer cements?

DEFF Research Database (Denmark)

Benetti, Ana Raquel; Jacobsen, Johan; Lehnhoff, Benedict

2015-01-01

The development of dental materials with improved properties and increased longevity can save costs and minimize discomfort for patients. Due to their good biocompatibility, glass ionomer cements are an interesting restorative option. However, these cements have limited mechanical strength...... the hydrogen mobility within these cements. Our findings suggest that the lower mechanical strength in glass ionomer cements results not only from the presence of pores, but also from the increased hydrogen mobility within the material. The relationship between microstructure, hydrogen mobility and strength...

Analysis of Hydrogen Control Strategy Using Igniter during Severe Accident

International Nuclear Information System (INIS)

Lee, Sung Bok; Kim, Hyeong Taek; Lee, Keo Hyoung

2008-01-01

The Severe Accident Management Guidelines (SAMGs) for the operating pressurized water reactor (PWR) have been completed within 2006. Among the SAMG strategies, mitigation-07 is the most important strategy for managing a severe accident of a PWR in order to reduce containment hydrogen. The fastest way to reduce the containment hydrogen concentration is to intentionally ignite the hydrogen. For this strategy, igniters exist in Optimized Power Reactor 1000 (OPR 1000) to burn hydrogen for a severe accident. For using the igniters during a severe accident, the adverse effects such as the explosion of the hydrogen mixture should be considered for containment integrity. However, an applicable discrimination method to activate the igniters does not exist, so that the hydrogen control strategy using the igniters cannot be chosen during a severe accident. Thus, this study focused on suggesting an applicable discrimination method to carry out the strategy of using the igniters. In this study, the specific plant used for this analysis is Ulchin Unit 5 and 6, OPR 1000 plant, in Korea

Electromigration of hydrogen and deuterium in vanadium, niobium, and tantalum

International Nuclear Information System (INIS)

Jensen, C.L.

1977-10-01

The electric mobility and effective valence of hydrogen and deuterium in vanadium, niobium, tantalum and three niobium-tantalum alloys were measured. A resistance technique was used to directly determine the electric mobility of hydrogen and deuterium at 30 0 C while a steady-state method was used to measure the effective valence. The use of mass spectrographic techniques on a single specimen which contained both hydrogen and deuterium greatly increased the precision with which the isotope effect in the effective valence could be measured

Regulatory Research of the PWR Severe Accident. Information Needs and Instrumentation for Hydrogen Control and Management

Energy Technology Data Exchange (ETDEWEB)

Park, Gun Chul; Suh, Kune Y.; Lee, Jin Yong; Lee, Seung Dong [Seoul Nat' l Univ., Seoul (Korea, Republic of)

2001-03-15

The current research is concerned with generation of basic engineering data needed in the process of developing hydrogen control guidelines as part of accident management strategies for domestic nuclear power plants and formulating pertinent regulatory requirements. Major focus is placed on identification of information needs and instrumentation methods for hydrogen control and management in the primary system and in the containment, development of decision-making trees for hydrogen management and their quantification, the instrument availability under severe accident conditions, critical review of relevant hydrogen generation model and phenomena In relation to hydrogen behavior, we analyzed the severe accident related hydrogen generation in the UCN 3{center_dot}4 PWR with modified hydrogen generation model. On the basis of the hydrogen mixing experiment and related GASFLOW calculation, the necessity of 3-dimensional analysis of the hydrogen mixing was investigated. We examined the hydrogen control models related to the PAR(Passive Autocatalytic Recombiner) and performed MAAP4 calculation in relation to the decision tree to estimate the capability and the role of the PAR during a severe accident.

Regulatory Research of the PWR Severe Accident. Information Needs and Instrumentation for Hydrogen Control and Management

International Nuclear Information System (INIS)

Park, Gun Chul; Suh, Kune Y.; Lee, Jin Yong; Lee, Seung Dong

2001-03-01

The current research is concerned with generation of basic engineering data needed in the process of developing hydrogen control guidelines as part of accident management strategies for domestic nuclear power plants and formulating pertinent regulatory requirements. Major focus is placed on identification of information needs and instrumentation methods for hydrogen control and management in the primary system and in the containment, development of decision-making trees for hydrogen management and their quantification, the instrument availability under severe accident conditions, critical review of relevant hydrogen generation model and phenomena In relation to hydrogen behavior, we analyzed the severe accident related hydrogen generation in the UCN 3·4 PWR with modified hydrogen generation model. On the basis of the hydrogen mixing experiment and related GASFLOW calculation, the necessity of 3-dimensional analysis of the hydrogen mixing was investigated. We examined the hydrogen control models related to the PAR(Passive Autocatalytic Recombiner) and performed MAAP4 calculation in relation to the decision tree to estimate the capability and the role of the PAR during a severe accident

Flow-Control Unit For Nitrogen And Hydrogen Gases

Science.gov (United States)

Chang, B. J.; Novak, D. W.

1990-01-01

Gas-flow-control unit installed and removed as one piece replaces system that included nine separately serviced components. Unit controls and monitors flows of nitrogen and hydrogen gases. Designed for connection via fluid-interface manifold plate, reducing number of mechanical fluid-interface connections from 18 to 1. Unit provides increasing reliability, safety, and ease of maintenance, and for reducing weight, volume, and power consumption.

Effects of joint mobilization on chronic ankle instability: a randomized controlled trial.

Science.gov (United States)

Cruz-Díaz, David; Lomas Vega, Rafael; Osuna-Pérez, Maria Catalina; Hita-Contreras, Fidel; Martínez-Amat, Antonio

2015-01-01

To evaluate the effects of joint mobilization, in which movement is applied to the ankle's dorsiflexion range of motion, on dynamic postural control and on the self-reported instability of patients with chronic ankle instability (CAI). A double-blind, placebo-controlled, randomized trial with repeated measures and a follow-up period. Ninety patients with a history of recurrent ankle sprain, self-reported instability, and a limited dorsiflexion range of motion, were randomly assigned to either the intervention group (Joint Mobilizations, 3 weeks, two sessions per week) the placebo group (Sham Mobilizations, same duration as joint mobilization) or the control group, with a 6 months follow-up. Dorsiflexion Range of Motion (DFROM), Star Excursion Balance Test (SEBT) and CAI Tool (CAIT) were outcome measures. A separate 3 × 4 mixed model analysis of variance was performed to examine the effect of treatment conditions and time, and intention-to-treat (ITT) analysis was applied to evaluate the effect of the independent variable. The application of joint mobilization resulted in better scores of DFROM, CAIT, and SEBTs in the intervention group when compared with the placebo or the control groups (p ankle DFROM, postural control, and self-reported instability. These results suggest that joint mobilization could be applied to patients with recurrent ankle sprain to help restore their functional stability. Implications for Rehabilitation Functional instability is a very common sequela in patients with CAI, resulting in reduced quality of living due to the limitations it imposes on daily life activities. The mobilization with movement technique presented by Mulligan, and based on the joint mobilization accompanied by active movement, appears as a valuable tool to be employed by physical therapists to restore ankle function after a recurrent ankle sprain history. ROM restriction, subjective feeling of instability and dynamic postural control are benefiting from the joint

Catalyst support effects on hydrogen spillover

Science.gov (United States)

Karim, Waiz; Spreafico, Clelia; Kleibert, Armin; Gobrecht, Jens; Vandevondele, Joost; Ekinci, Yasin; van Bokhoven, Jeroen A.

2017-01-01

Hydrogen spillover is the surface migration of activated hydrogen atoms from a metal catalyst particle, on which they are generated, onto the catalyst support. The phenomenon has been much studied and its occurrence on reducible supports such as titanium oxide is established, yet questions remain about whether hydrogen spillover can take place on nonreducible supports such as aluminium oxide. Here we use the enhanced precision of top-down nanofabrication to prepare controlled and precisely tunable model systems that allow us to quantify the efficiency and spatial extent of hydrogen spillover on both reducible and nonreducible supports. We place multiple pairs of iron oxide and platinum nanoparticles on titanium oxide and aluminium oxide supports, varying the distance between the pairs from zero to 45 nanometres with a precision of one nanometre. We then observe the extent of the reduction of the iron oxide particles by hydrogen atoms generated on the platinum using single-particle in situ X-ray absorption spectromicroscopy applied simultaneously to all particle pairs. The data, in conjunction with density functional theory calculations, reveal fast hydrogen spillover on titanium oxide that reduces remote iron oxide nanoparticles via coupled proton-electron transfer. In contrast, spillover on aluminium oxide is mediated by three-coordinated aluminium centres that also interact with water and that give rise to hydrogen mobility competing with hydrogen desorption; this results in hydrogen spillover about ten orders of magnitude slower than on titanium oxide and restricted to very short distances from the platinum particle. We anticipate that these observations will improve our understanding of hydrogen storage and catalytic reactions involving hydrogen, and that our approach to creating and probing model catalyst systems will provide opportunities for studying the origin of synergistic effects in supported catalysts that combine multiple functionalities.

Ion Mobility Spectrometry-Hydrogen Deuterium Exchange Mass Spectrometry of Anions: Part 2. Assessing Charge Site Location and Isotope Scrambling

Science.gov (United States)

Khakinejad, Mahdiar; Ghassabi Kondalaji, Samaneh; Donohoe, Gregory C.; Valentine, Stephen J.

2016-03-01

Ion mobility spectrometry (IMS) coupled with gas-phase hydrogen deuterium exchange (HDX)-mass spectrometry (MS) and molecular dynamic simulations (MDS) has been used for structural investigation of anions produced by electrospraying a sample containing a synthetic peptide having the sequence KKDDDDDIIKIIK. In these experiments the potential of the analytical method for locating charge sites on ions as well as for utilizing collision-induced dissociation (CID) to reveal the degree of deuterium uptake within specific amino acid residues has been assessed. For diffuse (i.e., more elongated) [M - 2H]2- ions, decreased deuterium content along with MDS data suggest that the D4 and D6 residues are charge sites, whereas for the more diffuse [M - 3H]3- ions, the data suggest that the D4, D7, and the C-terminus are deprotonated. Fragmentation of mobility-selected, diffuse [M - 2H]2- ions to determine deuterium uptake at individual amino acid residues reveals a degree of deuterium retention at incorporation sites. Although the diffuse [M - 3H]3- ions may show more HD scrambling, it is not possible to clearly distinguish HD scrambling from the expected deuterium uptake based on a hydrogen accessibility model. The capability of the IMS-HDX-MS/MS approach to provide relevant details about ion structure is discussed. Additionally, the ability to extend the approach for locating protonation sites on positively-charged ions is presented.

The Bluetooth Based LED Control For Arduino Test Platform By Using Mobile APP

OpenAIRE

Yi-Jen Mon

2015-01-01

Abstract The Bluetooth is a commonly known convenient and famous communication protocol. In this paper it is used to control LED mounted on Arduino test platform by using the APP of mobile phone. At first the control program is completed by Arduino development software environment then the Android APP is installed in mobile phone. Finally by using the Bluetooth of mobile phone the test platform will be connected. The LED can be controlled by APP of mobile phone. The experiment results are dem...

Controlled area for mobile medical X-ray equipment

Energy Technology Data Exchange (ETDEWEB)

Menzel, B; Taschner, P; Koenig, W [Staatliches Amt fuer Atomsicherheit und Strahlenschutz, Berlin (German Democratic Republic); Fuehr, K P; Kucharz, R [Rostock Univ. (German Democratic Republic). Radiologische Klinik

1976-10-01

On the basis of dose rate measurements the radiation protection situation during operation of mobile X-ray machines is described. According to these results, the controlled area has been definitely fixed by the National Board of Nuclear Safety and Radiation Protection with respect to the following fields of application: stomatology, mobile radiography of patients confined to bed as well as performing radiological examinations in the operating theatre.

Exception detection and handling in mission control for mobile robots

DEFF Research Database (Denmark)

Andersen, Thomas Timm; Andersen, Nils Axel; Ravn, Ole

2013-01-01

This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event in the mis......This paper introduces a method for robust, rule-based mission control for mobile robots in a modular framework. Due to the modularity of the framework, it is possible to use both hierarchical control and reactive behavior seamlessly to find solutions to both planned and unplanned event...

Structure-retention and mobile phase-retention relationships for reversed-phase high-performance liquid chromatography of several hydroxythioxanthone derivatives in binary acetonitrile-water mixtures

International Nuclear Information System (INIS)

Amiri, Ali Asghar; Hemmateenejad, Bahram; Safavi, Afsaneh; Sharghi, Hashem; Beni, Ali Reza Salimi; Shamsipur, Mojtaba

2007-01-01

The reversed-phase high-performance liquid chromatographic (RP-HPLC) behavior of some newly synthesized hydroxythioxanthone derivatives using binary acetonitrile-water mixtures as mobile phase has been examined. First, the variation in the retention time of each molecule as a function of mobile phase properties was studied by Kamlet-Taft solvatochromic equations. Then, the influences of molecular structure of the hydroxythioxanthone derivatives on their retention time in various mobile phase mixtures were investigated by quantitative structure-property relationship (QSPR) analysis. Finally, a unified model containing both the molecular structure parameters and mobile phase properties was developed to describe the chromatographic behavior of the systems studied. Among the solvent properties, polarity/polarizability parameter (π * ) and hydrogen-bond basicity (β), and among the solute properties, the most positive local charge (MPC), the sum of positive charges on hydrogen atoms contributing in hydrogen bonding (SPCH) and lipophilicity index (log P) were identified as controlling factors in the RP-HPLC behavior of hydroxythioxanthone derivatives in actonitrile-water binary solvents

Renewable energy for hydrogen production and sustainable urban mobility

International Nuclear Information System (INIS)

Briguglio, N.; Andaloro, L.; Ferraro, M.; Di Blasi, A.; Dispenza, G.; Antonucci, V.; Matteucci, F.; Breedveld, L.

2010-01-01

In recent years, the number of power plants based on renewable energy (RWE) has been increasing and hydrogen as an energy carrier has become a suitable medium-to-long term storage solution as well as a ''fuel'' for FCEV's because of its CO 2 -free potential. In this context, the aim of the present study is to carry out both an economic and environmental analysis of a start-up RWE plant using a simulation code developed in previous work and a Life Cycle Assessment (LCA). The plant will be located in the South of Italy (Puglia) and will consist of different RWE sources (Wind Power, Photovoltaic, Biomass). RWE will be used to produce hydrogen from an electrolyzer, which will feed a fleet of buses using different fuels (methane, hydrogen, or a mixture of these). In particular, a wind turbine of 850 kW will feed a hydrogen production plant and a biomass plant will produce methane. Preliminary studies have shown that it is possible to obtain hydrogen at a competitive cost (DOE target) and that components (wind turbine, electrolyzer, vessel, etc.) influence the final price. In addition, LCA results have permitted a comparison of different minibuses using either fossil fuels or renewable energy sources. (author)

Renewable energy for hydrogen production and sustainable urban mobility

Energy Technology Data Exchange (ETDEWEB)

Briguglio, N.; Andaloro, L.; Ferraro, M.; Di Blasi, A.; Dispenza, G.; Antonucci, V. [Istituto di Tecnologie avanzate per l' Energia ' ' Nicola Giordano' ' Salita S, Lucia sopra Contesse, 5, 98126 Messina (Italy); Matteucci, F. [TRE SpA Tozzi Renewable Energy, Via Zuccherificio, 10, 48100 Mezzano (RA) (Italy); Breedveld, L. [2B Via della Chiesa Campocroce, 4, 31021 Mogliano Veneto (TV) (Italy)

2010-09-15

In recent years, the number of power plants based on renewable energy (RWE) has been increasing and hydrogen as an energy carrier has become a suitable medium-to-long term storage solution as well as a ''fuel'' for FCEV's because of its CO{sub 2}-free potential. In this context, the aim of the present study is to carry out both an economic and environmental analysis of a start-up RWE plant using a simulation code developed in previous work and a Life Cycle Assessment (LCA). The plant will be located in the South of Italy (Puglia) and will consist of different RWE sources (Wind Power, Photovoltaic, Biomass). RWE will be used to produce hydrogen from an electrolyzer, which will feed a fleet of buses using different fuels (methane, hydrogen, or a mixture of these). In particular, a wind turbine of 850 kW will feed a hydrogen production plant and a biomass plant will produce methane. Preliminary studies have shown that it is possible to obtain hydrogen at a competitive cost (DOE target) and that components (wind turbine, electrolyzer, vessel, etc.) influence the final price. In addition, LCA results have permitted a comparison of different minibuses using either fossil fuels or renewable energy sources. (author)

Multiscale study on hydrogen mobility in metallic fusion divertor material

International Nuclear Information System (INIS)

Heinola, K.

2010-01-01

For achieving efficient fusion energy production, the plasma-facing wall materials of the fusion reactor should ensure long time operation. In the next step fusion device, ITER, the first wall region facing the highest heat and particle load, i.e. the divertor area, will mainly consist of tiles based on tungsten. During the reactor operation, the tungsten material is slowly but inevitably saturated with tritium. Tritium is the relatively short-lived hydrogen isotope used in the fusion reaction. The amount of tritium retained in the wall materials should be minimized and its recycling back to the plasma must be unrestrained, otherwise it cannot be used for fueling the plasma. A very expensive and thus economically not viable solution is to replace the first walls quite often. A better solution is to heat the walls to temperatures where tritium is released. Unfortunately, the exact mechanisms of hydrogen release in tungsten are not known. In this thesis both experimental and computational methods have been used for studying the release and retention of hydrogen in tungsten. The experimental work consists of hydrogen implantations into pure polycrystalline tungsten, the determination of the hydrogen concentrations using ion beam analyses (IBA) and monitoring the out-diffused hydrogen gas with thermodesorption spectrometry (TDS) as the tungsten samples are heated at elevated temperatures. Combining IBA methods with TDS, the retained amount of hydrogen is obtained as well as the temperatures needed for the hydrogen release. With computational methods the hydrogen-defect interactions and implantation-induced irradiation damage can be examined at the atomic level. The method of multiscale modelling combines the results obtained from computational methodologies applicable at different length and time scales. Electron density functional theory calculations were used for determining the energetics of the elementary processes of hydrogen in tungsten, such as diffusivity and

An overview on real-time control schemes for wheeled mobile robot

Science.gov (United States)

Radzak, M. S. A.; Ali, M. A. H.; Sha’amri, S.; Azwan, A. R.

2018-04-01

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error at zero level. The controllers are used with other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the required torque to be applied on the wheels of mobile robot. Four main categories for wheeled mobile robot control systems have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement the control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with presence of disturbances, however others software such C, C++ and visual basic are rare to be used.

The Norwegian hydrogen guide 2010

Energy Technology Data Exchange (ETDEWEB)

2010-07-01

Hydrogen technologies are maturing at rapid speed, something we experience in Norway and around the globe every day as demonstration projects for vehicles and infrastructure expand at a rate unthinkable of only a few years ago. An example of this evolution happened in Norway in 2009 when two hydrogen filling stations were opened on May the 11th, making it possible to arrange the highly successful Viking Rally from Oslo to Stavanger with more than 40 competing teams. The Viking Rally demonstrated for the public that battery and hydrogen-electric vehicles are technologies that exist today and provide a real alternative for zero emission mobility in the future. The driving range of the generation of vehicles put into demonstration today is more than 450 km on a full hydrogen tank, comparable to conventional vehicles. As the car industry develops the next generation of vehicles for serial production within the next 4-5 years, we will see vehicles that are more robust, more reliable and cost effective. Also on the hydrogen production and distribution side progress is being made, and since renewable hydrogen from biomass and electrolysis is capable of making mobility basically emission free, hydrogen can be a key component in combating climate change and reducing local emissions. The research Council of Norway has for many years supported the development of hydrogen and fuel cell technologies, and The Research Council firmly believes that hydrogen and fuel cell technologies play a crucial role in the energy system of the future. Hydrogen is a flexible transportation fuel, and offers possibilities for storing and balancing intermittent electricity in the energy system. Norwegian companies, research organisations and universities have during the last decade developed strong capabilities in hydrogen and fuel cell technologies, capabilities it is important to further develop so that Norwegian actors can supply high class hydrogen and fuel cell technologies to global markets

RoCoMAR: Robots' Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

Science.gov (United States)

Van Le, Duc; Oh, Hoon; Yoon, Seokhoon

2013-01-01

In a practical deployment, mobile sensor network (MSN) suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots' Controllable Mobility Aided Routing) that uses robotic nodes' controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay. PMID:23881134

RoCoMAR: Robots’ Controllable Mobility Aided Routing and Relay Architecture for Mobile Sensor Networks

Directory of Open Access Journals (Sweden)

Seokhoon Yoon

2013-07-01

Full Text Available In a practical deployment, mobile sensor network (MSN suffers from a low performance due to high node mobility, time-varying wireless channel properties, and obstacles between communicating nodes. In order to tackle the problem of low network performance and provide a desired end-to-end data transfer quality, in this paper we propose a novel ad hoc routing and relaying architecture, namely RoCoMAR (Robots’ Controllable Mobility Aided Routing that uses robotic nodes’ controllable mobility. RoCoMAR repeatedly performs link reinforcement process with the objective of maximizing the network throughput, in which the link with the lowest quality on the path is identified and replaced with high quality links by placing a robotic node as a relay at an optimal position. The robotic node resigns as a relay if the objective is achieved or no more gain can be obtained with a new relay. Once placed as a relay, the robotic node performs adaptive link maintenance by adjusting its position according to the movements of regular nodes. The simulation results show that RoCoMAR outperforms existing ad hoc routing protocols for MSN in terms of network throughput and end-to-end delay.

Hydrogen Storage using Physisorption : Modified Carbon Nanofibers and Related Materials

NARCIS (Netherlands)

Nijkamp, Marije Gessien

2002-01-01

This thesis describes our research on adsorbent systems for hydrogen storage for small scale, mobile application. Hydrogen storage is a key element in the change-over from the less efficient and polluting internal combustion engine to the pollution-free operating hydrogen fuel cell. In general,

Wireless Sensor/Actuator Network Design for Mobile Control Applications

Directory of Open Access Journals (Sweden)

Youxian Sung

2007-10-01

Full Text Available Wireless sensor/actuator networks (WSANs are emerging as a new generationof sensor networks. Serving as the backbone of control applications, WSANs will enablean unprecedented degree of distributed and mobile control. However, the unreliability ofwireless communications and the real-time requirements of control applications raise greatchallenges for WSAN design. With emphasis on the reliability issue, this paper presents anapplication-level design methodology for WSANs in mobile control applications. Thesolution is generic in that it is independent of the underlying platforms, environment,control system models, and controller design. To capture the link quality characteristics interms of packet loss rate, experiments are conducted on a real WSAN system. From theexperimental observations, a simple yet efficient method is proposed to deal withunpredictable packet loss on actuator nodes. Trace-based simulations give promisingresults, which demonstrate the effectiveness of the proposed approach.

Rethinking the economics of capital mobility and capital controls

Directory of Open Access Journals (Sweden)

Thomas I. Palley

2009-09-01

Full Text Available This paper reexamines the issue of international financial capital mobility, which is today's economic orthodoxy. Discussion is often framed in terms of the impossible trinity. That framing distorts discussion by representing capital mobility as having equal significance with sovereign monetary policy and control over exchange rates. It also distorts discussion by ignoring possibilities for coordinated monetary policy and exchange rates, and for managed capital flows. The case for capital mobility rests on neo-classical economic efficiency arguments and neo-liberal political arguments. The case against capital mobility is based on Keynesian macroeconomic inefficiency arguments, neo-Walrasian market failure arguments, and neo-Marxian arguments regarding distortion of the social structure of accumulation. Close examination shows the case for capital mobility to be extremely flimsy, pointing to the ideological dimension behind today's policy orthodoxy.

Hydrogen gains further momentum

International Nuclear Information System (INIS)

Anon.

2017-01-01

As first industrial production projects should become a reality in the next few years, hydrogen as a source of energy will find important applications with mobility, which momentum is rapid and irresistible. Next steps will be the (large capacity) storage of hydrogen associated to power-to-gas systems and the generalization of renewable energies. This document presents 5 articles, which themes are: Description and explanation of the process of hydrogen production; Presentation of the H2V project for the construction, in Normandy, of the first operational industrial hydrogen production plant using electric power 100 pc generated by renewable energies; The conversion of electric power from renewable energies through hydrogen storage and fuel cells for buildings applications (Sylfen project); The development of a reversible fuel cell at Mines-Paris Tech University, that will be adapted to the storage of renewable electric power; Hydrogen as a lever for the development of zero-emission vehicles, from trucks to cars and bicycles

Embedded system based on PWM control of hydrogen generator with SEPIC converter

Science.gov (United States)

Fall, Cheikh; Setiawan, Eko; Habibi, Muhammad Afnan; Hodaka, Ichijo

2017-09-01

The objective of this paper is to design and to produce a micro electrical plant system based on fuel cell for teaching material-embedded systems in technical vocational training center. Based on this, the student can experience generating hydrogen by fuel cells, controlling the rate of hydrogen generation by the duty ration of single-ended primary-inductor converter(SEPIC), drawing the curve rate of hydrogen to duty ratio, generating electrical power by using hydrogen, and calculating the fuel cell efficiency when it is used as electrical energy generator. This project is of great importance insofar as students will need to acquire several skills to be able to realize it such as continuous DC DC conversion and the scientific concept behind the converter, the regulation of systems with integral proportional controllers, the installation of photovoltaic cells, the use of high-tech sensors, microcontroller programming, object-oriented programming, mastery of the fuel cell syste

DEVELOPMENT OF TRAJECTORY CONTROL SYSTEM FOR THE OMNIDIRECTIONAL MOBILE ROBOT

Directory of Open Access Journals (Sweden)

Y. A. Kapitanyuk

2014-03-01

Full Text Available The article deals with a trajectory control system development for the omnidirectional mobile robot. This kind of robots gives the possibility to control separately each degree of freedom due to special design of the wheels, which greatly facilitates the solution of the spatial control tasks and makes it possible to focus directly on the development of algorithms. Control law synthesis is based on kinematic model of a solid body on a plane. Desired trajectory is defined as a smooth implicit function in a fixed coordinate system. Procedure of control design is represented by using a differential-geometric method of nonlinear transformation of the original model to the task-oriented form, which describes the longitudinal motion along a trajectory and orthogonal deviation. Proportional controllers with direct compensation of nonlinear terms are synthesized for the transformed model. Main results are represented by nonlinear control algorithms and experimental data. Practical implementation of considered control laws for the Robotino mobile robot by Festo Didactics Company is done for illustration of this approach workability. The cases of straight line motion and movement along a circle are represented as desirable trajectories, and the majority of practical tasks for mobile robots control can be implemented by their combination.

Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots

Institute of Scientific and Technical Information of China (English)

YU Wenyong

2006-01-01

A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.

Integrated hydrogen control solutions for severe accidents using passive autocatalytic recombiners

International Nuclear Information System (INIS)

Bauer, M.; Tietsch, W.; Sabate Farnos, R.

2012-01-01

In a severe accident or a beyond-design-basis-accident, the reaction of water with zirconium alloy cladding, radiolysis of water, corium-concrete reactions and other corrosion phenomena generate hydrogen (H2). The detonation of this H2 in containment or in auxiliary buildings can result in damage to structures or loss of containment integrity. Identifying the generation and special distribution of hydrogen and controlling its concentration with Passive Autocatalytic Recombiners (PARs) solves this concern. Westinghouse's approach for hydrogen management starts by defining the quantities and transport/distribution of H 2 in-containment and out of containment with analysis tools such as MAAP, MELCOR, GASFLOW or FATE. Based on the results of these analyses, an optimized H2 Control Strategy is proposed in terms of number and location of PARs, and efficient integration with other H 2 management devices like e.g. existing igniters, H 2 monitors, etc.

Formal-Language-Theoretic Control & Coordination of Mobile Robots

National Research Council Canada - National Science Library

Ray, Asok

2007-01-01

.... The research has formulated and experimentally validated robust adaptive algorithms and software codes for decision and control of mobile robotic platforms, as applied to real-time computation...

Optimal Trajectory Tracking Control for a Wheeled Mobile Robot Using Fractional Order PID Controller

Directory of Open Access Journals (Sweden)

Ameer L. Saleh

2018-02-01

Full Text Available This paper present an optimal Fractional Order PID (FOPID controller based on Particle Swarm Optimization (PSO for controlling the trajectory tracking of Wheeled Mobile Robot(WMR.The issue of trajectory tracking with given a desired reference velocity is minimized to get the distance and deviation angle equal to zero, to realize the objective of trajectory tracking a two FOPID controllers are used for velocity control and azimuth control to implement the trajectory tracking control. A path planning and path tracking methodologies are used to give different desired tracking trajectories.  PSO algorithm is using to find the optimal parameters of FOPID controllers. The kinematic and dynamic models of wheeled mobile robot for desired trajectory tracking with PSO algorithm are simulated in Simulink-Matlab. Simulation results show that the optimal FOPID controllers are more effective and has better dynamic performance than the conventional methods.

Control Scheme Formulation for the Production of Hydrogen on Demand to Feed an Internal Combustion Engine

Directory of Open Access Journals (Sweden)

Jarniel García Morales

2016-12-01

Full Text Available In this work, a control strategy is presented to produce hydrogen on demand to feed an internal combustion (IC engine. For this purpose, the modeling of the IC engine fueled by gasoline blended with 10 % v/v of anhydrous ethanol (E10 and hydrogen as an additive is developed. It is considered that the hydrogen gas is produced according to the IC engine demand, and that the hydrogen gas is obtained by an alkaline electrolyzer. The gasoline–ethanol blend added into the combustion chamber is determined according to the stoichiometric ratio and the production of hydrogen gas is regulated by a proportional and integral controller (P.I.. The controller reference is varying according to the mass flow air induced into the cylinder, in order to ensure an adequate production of hydrogen gas for any operating condition of the IC engine. The main contribution of this work is the control scheme developed, through simulation, in order to produce hydrogen on demand for any operating point of an internal combustion engine fueled by an E10 blend. The simulation results showed that the use of hydrogen gas as an additive in an E10 blend decreases the E10 fuel consumption 23 % on average, and the thermal efficiency is increased approximately 2.13 % , without brake power loss in the IC engine.

Decentralized coverage control problems for mobile robotic sensor and actuator networks

CERN Document Server

Savkin, A; Xi, Z; Javed, F; Matveev, A; Nguyen, H

2015-01-01

This book introduces various coverage control problems for mobile sensor networks including barrier, sweep and blanket. Unlike many existing algorithms, all of the robotic sensor and actuator motion algorithms developed in the book are fully decentralized or distributed, computationally efficient, easily implementable in engineering practice and based only on information on the closest neighbours of each mobile sensor and actuator and local information about the environment. Moreover, the mobile robotic sensors have no prior information about the environment in which they operation. These various types of coverage problems have never been covered before by a single book in a systematic way. Another topic of this book is the study of mobile robotic sensor and actuator networks. Many modern engineering applications include the use of sensor and actuator networks to provide efficient and effective monitoring and control of industrial and environmental processes. Such mobile sensor and actuator networks are abl...

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

OpenAIRE

Hamed Navabi; Soroush Sadeghnejad; Sepehr Ramezani; Jacky Baltes

2017-01-01

A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC) implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivi...

Learning feedforward controller for a mobile robot vehicle

NARCIS (Netherlands)

Starrenburg, J.G.; Starrenburg, J.G.; van Luenen, W.T.C.; van Luenen, W.T.C.; Oelen, W.; Oelen, W.; van Amerongen, J.

1996-01-01

This paper describes the design and realisation of an on-line learning posetracking controller for a three-wheeled mobile robot vehicle. The controller consists of two components. The first is a constant-gain feedback component, designed on the basis of a second-order model. The second is a learning

Hydrogen and nitrogen control in ladle and casting operations

Energy Technology Data Exchange (ETDEWEB)

Fruehan, R. J. [Carnegie Mellon Univ., Pittsburgh, PA (United States); Misra, Siddhartha [Carnegie Mellon Univ., Pittsburgh, PA (United States)

2005-01-15

In recent years there has been an increasing demand to reduce and control the amount of dissolved gases in steel. Hydrogen and nitrogen are two of the most important gases which when dissolved in liquid steel affect its properties significantly.

Hydrogen and Nitrogen Control in Ladle and Casting Operations

Energy Technology Data Exchange (ETDEWEB)

Richard J. Fruehan; Siddhartha Misra

2005-01-15

In recent years there has been an increasing demand to reduce and control the amount of dissolved gases in steel. Hydrogen and nitrogen are two of the most important gases which when dissolved in liquid steel affect its properties significantly. Several steelmaking additions have been investigated in this research for their effect on the hydrogen and nitrogen content of steels. It has been established that calcium hydroxide (hydrated lime) acts as a source of hydrogen. Carburizers, such as metallurgical coke, were found to result in no hydrogen pickup when added to liquid steel. Addition of petroleum coke, on the other hand, increased the hydrogen content of liquid steel. Ferroalloy such as medium carbon ferromanganese when added to the liquid iron was found to increase its nitrogen content, the increase being proportional to the amount of ferroalloy added. Similarly, addition of pitch coke, which had a significant nitrogen impurity, increased the nitrogen content of liquid iron. A mathematical model was developed to quantify the absorption of nitrogen and hydrogen from the air bubbles entrained during tapping of liquid steel. During the bottom stirring of liquid metal in a ladle, the inert gas escaping from the top displaces the slag layer and often forms an open eye. The absorption of atmospheric nitrogen through the spout eye was estimated for different slag thickness and gas flow rate. The ultimate goal of this research was to develop a comprehensive set of equations which could predict the nitrogen and hydrogen pickup from their various sources. Estimates of hydrogen and nitrogen pickup during the steel transfer operations such as tapping and ladle stirring and the predicted pickup from steelmaking additions were integrated into empirical equations. The comprehensive model is designed to predict the gas pickup under varying operating conditions such as the metal oxygen and sulfur content, the total tapping or stirring time, the stirring gas flow rate and the

Controlling the amplification of chirality in hydrogen-bonded assemblies

NARCIS (Netherlands)

Mateos timoneda, Miguel; Crego Calama, Mercedes; Reinhoudt, David

2005-01-01

The amplification of chirality (a high enantiomeric or diastereomeric excess induced by a small initial amount of chiral bias) on hydrogen-bonded assemblies has been studied using “sergeants-and-soldiers” experiments under thermodynamically controlled conditions. Here it is shown that different

Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

Institute of Scientific and Technical Information of China (English)

无

2008-01-01

The supervised teleoperation control is presented for a mobile robot to implement the tasks by using fuzzy logic. The teleoperation control system includes joystick based user interaction mechanism, the high level instruction set and fuzzy logic behaviors integrated in a supervised autonomy teleoperation control system for indoor navigation. These behaviors include left wall following, right wall following, turn left, turn right, left obstacle avoidance, right obstacle avoidance and corridor following based on ultrasonic range finders data. The robot compares the instructive high level command from the operator and relays back a suggestive signal back to the operator in case of mismatch between environment and instructive command. This strategy relieves the operator's cognitive burden, handle unforeseen situations and uncertainties of environment autonomously. The effectiveness of the proposed method for navigation in an unstructured environment is verified by experiments conducted on a mobile robot equipped with only ultrasonic range finders for environment sensing.

An iterative learning controller for nonholonomic mobile robots

International Nuclear Information System (INIS)

Oriolo, G.; Panzieri, S.; Ulivi, G.

1998-01-01

The authors present an iterative learning controller that applies to nonholonomic mobile robots, as well as other systems that can be put in chained form. The learning algorithm exploits the fact that chained-form. The learning algorithm exploits the fact that chained-form systems are linear under piecewise-constant inputs. The proposed control scheme requires the execution of a small number of experiments to drive the system to the desired state in finite time, with nice convergence and robustness properties with respect to modeling inaccuracies as well as disturbances. To avoid the necessity of exactly reinitializing the system at each iteration, the basic method is modified so as to obtain a cyclic controller, by which the system is cyclically steered through an arbitrary sequence of states. As a case study, a carlike mobile robot is considered. Both simulation and experimental results are reported to show the performance of the method

Hydrogen generation using silicon nanoparticles and their mixtures with alkali metal hydrides

Science.gov (United States)

Patki, Gauri Dilip

Hydrogen is a promising energy carrier, for use in fuel cells, engines, and turbines for transportation or mobile applications. Hydrogen is desirable as an energy carrier, because its oxidation by air releases substantial energy (thermally or electrochemically) and produces only water as a product. In contrast, hydrocarbon energy carriers inevitably produce CO2, contributing to global warming. While CO2 capture may prove feasible in large stationary applications, implementing it in transportation and mobile applications is a daunting challenge. Thus a zero-emission energy carrier like hydrogen is especially needed in these cases. Use of H2 as an energy carrier also brings new challenges such as safe handling of compressed hydrogen and implementation of new transport, storage, and delivery processes and infrastructure. With current storage technologies, hydrogen's energy per volume is very low compared to other automobile fuels. High density storage of compressed hydrogen requires combinations of high pressure and/or low temperature that are not very practical. An alternative for storage is use of solid light weight hydrogenous material systems which have long durability, good adsorption properties and high activity. Substantial research has been conducted on carbon materials like activated carbon, carbon nanofibers, and carbon nanotubes due to their high theoretical hydrogen capacities. However, the theoretical values have not been achieved, and hydrogen uptake capacities in these materials are below 10 wt. %. In this thesis we investigated the use of silicon for hydrogen generation. Hydrogen generation via water oxidation of silicon had been ignored due to slow reaction kinetics. We hypothesized that the hydrogen generation rate could be improved by using high surface area silicon nanoparticles. Our laser-pyrolysis-produced nanoparticles showed surprisingly rapid hydrogen generation and high hydrogen yield, exceeding the theoretical maximum of two moles of H2 per

Hydrogen energy stations: along the roadside to the hydrogen economy

International Nuclear Information System (INIS)

Clark, W.W.; Rifkin, J.; O'Connor, T.; Swisher, J.; Lipman, T.; Rambach, G.

2005-01-01

Hydrogen has become more than an international topic of discussion within government and among industry. With the public announcements from the European Union and American governments and an Executive Order from the Governor of California, hydrogen has become a ''paradigm change'' targeted toward changing decades of economic and societal behaviours. The public demand for clean and green energy as well as being ''independent'' or not located in political or societal conflict areas, has become paramount. The key issues are the commitment of governments through public policies along with corporations. Above all, secondly, the advancement of hydrogen is regional as it depends upon infrastructure and fuel resources. Hence, the hydrogen economy, to which the hydrogen highway is the main component, will be regional and creative. New jobs, businesses and opportunities are already emerging. And finally, the costs for the hydrogen economy are critical. The debate as to hydrogen being 5 years away from being commercial and available in the marketplace versus needing more research and development contradicts the historical development and deployment of any new technology be it bio-science, flat panel displays, computers or mobile phones. The market drivers are government regulations and standards soon thereafter matched by market forces and mass production. Hydrogen is no different. What this paper does is describes is how the hydrogen highway is the backbone to the hydrogen economy by becoming, with the next five years, both regional and commercial through supplying stationary power to communities. Soon thereafter, within five to ten years, these same hydrogen stations will be serving hundreds and then thousands of hydrogen fuel powered vehicles. Hydrogen is the fuel for distributed energy generation and hence positively impacts the future of public and private power generators. The paradigm has already changed. (author)

Design of a hybrid command and control mobile botnet: Presentation

CSIR Research Space (South Africa)

Pieterse, H

2013-03-01

Full Text Available smartphones controlled by a botmaster through a command and control network to serve a malicious purpose. This study presents the design of a hybrid command and control mobile botnet. It describes the propagation vectors, command and control channels...

Control of oxygen impurity and hydrogen recycling in the compact helical system (CHS)

International Nuclear Information System (INIS)

Noda, N.; Okamura, S.; Aoki, T.; Yamada, H.; Tsuzuki, K.; Matsuoka, K.; Iguchi, H.; Hosokawa, M.; Kaneko, O.; Kubo, S.; Morita, S.; Nishimura, K.; Sagara, A.; Shoji, T.; Takahashi, C.; Takeiri, Y.; Takita, Y.; Amemiya, H.; Okazaki, K.; Oyama, Y.; Shimizu, K.; Yano, K.

1990-01-01

In order to reduce oxygen impurity and hydrogen recycling, ECR discharge cleaning with hydrogen, glow discharge with helium, and titanium gettering have been applied. The ECR discharge cleaning was found to be effective in reducing oxygen impurities in ECRH discharges. However, it was not sufficiently effective to give a wide operational density range in NBI heated discharges. Titanium gettering is essential for this purpose, and controllable discharges have been achieved in the density range 1-10x10 19 m -3 , with discharge length more than 850 ms with the aid of titanium gettering. Both helium-glow discharge and Ti gettering are useful to control hydrogen recycling even with a stainless steel wall. (orig.)

Control of hydrogen concentration in reactor containment buildings by using passive catalytic recombiners

International Nuclear Information System (INIS)

Wolff, U.

1993-01-01

Severe accidents in nuclear power plants have the potential to generate hydrogen within the reactor containment building in concentrations likely to deflagrate or even detonate. This could endanger the containment integrity. Autocatalytic devices have been developed by the NIS company in Hanau, Germany, to control the hydrogen concentration within the containment. These devices have been tested by the Battelle Institute in Frankfurt, Germany, under conditions relevant to severe accidents. The catalytic device functions as required in a wide band of gas mixtures ranging from inerted conditions with low-hydrogen and/or low-oxygen concentrations up to detonable mixtures. The device starts up quickly, and has a high resistance against catalyst poisons including the effects of oil or cable fires. The device makes a strong contribution to gas mixing in the containment atmosphere. The paper summarizes the development work done and describes the final design of the device. Theoretical tools for analysis and prediction of catalyst performance in containment environments have been developed by the Battelle Institute and the Technical University of Munich. These tools have been verified and validated against experimental data. A phenomenological discussion of accident scenarios is used to explain the functional requirements for the autocatalytic devices in the control of hydrogen. Both the potential for and limitations of such devices for hydrogen control are discussed for large dry containments (PWRs) and for those which are originally inerted (BWRs)

Design of a hybrid command and control mobile botnet

CSIR Research Space (South Africa)

Pieterse, H

2013-05-01

Full Text Available and control mobile botnet. The hybrid design explores the efficiency of multiple command and control channels against the following objectives: no single point of failure within the topology, low cost for command dissemination, limited network activities...

Central Vehicle Dynamics Control of the Robotic Research Platform ROboMObil

OpenAIRE

Bünte, Tilman; Ho, Lok Man; Satzger, Clemens; Brembeck, Jonathan

2014-01-01

The ROboMObil is DLR’s space-robotics driven by-wire electro-mobile research platform for mechatronic actuators, vehicle dynamics control, human machine interfaces, and autonomous driving (DLR = German Aerospace Center). Due to its four highly integrated identical Wheel Robots it exhibits an extraordinary manoeuvrability even allowing for driving sideward or rotating on the spot. Topics related to vehicle dynamics control are addressed in this article.

New hydrogen technologies

International Nuclear Information System (INIS)

1992-01-01

This report presents an overview of the overall hydrogen system. There are separate sections for production, distribution, transport, storage; and applications of hydrogen. The most important methods for hydrogen production are steam reformation of natural gas and electrolysis of water. Of the renewable energy options, production of hydrogen by electrolysis using electricity from wind turbines or by gasification of biomass were found to be the most economic for Finland. Direct use of this electricity or the production of liquid fuels from biomass will be competing alternatives. When hydrogen is produced in the solar belt or where there is cheap hydropower it must be transported over long distances. The overall energy consumed for the transport is from 25 to 40 % of the initial available energy. Hydrogen storage can be divided into stationary and mobile types. The most economic, stationary, large scale hydrogen storage for both long and short periods is underground storage. When suitable sites are not available, then pressure vessels are the best for short period and liquid H 2 for long period. Vehicle storage of hydrogen is by either metal hydrides or liquid H 2 . Hydrogen is a very versatile energy carrier. It can be used to produce heat directly in catalytic burners without flame, to produce electricity in fuel cells with high efficiency for use in vehicles or for peak power shaving, as a fuel component with conventional fuels to reduce emissions, as a way to store energy and as a chemical reagent in reactions

Decoration of carbon nano surfaces with hydrogen and hydrogen rich molecules

International Nuclear Information System (INIS)

Zöttl, S.

2013-01-01

The use of helium nano droplets as a matrix to investigate different atomic and molecular samples is a well established experimental technique. The unique properties of helium allow for different analytical methods and at the same time provide a stable ambient temperature. Cluster growth inside helium nano droplets can be accomplished by repeatedly doping the droplets with sample particles in a controlled environment. The experimental work represented in this thesis was performed using helium nano droplets to create clusters of fullerenes like C 60 and C 70 . The adsorption properties of these fullerene clusters regarding hydrogen and hydrogen rich molecules have been subject to investigation. The observed results suggest that curved carbon nano surfaces offer higher storage densities than planar graphite surfaces. The use of C 60 as a model carbon nano structure provides a well understood molecule for testing and evaluating computational methods to calculate surface properties of various carbon nano materials. The cost effective storage of hydrogen for mobile applications plays a key role in the development of alternatives to fossil fuels. For that reason, the application of carbon nano materials to store hydrogen by adsorption has attracted much scientific attention lately. The insights gained in the presented thesis contribute to the collective efforts and deliver more refined tools to estimate the adsorption properties of future carbon nano materials. In addition to the aforementioned, a time-of-flight mass spectrometer for educational purpose has been designed and constructed in the framework of my PhD thesis. The instrument is successfully used in various lab courses and information on the setup can be found in the Appendix of this work. (author) [de

A framework for evaluating hydrogen control and management

International Nuclear Information System (INIS)

Lee, Seung Dong; Suh, Kune Yul; Jae, Moosung

2003-01-01

The present paper presents a new framework for assessing accident management strategies using decision trees. The containment event tree (CET) model considers characteristics associated with the implementation of each strategy. It is constructed and quantified using data obtained from NUREG-1150, other probabilistic risk assessments, and the MAAP4 calculations. The proposed framework for evaluating hydrogen control strategies is based on the concept of a measure using a risk triplet. Ulchin units of nuclear power plants 3 and 4 are used as the reference plant. On the basis of best-estimate assessment, it is shown that it is beneficial to execute hydrogen igniters rather than to do nothing with respect to expected value of hydrogen concentration in the containment during an accident. The proposed approach is shown to be flexible in that it can be applied to various accident management strategies based on the timing of mitigation. The advantage of using the CET for assessing an accident management strategy lies with its capability for modeling both the positive and negative aspects associated with progression of the accident, which may in turn affect the containment failure mode

Technical suitability mapping of feedstocks for biological hydrogen production

NARCIS (Netherlands)

Panagiotopoulos, I.A.; Karaoglanoglou, L.S.; Koullas, D.P.; Bakker, R.R.; Claassen, P.A.M.; Koukios, E.G.

2015-01-01

The objective of this work was to map and compare the technical suitability of different raw materials for biological hydrogen production. Our model was based on hydrogen yield potential, sugar mobilization efficiency, fermentability and coproduct yield and value. The suitability of the studied

Hydrogen infrastructure development in The Netherlands

International Nuclear Information System (INIS)

Smit, R.; Weeda, M.; De Groot, A.

2007-08-01

Increasingly people think of how a hydrogen energy supply system would look like, and how to build and end up at such a system. This paper presents the work on modelling and simulation of current ideas among Dutch hydrogen stakeholders for a transition towards the widespread use of a hydrogen energy. Based mainly on economic considerations, the ideas about a transition seem viable. It appears that following the introduction of hydrogen in niche applications, the use of locally produced hydrogen from natural gas in stationary and mobile applications can yield an economic advantage when compared to the conventional system, and can thus generate a demand for hydrogen. The demand for hydrogen can develop to such an extent that the construction of a large-scale hydrogen pipeline infrastructure for the transport and distribution of hydrogen produced in large-scale production facilities becomes economically viable. In 2050, the economic viability of a large-scale hydrogen pipeline infrastructure spreads over 20-25 of the 40 regions in which The Netherlands is divided for modelling purposes. Investments in hydrogen pipelines for a fully developed hydrogen infrastructure are estimated to be in the range of 12,000-20,000 million euros

Propriety check for quenching meshes for control of hydrogen combustion between two compartments

International Nuclear Information System (INIS)

Yang, S. Y.; Jeong, S. H.; Kim, H. Z.; Kim, H. D.; Hong, S. W.

2001-01-01

In our previous study, the quenching meshes have been proposed for the control of hydrogen combustion under nuclear severe accident. It has been investigated whether the method of installation of quenching mesh to prevent flame from propagating to the other compartment is proper or not. Schlieren photograph is used to visualize the propagation of flame between two compartments. Without the quenching mesh equipped between the compartments, it has been observed that the flame always propagates from a compartment to the other. The data on quencing distance of hydrogen premixed flames gotten in our previous study is alayzed to setup of optimum quenching mesh, too. Such experimental results establish that the quenching meshes proposed for the control of hydrogen combustion are resonably available

A Null Space Control of Two Wheels Driven Mobile Manipulator Using Passivity Theory

Science.gov (United States)

Shibata, Tsuyoshi; Murakami, Toshiyuki

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Hydrogen, a bridge between mobility and distributed generation. Some consideration towards the hydrogen economy

International Nuclear Information System (INIS)

Valentino Romeri

2006-01-01

In this paper were analysed the most recent energy initiatives started by some national and international institution, with particular focus on hydrogen and fuel cell. It were also overviewed the national road-maps towards the hydrogen economy. In 2004, based on the most authoritative available data regarding future FCVs penetration it was observed that, if vehicle power-generation system fuel cell based becomes more sophisticated, the role of the vehicles within the power grid might change. Fuel Cell Vehicle (FVC) could become a new power-generation source, supplying electricity to home and to the grid. Also, it was defined the dimension of this new kind of power generation source in different areas and it was compared with the related power grid installed generation capacity and it was found that this new source could be a multiple of the foreseeable installed capacity in year 2030. In the present work it was revised the analysis with the most recent scenarios and it was found that the results do not change significantly. Unfortunately this kind of analysis is still not considered in the energy debate or in the road-maps towards the hydrogen economy. (author)

State density of valence-band tail and photoconductivity amorphous hydrogenated silicon

International Nuclear Information System (INIS)

Golikova, O.A.; Domashevskaya, Eh.P.; Mezdrogina, M.M.; Sorokina, K.L.; Terekhov, V.A.; Trostyanskij, S.N.

1991-01-01

Relation between photoconductivity and g(ε) mobility gap within the range adjoining to the top (mobility end) of valent zone (VZ tail) in a-Si:H film is studied. Stationary photoconductivity within spectral maximum range (χ=0.63μm) at Φ=10 17 photxcm -2 s -1 flow is measured. Density of g(ε) states are controlled using ultrasoft X-ray emission spectroscopy. It is shown, that correlation between photoconductivity and width of VZ tail may reflect the fact of their similar dependence o film heterogeneity: at the increase of share of microholes there occur both expansion of VZ tail and growth of number of respective hydrogen complexes and torn relations which results in drop of photoconductivity

Controlling hydrogenation activity and selectivity of bimetallic surfaces and catalysts

Science.gov (United States)

Murillo, Luis E.

Studies of bimetallic systems are of great interest in catalysis due to the novel properties that they often show in comparison with the parent metals. The goals of this dissertation are: (1) to expand the studies of self-hydrogenation and hydrogenation reactions on bimetallic surfaces under ultra high vacuum conditions (UHV) using different hydrocarbon as probe molecules; (2) to attempt to correlate the surface science findings with supported catalyst studies under more realistic conditions; and (3) to investigate the competitive hydrogenation of C=C versus C=O bonds on Pt(111) modified by different 3d transition metals. Hydrogenation studies using temperature programmed desorption (TPD) on Ni/Pt(111) bimetallic surfaces have demonstrated an enhancement in the low temperature hydrogenation activity relative to that of clean Pt(111). This novel hydrogenation pathway can be achieved under UHV conditions by controlling the structures of the bimetallic surfaces. A low temperature hydrogenation activity of 1-hexene and 1-butene has been observed on a Pt-Ni-Pt(111) subsurface structure, where Ni atoms are mainly present on the second layer of the Pt(111) single crystal. These results are in agreement with previous studies of self-hydrogenation and hydrogenation of cyclohexene. However, a much higher dehydrogenation activity is observed in the reaction of cyclohexene to produce benzene, demonstrating that the hydrocarbon structure has an effect on the reaction pathways. On the other hand, self-hydrogenation of 1-butene is not observed on the Pt-Ni-Pt(111) surface, indicating that the chain length (or molecular weight) has a significant effect on the selfhydrogenation activity. The gas phase reaction of cyclohexene on Ni/Pt supported on alumina catalysts has also shown a higher self-hydrogenation activity in comparison with the same reaction performed on supported monometallic catalysts. The effects of metal loading and impregnation sequence of the metal precursors are

Materials towards carbon-free, emission-free and oil-free mobility: hydrogen fuel-cell vehicles--now and in the future.

Science.gov (United States)

Hirose, Katsuhiko

2010-07-28

In the past, material innovation has changed society through new material-induced technologies, adding a new value to society. In the present world, engineers and scientists are expected to invent new materials to solve the global problem of climate change. For the transport sector, the challenge for material engineers is to change the oil-based world into a sustainable world. After witnessing the recent high oil price and its adverse impact on the global economy, it is time to accelerate our efforts towards this change. Industries are tackling global energy issues such as oil and CO2, as well as local environmental problems, such as NO(x) and particulate matter. Hydrogen is the most promising candidate to provide carbon-free, emission-free and oil-free mobility. As such, engineers are working very hard to bring this technology into the real society. This paper describes recent progress of vehicle technologies, as well as hydrogen-storage technologies to extend the cruise range and ensure the easiness of refuelling and requesting material scientists to collaborate with industry to fight against global warming.

Control of accidental releases of hydrogen selenide in vented storage cabinets

Science.gov (United States)

Fthenakis, V. M.; Moskowitz, P. D.; Sproull, R. D.

1988-07-01

Highly toxic hydrogen selenide and hydrogen sulfide gases are used in the production of copper-indium-diselenide photovoltaic cells by reactive sputtering. In the event of an accident, these gases may be released to the atmosphere and pose hazards to public and occupational safety and health. This paper outlines an approach for designing systems for the control of these releases given the uncertainty in release conditions and lack of data on the chemical systems involved. Accidental releases of these gases in storage cabinets can be controlled by either a venturi and packed-bed scrubber and carbon adsorption bed, or containment scrubbing equipment followed by carbon adsorption. These systems can effectively reduce toxic gas emissions to levels needed to protect public health. The costs of these controls (˜0.012/Wp) are samll in comparison with current (˜6/Wp) and projected (˜I/Wp) production costs.

40 CFR 266.107 - Standards to control hydrogen chloride (HCl) and chlorine gas (Cl2) emissions.

Science.gov (United States)

2010-07-01

... 40 Protection of Environment 26 2010-07-01 2010-07-01 false Standards to control hydrogen chloride... WASTES AND SPECIFIC TYPES OF HAZARDOUS WASTE MANAGEMENT FACILITIES Hazardous Waste Burned in Boilers and Industrial Furnaces § 266.107 Standards to control hydrogen chloride (HCl) and chlorine gas (Cl2) emissions...

Low-temperature diffusion of hydrogen isotopes in tantalum

International Nuclear Information System (INIS)

Peichl, R.; Ziegler, P.; Weidinger, A.

1987-01-01

The mobility of hydrogen and deuterium in tantalum is investigated in the temperature range between 4.2 and 30 K. On the time scale of the present experiment (25 μs) we find that hydrogen begins to move above 15 K whereas deuterium remains immobile at least up to 30 K. Since the interpretation of the data depends critically on the exact hydrogen configurations a major part of the paper is devoted to this problem. We suggest that hydrogen can exist in fairly localized or more extended states depending on the local homogeneity of the crystal. (orig.)

Studies on impurity control and hydrogen pumping with chromium gettering in ISX-B

International Nuclear Information System (INIS)

Mioduszewski, P.; Simpkins, J.E.; Edmonds, P.H.; Isler, R.C.; Lazarus, E.A.; Ma, C.H.; Murakami, M.; Wootton, A.J.

1984-01-01

Chromium gettering has been proven to be a trouble-free and efficient method of surface pumping in tokamaks. The impurity control capabilities are excellent and comparable to that of titanium. The hydrogen uptake is reduced to monolayer quantities on the surface. The expansion of the operating space is similar to that seen with titanium without the disadvantage of strongly increased hydrogen fluxes. Possible applications of chromium gettering are: impurity control in contemporary tokamaks; surface pumping in short pulse DT-burning devices to minimize tritium inventory, and wall conditioning of future large machines prior to operation

Robust balancing and position control of a single spherical wheeled mobile platform

OpenAIRE

Yavuz, Fırat; Yavuz, Firat; Ünel, Mustafa; Unel, Mustafa

2016-01-01

Self-balancing mobile platforms with single spherical wheel, generally called ballbots, are suitable example of underactuated systems. Balancing control of a ballbot platform, which aims to maintain the upright orientation by rejecting external disturbances, is important during station keeping or trajectory tracking. In this paper, acceleration based balancing and position control of a single spherical wheeled mobile platform that has three single-row omniwheel drive m...

Hydrogen mobility is moving forward; Wasserstoff-Mobilitaet kommt voran

Energy Technology Data Exchange (ETDEWEB)

Fernandez Duran, Andres [Air Liquide Deutschland GmbH, Duesseldorf (Germany)

2013-06-15

The European Union (EU) declared aim is to cover at least 20 percent of energy needs from alternative sources until 2020. EU as well as federal and state governments promote various projects, to establish hydrogen as an energy carrier. Air Liquide participates by setting up a hydrogen infrastructure in this future project. [German] Erklaertes Ziel der Europaeischen Union (EU) ist es, bis 2020 mindestens 20 Prozent des Energiebedarfs aus alternativen Quellen zu decken. Dazu foerdern EU sowie Bund und Laender verschiedene Projekte, die Wasserstoff als Energietraeger etablieren sollen. Air Liquide beteiligt sich durch Mitarbeit am Aufbau einer Wasserstoff-Infrastruktur an diesem Zukunftsvorhaben.

Transition to hydrogen: pathways toward clean transportation

National Research Council Canada - National Science Library

Wokaun, Alexander; Wilhelm, Erik

2011-01-01

..., industrial stakeholders and researchers alike. Using hydrogen as a fuel offers a possible solution to satisfying global mobility needs, including sustainability of supply and the potential reduction of greenhouse gas emissions...

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

Science.gov (United States)

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X.

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research. PMID:26819582

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey.

Science.gov (United States)

Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X

2016-01-01

Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

Directory of Open Access Journals (Sweden)

Jianjun Ni

2016-01-01

Full Text Available Bioinspired intelligent algorithm (BIA is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

National Research Council Canada - National Science Library

Sights, B; Everett, H. R; Pacis, E. B; Kogut, G; Thompson, M

2005-01-01

High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact...

Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller

OpenAIRE

P. Wu; W. Wu

2012-01-01

Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm mobile robot when moving on the ground is studied and the preview control system is applied in the robot walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system could be used in the generation of robot Center of Mass forward trajecto...

Position Control of the Single Spherical Wheel Mobile Robot by Using the Fuzzy Sliding Mode Controller

Directory of Open Access Journals (Sweden)

Hamed Navabi

2017-01-01

Full Text Available A spherical wheel robot or Ballbot—a robot that balances on an actuated spherical ball—is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel Fuzzy Sliding Mode Controller (FSMC implemented to control a spherical wheel mobile robot. The nonlinear nature of the equations makes the controller nontrivial. We compare the performance of four different fuzzy controllers: (a regulation with one signal, (b regulation and position control with one signal, (c regulation and position control with two signals, and (d FSMC for regulation and position control with two signals. The system is evaluated in a realistic simulation and the robot parameters are chosen based on a LEGO platform, so the designed controllers have the ability to be implemented on real hardware.

The hydrogen village in the Greater Toronto Area (GTA)

International Nuclear Information System (INIS)

Kimmel, T.B.; Smith, R.

2004-01-01

'Full text:' A Hydrogen Village (H2V) is a public/private partnership with an objective to accelerate the commercialization of hydrogen and fuel cell technology in Canada and firmly position Canada as the international leader in this sector. The first Hydrogen Village is planned for the Greater Toronto Area (GTA) and will make use of existing hydrogen and fuel cell deployments to assist in its creation. This five year GTA Hydrogen Village program is planned to begin operations in 2004. The Hydrogen Village will demonstrate and deploy various hydrogen production and delivery techniques as well as fuel cells for stationary, transportation (mobile) and portable applications. This paper will provide an overview of the Hydrogen Village and identify the missions, objectives, members and progress within the H2V. (author)

The hydrogen village: building hydrogen and fuel cell opportunities

International Nuclear Information System (INIS)

Smith, R.

2006-01-01

The presentation addressed the progress the Hydrogen Village Program has made in its first 24 months of existence and will provide an understanding of the development of new markets for emerging Hydrogen and Fuel Cell technologies based on first hand, real world experience. The Hydrogen Village (H2V) is an End User driven, Market Development Program designed to accelerate the sustainable commercialization of hydrogen and fuel cell technologies through awareness, education and early deployments throughout the greater Toronto area (GTA). The program is a collaborative public-private partnership of some 35 companies from a broad cross section of industry administered through Hydrogen and Fuel Cells Canada and funded by the Governments of Canada and Ontario. The intent of the H2V is to develop markets for Hydrogen and Fuel Cell technologies that benefit the local and global community. The following aspects of market development are specifically targeted: 1) Deployments: of near market technologies in all aspects of community life (stationary and mobile). All applications must be placed within the community and contact peoples in their day-to-day activity. End user involvement is critical to ensure that the applications chosen have a commercial justification and contribute to the complementary growth of the market. 2) Development: of a coordinated hydrogen delivery and equipment service infrastructure. The infrastructure will develop following the principles of conservation and sustainability. 3) Human and societal factors: - Public and Corporate policy, public education, Codes/ Standards/ Regulations - Opportunity for real world implementation and feedback on developing codes and standards - Build awareness among regulatory groups, public, and the media. The GTA Hydrogen Village is already well under way with strategically located projects covering a wide range of hydrogen and fuel cell applications including: Residential heat and power generation using solid oxide

Controlling hydrogen behavior in light water reactors

International Nuclear Information System (INIS)

Cullingford, H.S.; Edeskuty, F.J.

1981-01-01

In the aftermath of the incident at Three Mile Island Unit 2 (TMI-2), a new and different treatment of the Light Water Reactor (LWR) risks is needed for public safety because of the specific events involving hydrogen generation, transport, and behavior following the core damage. Hydrogen behavior in closed environments such as the TMI-2 containment building is a complex phenomenon that is not fully understood. Hence, an engineering approach is presented for prevention of loss of life, equipment, and environment in case of a large hydrogen generation in an LWR. A six-level defense strategy is described that minimizes the possibility of ignition of released hydrogen gas and otherwise mitigates the consequences of hydrogen release. Guidance is given to reactor manufacturers, utility companies, regulatory agencies, and research organizations committed to reducing risk factors and insuring safety of life, equipment, and environment

Moving protons with pendant amines: proton mobility in a nickel catalyst for oxidation of hydrogen.

Science.gov (United States)

O'Hagan, Molly; Shaw, Wendy J; Raugei, Simone; Chen, Shentan; Yang, Jenny Y; Kilgore, Uriah J; DuBois, Daniel L; Bullock, R Morris

2011-09-14

Proton transport is ubiquitous in chemical and biological processes, including the reduction of dioxygen to water, the reduction of CO(2) to formate, and the production/oxidation of hydrogen. In this work we describe intramolecular proton transfer between Ni and positioned pendant amines for the hydrogen oxidation electrocatalyst [Ni(P(Cy)(2)N(Bn)(2)H)(2)](2+) (P(Cy)(2)N(Bn)(2) = 1,5-dibenzyl-3,7-dicyclohexyl-1,5-diaza-3,7-diphosphacyclooctane). Rate constants are determined by variable-temperature one-dimensional NMR techniques and two-dimensional EXSY experiments. Computational studies provide insight into the details of the proton movement and energetics of these complexes. Intramolecular proton exchange processes are observed for two of the three experimentally observable isomers of the doubly protonated Ni(0) complex, [Ni(P(Cy)(2)N(Bn)(2)H)(2)](2+), which have N-H bonds but no Ni-H bonds. For these two isomers, with pendant amines positioned endo to the Ni, the rate constants for proton exchange range from 10(4) to 10(5) s(-1) at 25 °C, depending on isomer and solvent. No exchange is observed for protons on pendant amines positioned exo to the Ni. Analysis of the exchange as a function of temperature provides a barrier for proton exchange of ΔG(‡) = 11-12 kcal/mol for both isomers, with little dependence on solvent. Density functional theory calculations and molecular dynamics simulations support the experimental observations, suggesting metal-mediated intramolecular proton transfers between nitrogen atoms, with chair-to-boat isomerizations as the rate-limiting steps. Because of the fast rate of proton movement, this catalyst may be considered a metal center surrounded by a cloud of exchanging protons. The high intramolecular proton mobility provides information directly pertinent to the ability of pendant amines to accelerate proton transfers during catalysis of hydrogen oxidation. These results may also have broader implications for proton movement in

Control of a mobile robot through brain computer interface

Directory of Open Access Journals (Sweden)

Robinson Jimenez Moreno

2015-07-01

Full Text Available This paper poses a control interface to command the movement of a mobile robot according to signals captured from the user's brain. These signals are acquired and interpreted by Emotiv EPOC device, a 14-electrode type sensor which captures electroencephalographic (EEG signals with high resolution, which, in turn, are sent to a computer for processing. One brain-computer interface (BCI was developed based on the Emotiv software and SDK in order to command the mobile robot from a distance. Functionality tests are performed with the sensor to discriminate shift intentions of a user group, as well as with a fuzzy controller to hold the direction in case of concentration loss. As conclusion, it was possible to obtain an efficient system for robot movements by brain commands.

Nuclear magnetic resonance study of hydrogen mobility in LaY2Ni9Hx and CeY2Ni9Hx

International Nuclear Information System (INIS)

Soloninin, A.V.; Buzlukov, A.L.; Skripov, A.V.; Latroche, M.; Paul-Boncour, V.

2009-01-01

In order to investigate the mobility of hydrogen in the ternary compounds LaY 2 Ni 9 and CeY 2 Ni 9 , we have measured the proton nuclear magnetic resonance (NMR) spectra and the proton spin-lattice relaxation rates R 1 for LaY 2 Ni 9 H x (x=0.78 and 10.3) and CeY 2 Ni 9 H x (x=0.79 and 7.2). The measurements have been performed at the resonance frequencies of 14, 23.8 and 90 MHz over the temperature range of 11-404 K. For LaY 2 Ni 9 H x , the behavior of R 1 is consistent with the presence of a considerable contribution due to motionally modulated dipole-dipole interaction between nuclear spins. This contribution can be satisfactorily described in terms of the Bloembergen-Purcell-Pound model with a Gaussian distribution of activation energies for hydrogen diffusion; the value of the average activation energy resulting from such a description for LaY 2 Ni 9 H 10.3 is approximately 0.36 eV. For CeY 2 Ni 9 H x compounds, the measured proton spin-lattice relaxation rates are dominated by the contribution due to the interaction between proton spins and paramagnetic centers over the entire temperature range studied. Only qualitative information on H mobility in these compounds has been obtained from the narrowing of NMR spectra. Possible paths of H diffusion in LaY 2 Ni 9 H x and CeY 2 Ni 9 H x are discussed in terms of the distances between the interstitial sites occupied by hydrogen. - Graphical abstract: The temperature dependences of the proton spin-lattice relaxation rates R 1 measured at 14, 23.8 and 90 MHz for LaY 2 Ni 9 H 10.3 . The frequency-dependent increase in R 1 at T>250 K indicates the onset of the motional contribution to the relaxation rates

Fuzzy logic control for selective hydrogenation of acetylene in ethylene rich streams using visual basic

International Nuclear Information System (INIS)

Malik, S.R.; Suleman, H.; Khan, J.R.

2010-01-01

Presence of acetylene is technically disadvantageous in the ethylene rich gas streams from steam crackers. Acetylene tends to polymerize and inactivates the transition metal catalysts, forming highly explosive compounds. The acetylene content has to be selectively reduced to less than one part per million for such streams. The acetylene hydrogenation unit requires stringent control parameters and needs specialized process control techniques for its operation. This study is concerned with application of Fuzzy Logic Control to manipulate and control the process plant with higher precision and greater simplicity. The control program has been written in visual Basic and entails all major scenarios of work modes for successful hydrogenation of Acetylene. (author)

Applying virtual reality to remote control of mobile robot

Directory of Open Access Journals (Sweden)

Chen Chin-Shan

2017-01-01

Full Text Available The purpose of this research is based on virtual reality to assisted pick and place tasks. Virtual reality can be utilized to control remote robot for pick and place element. The operator monitored and controlled the situation information of working site by Human Machine Interface. Therefore, we worked in harsh or dangerous environments that thing can be avoided. The procedure to operate mobile robot in virtual reality describes as follow: An experiment site with really experimental equipment is first established. Then, the experimental equipment and scene modeling are input to virtual reality for establishing a environment similar to the reality. Finally, the remote mobile robot is controlled to operate pick and place tasks through wireless communication by the object operation in virtual reality. The robot consists of a movable robot platform and robotic arm. The virtual reality is constructed by EON software; the Human Machine Interface is established by Visual Basic. The wireless connection is equipped the wireless Bluetooth, which is set the PC and PLC controller. With experimental tests to verify the robot in virtual reality and the wireless remote control, the robot could be operated and controlled to successfully complete pick and place tasks in reality by Human Machine Interface.

Synergistic effect of helium and hydrogen for bubble swelling in reduced-activation ferritic/martensitic steel under sequential helium and hydrogen irradiation at different temperatures

Energy Technology Data Exchange (ETDEWEB)

Hu, Wenhui [Key Laboratory of Artificial Micro- and Nano-structures of Ministry of Education, Hubei Nuclear Solid Physics Key Laboratory and School of Physics and Technology, Wuhan University, Wuhan 430072 (China); Guo, Liping, E-mail: guolp@whu.edu.cn [Key Laboratory of Artificial Micro- and Nano-structures of Ministry of Education, Hubei Nuclear Solid Physics Key Laboratory and School of Physics and Technology, Wuhan University, Wuhan 430072 (China); Chen, Jihong; Luo, Fengfeng; Li, Tiecheng [Key Laboratory of Artificial Micro- and Nano-structures of Ministry of Education, Hubei Nuclear Solid Physics Key Laboratory and School of Physics and Technology, Wuhan University, Wuhan 430072 (China); Ren, Yaoyao [Center for Electron Microscopy, Wuhan University, Wuhan 430072 (China); Suo, Jinping; Yang, Feng [State Key Laboratory of Mould Technology, Institute of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074 (China)

2014-04-15

Highlights: • Helium/hydrogen synergistic effect can increase irradiation swelling of RAFM steel. • Hydrogen can be trapped to the outer surface of helium bubbles. • Too large a helium bubble can become movable. • Point defects would become mobile and annihilate at dislocations at high temperature. • The peak swelling temperature for RAFM steel is 450 °C. - Abstract: In order to investigate the synergistic effect of helium and hydrogen on swelling in reduced-activation ferritic/martensitic (RAFM) steel, specimens were separately irradiated by single He{sup +} beam and sequential He{sup +} and H{sup +} beams at different temperatures from 250 to 650 °C. Transmission electron microscope observation showed that implantation of hydrogen into the specimens pre-irradiated by helium can result in obvious enhancement of bubble size and swelling rate which can be regarded as a consequence of hydrogen being trapped by helium bubbles. But when temperature increased, Ostwald ripening mechanism would become dominant, besides, too large a bubble could become mobile and swallow many tiny bubbles on their way moving, reducing bubble number density. And these effects were most remarkable at 450 °C which was the peak bubble swelling temperature for RAMF steel. When temperature was high enough, say above 450, point defects would become mobile and annihilate at dislocations or surface. As a consequence, helium could no longer effectively diffuse and clustering in materials and bubble formation was suppressed. When temperature was above 500, helium bubbles would become unstable and decompose or migrate out of surface. Finally no bubble was observed at 650 °C.

Synergistic effect of helium and hydrogen for bubble swelling in reduced-activation ferritic/martensitic steel under sequential helium and hydrogen irradiation at different temperatures

International Nuclear Information System (INIS)

Hu, Wenhui; Guo, Liping; Chen, Jihong; Luo, Fengfeng; Li, Tiecheng; Ren, Yaoyao; Suo, Jinping; Yang, Feng

2014-01-01

Highlights: • Helium/hydrogen synergistic effect can increase irradiation swelling of RAFM steel. • Hydrogen can be trapped to the outer surface of helium bubbles. • Too large a helium bubble can become movable. • Point defects would become mobile and annihilate at dislocations at high temperature. • The peak swelling temperature for RAFM steel is 450 °C. - Abstract: In order to investigate the synergistic effect of helium and hydrogen on swelling in reduced-activation ferritic/martensitic (RAFM) steel, specimens were separately irradiated by single He + beam and sequential He + and H + beams at different temperatures from 250 to 650 °C. Transmission electron microscope observation showed that implantation of hydrogen into the specimens pre-irradiated by helium can result in obvious enhancement of bubble size and swelling rate which can be regarded as a consequence of hydrogen being trapped by helium bubbles. But when temperature increased, Ostwald ripening mechanism would become dominant, besides, too large a bubble could become mobile and swallow many tiny bubbles on their way moving, reducing bubble number density. And these effects were most remarkable at 450 °C which was the peak bubble swelling temperature for RAMF steel. When temperature was high enough, say above 450, point defects would become mobile and annihilate at dislocations or surface. As a consequence, helium could no longer effectively diffuse and clustering in materials and bubble formation was suppressed. When temperature was above 500, helium bubbles would become unstable and decompose or migrate out of surface. Finally no bubble was observed at 650 °C

Hydrogen interactions in aluminum-lithium alloys

Science.gov (United States)

Smith, S. W.; Scully, J. R.

1991-01-01

A program is described which seeks to develop an understanding of the effects of dissolved and trapped hydrogen on the mechanical properties of selected Al-Li-Cu-X alloys. A proposal is made to distinguish hydrogen (H2) induced EAC from aqueous dissolution controlled EAC, to correlate H2 induced EAC with mobile and trapped concentrations, and to identify significant trap sites and hydride phases (if any) through use of model alloys and phases. A literature review shows three experimental factors which have impeded progress in the area of H2 EAC for this class of alloys. These are as listed: (1) inter-subgranular fracture in Al-Li alloys when tested in the S-T orientation in air or vacuum make it difficult to readily detect H2 induced fracture based on straight forward changes in fractography; (2) the inherently low H2 diffusivity and solubility in Al alloys is further compounded by a native oxide which acts as a H2 permeation barrier; and (3) H2 effects are masked by dissolution assisted processes when mechanical testing is performed in aqueous solutions.

In situ NMR studies of hydrogen storage kinetics and molecular diffusion in clathrate hydrate at elevated hydrogen pressures

Energy Technology Data Exchange (ETDEWEB)

Okuchi, T. [Okayama Univ., Misasa, Tottori (Japan); Moudrakovski, I.L.; Ripmeester, J.A. [National Research Council of Canada, Ottawa, ON (Canada). Steacie Inst. for Molecular Sciences

2008-07-01

The challenge of storing high-density hydrogen into compact host media was investigated. The conventional storage scheme where an aqueous solution is frozen with hydrogen gas is too slow for practical use in a hydrogen-based society. Therefore, the authors developed a faster method whereby hydrogen was stored into gas hydrates. The hydrogen gas was directly charged into hydrogen-free, crystalline hydrate powders with partly empty lattices. The storage kinetics and hydrogen diffusion into the hydrate was observed in situ by nuclear magnetic resonance (NMR) in a pressurized tube cell. At pressures up to 20 MPa, the storage was complete within 80 minutes, as observed by growth of stored-hydrogen peak into the hydrate. Hydrogen diffusion within the crystalline hydrate media is the rate-determining step of current storage scheme. Therefore, the authors measured the diffusion coefficient of hydrogen molecules using the pulsed field gradient NMR method. The results show that the stored hydrogen is very mobile at temperatures down to 250 K. As such, the powdered hydrate media should work well even in cold environments. Compared with more prevailing hydrogen storage media such as metal hydrides, clathrate hydrates have the advantage of being free from hydrogen embrittlement, more chemically durable, more environmentally sound, and economically affordable. It was concluded that the powdered clathrate hydrate is suitable as a hydrogen storage media. 22 refs., 4 figs.

Theoretical analysis of hydrogen spillover mechanism on carbon nanotubes

Directory of Open Access Journals (Sweden)

Rosalba eJuarez Mosqueda

2015-02-01

Full Text Available The spillover mechanism of molecular hydrogen on carbon nanotubes in the presence of catalytically active platinum clusters was critically and systematically investigated by using density-functional theory. Our simulation model includes a Pt4 cluster for the catalyst nanoparticle and curved and planar circumcoronene for two exemplary single-walled carbon nanotubes (CNT, the (10,10 CNT and one of large diameter, respectively. Our results show that the H2 molecule dissociates spontaneously on the Pt4 cluster. However, the dissociated H atoms have to overcome a barrier of more than 2 eV to migrate from the catalyst to the CNT, even if the Pt4 cluster is at full saturation with six adsorbed and dissociated hydrogen molecules. Previous investigations have shown that the mobility of hydrogen atoms on the CNT surface is hindered by a barrier. We find that instead the Pt4 catalyst may move along the outer surface of the CNT with activation energy of only 0.16 eV, and that this effect offers the possibility of full hydrogenation of the CNT. Thus, although we have not found a low-energy pathway to spillover onto the CNT, we suggest, based on our calculations and calculated data reported in the literature, that in the hydrogen-spillover process the observed saturation of the CNT at hydrogen background pressure occurs through mobile Pt nanoclusters, which move on the substrate more easily than the substrate-chemisorbed hydrogens, and deposit or reattach hydrogens in the process. Initial hydrogenation of the carbon substrate, however, is thermodynamically unfavoured, suggesting that defects should play a significant role.

Controlled Hydrogen Fleet and Infrastructure Demonstration Project

Energy Technology Data Exchange (ETDEWEB)

Dr. Scott Staley

2010-03-31

This program was undertaken in response to the US Department of Energy Solicitation DE-PS30-03GO93010, resulting in this Cooperative Agreement with the Ford Motor Company and BP to demonstrate and evaluate hydrogen fuel cell vehicles and required fueling infrastructure. Ford initially placed 18 hydrogen fuel cell vehicles (FCV) in three geographic regions of the US (Sacramento, CA; Orlando, FL; and southeast Michigan). Subsequently, 8 advanced technology vehicles were developed and evaluated by the Ford engineering team in Michigan. BP is Ford's principal partner and co-applicant on this project and provided the hydrogen infrastructure to support the fuel cell vehicles. BP ultimately provided three new fueling stations. The Ford-BP program consists of two overlapping phases. The deliverables of this project, combined with those of other industry consortia, are to be used to provide critical input to hydrogen economy commercialization decisions by 2015. The program's goal is to support industry efforts of the US President's Hydrogen Fuel Initiative in developing a path to a hydrogen economy. This program was designed to seek complete systems solutions to address hydrogen infrastructure and vehicle development, and possible synergies between hydrogen fuel electricity generation and transportation applications. This project, in support of that national goal, was designed to gain real world experience with Hydrogen powered Fuel Cell Vehicles (H2FCV) 'on the road' used in everyday activities, and further, to begin the development of the required supporting H2 infrastructure. Implementation of a new hydrogen vehicle technology is, as expected, complex because of the need for parallel introduction of a viable, available fuel delivery system and sufficient numbers of vehicles to buy fuel to justify expansion of the fueling infrastructure. Viability of the fuel structure means widespread, affordable hydrogen which can return a reasonable profit to

Self adaptive internal combustion engine control for hydrogen mixtures using piezoelectric transducers for dynamic cylinder pressure monitoring

Energy Technology Data Exchange (ETDEWEB)

Courteau, R.; Bose, T.K. [Quebec Univ., Trois-Rivieres, PQ (Canada). Institut de recherche sur l' hydrogene

2004-07-01

Hydrogen internal combustion engine research at the Hydrogen Research Institute includes the following infrastructure: a 20 square metre test cell, an engine preparation room, a 150 hp dynamometer, exhaust gas analysers and a hydrogen supply. The goal of the research is to develop internal combustion engine technologies that can use hydrogen as a fuel without knocking, backfires, excessive engine wear, and with low emissions. As well as hydrogen, fuels such as biogas are also investigated. Technologies under investigation include adaptive control algorithms, as well as advanced sensors and actuators. The latter include piezolelectrics, optical fibres, nitrogen oxide detectors, and chemical composition detectors. Developments include microprocessor-controlled injection and ignition control systems for both single cylinder and multicylinder engines. Research on the influence of fuel composition on best ignition timing is presented. There is also dynamic cylinder pressure monitoring to prevent knocking make engine state assessments and perform engine calibration. Piezoelectric cylinder pressure sensors are employed, either integrated with the spark plugs, or stand-alone, inserted through separate holes through the cylinder head. tabs, figs.

A leptin-regulated circuit controls glucose mobilization during noxious stimuli.

Science.gov (United States)

Flak, Jonathan N; Arble, Deanna; Pan, Warren; Patterson, Christa; Lanigan, Thomas; Goforth, Paulette B; Sacksner, Jamie; Joosten, Maja; Morgan, Donald A; Allison, Margaret B; Hayes, John; Feldman, Eva; Seeley, Randy J; Olson, David P; Rahmouni, Kamal; Myers, Martin G

2017-08-01

Adipocytes secrete the hormone leptin to signal the sufficiency of energy stores. Reductions in circulating leptin concentrations reflect a negative energy balance, which augments sympathetic nervous system (SNS) activation in response to metabolically demanding emergencies. This process ensures adequate glucose mobilization despite low energy stores. We report that leptin receptor-expressing neurons (LepRb neurons) in the periaqueductal gray (PAG), the largest population of LepRb neurons in the brain stem, mediate this process. Application of noxious stimuli, which often signal the need to mobilize glucose to support an appropriate response, activated PAG LepRb neurons, which project to and activate parabrachial nucleus (PBN) neurons that control SNS activation and glucose mobilization. Furthermore, activating PAG LepRb neurons increased SNS activity and blood glucose concentrations, while ablating LepRb in PAG neurons augmented glucose mobilization in response to noxious stimuli. Thus, decreased leptin action on PAG LepRb neurons augments the autonomic response to noxious stimuli, ensuring sufficient glucose mobilization during periods of acute demand in the face of diminished energy stores.

Recent Advances in the Use of Sodium Borohydride as a Solid State Hydrogen Store

Directory of Open Access Journals (Sweden)

Jianfeng Mao

2015-01-01

Full Text Available The development of new practical hydrogen storage materials with high volumetric and gravimetric hydrogen densities is necessary to implement fuel cell technology for both mobile and stationary applications. NaBH4, owing to its low cost and high hydrogen density (10.6 wt%, has received extensive attention as a promising hydrogen storage medium. However, its practical use is hampered by its high thermodynamic stability and slow hydrogen exchange kinetics. Recent developments have been made in promoting H2 release and tuning the thermodynamics of the thermal decomposition of solid NaBH4. These conceptual advances offer a positive outlook for using NaBH4-based materials as viable hydrogen storage carriers for mobile applications. This review summarizes contemporary progress in this field with a focus on the fundamental dehydrogenation and rehydrogenation pathways and properties and on material design strategies towards improved kinetics and thermodynamics such as catalytic doping, nano-engineering, additive destabilization and chemical modification.

Bruton's tyrosine kinase is essential for hydrogen peroxide-induced calcium signaling.

Science.gov (United States)

Qin, S; Chock, P B

2001-07-10

Using Btk-deficient DT40 cells and the transfectants expressing wild-type Btk or Btk mutants in either kinase (Arg(525) to Gln), Src homology 2 (SH2, Arg(307) to Ala), or pleckstrin homology (PH, Arg(28) to Cys) domains, we investigated the roles and structure-function relationships of Btk in hydrogen peroxide-induced calcium mobilization. Our genetic evidence showed that Btk deficiency resulted in a significant reduction in hydrogen peroxide-induced calcium response. This impaired calcium signaling is correlated with the complete elimination of IP3 production and the significantly reduced tyrosine phosphorylation of PLCgamma2 in Btk-deficient DT40 cells. All of these defects were fully restored by the expression of wild-type Btk in Btk-deficient DT40 cells. The data from the point mutation study revealed that a defect at any one of the three functional domains would prevent a full recovery of Btk-mediated hydrogen peroxide-induced intracellular calcium mobilization. However, mutation at either the SH2 or PH domain did not affect the hydrogen peroxide-induced activation of Btk. Mutation at the SH2 domain abrogates both IP3 generation and calcium release, while the mutant with the nonfunctional PH domain can partially activate PLCgamma2 and catalyze IP3 production but fails to produce significant calcium mobilization. Thus, these observations suggest that Btk-dependent tyrosine phosphorylation of PLCgamma2 is required but not sufficient for hydrogen peroxide-induced calcium mobilization. Furthermore, hydrogen peroxide stimulates a Syk-, but not Btk-, dependent tyrosine phosphorylation of B cell linker protein BLNK. The overall results, together with those reported earlier [Qin et al. (2000) Proc. Natl. Acad. Sci. U.S.A. 97, 7118], are consistent with the notion that functional SH2 and PH domains are required for Btk to form a complex with PLCgamma2 through BLNK in order to position the Btk, PLCgamma2, and phosphatidylinositol 4,5-bisphosphate in close proximity for

Control of malodorous hydrogen sulfide compounds using microbial fuel cell.

Science.gov (United States)

Eaktasang, Numfon; Min, Hyeong-Sik; Kang, Christina; Kim, Han S

2013-10-01

In this study, a microbial fuel cell (MFC) was used to control malodorous hydrogen sulfide compounds generated from domestic wastewaters. The electricity production demonstrated a distinct pattern of a two-step increase during 170 h of system run: the first maximum current density was 118.6 ± 7.2 mA m⁻² followed by a rebound of current density increase, reaching the second maximum of 176.8 ± 9.4 mA m⁻². The behaviors of the redox potential and the sulfate level in the anode compartment indicated that the microbial production of hydrogen sulfide compounds was suppressed in the first stage, and the hydrogen sulfide compounds generated from the system were removed effectively as a result of their electrochemical oxidation, which contributed to the additional electricity production in the second stage. This was also directly supported by sulfur deposits formed on the anode surface, which was confirmed by analyses on those solids using a scanning electron microscope equipped with energy dispersive X-ray spectroscopy as well as an elemental analyzer. To this end, the overall reduction efficiencies for HS⁻ and H₂S(g) were as high as 67.5 and 96.4 %, respectively. The correlations among current density, redox potential, and sulfate level supported the idea that the electricity signal generated in the MFC can be utilized as a potential indicator of malodor control for the domestic wastewater system.

Mobile source pollution control in the United States and China

International Nuclear Information System (INIS)

Menz, Fredric C

2002-01-01

This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

Mobile source pollution control in the United States and China

Energy Technology Data Exchange (ETDEWEB)

Menz, Fredric C

2002-07-01

This paper reviews policies for the control of mobile source pollution and their potential application in China. The first section of the paper reviews the U.S. experience with mobile source pollution control since regulations were first established in the Clean Air Act of 1970. Highlights in the policy and trends in vehicle emissions over the 1970 to 2000 time period are discussed. The second section of the paper discusses the range of policy instruments that could be used to control vehicle pollution, ranging from traditional direct regulations to market-based instruments. Experiences with the use of economic incentives in the United States and elsewhere are also discussed. The third section of the paper discusses possible implications of the U.S. experience for controlling vehicle pollution in China. While market-based instruments might be particularly appropriate for use in several aspects of China's pollution control policies, important differences between the institutional structures in China and the United States suggest that they should be phased in gradually. The paper closes with concluding remarks. (author)

Finite-time tracking control for multiple non-holonomic mobile robots based on visual servoing

Science.gov (United States)

Ou, Meiying; Li, Shihua; Wang, Chaoli

2013-12-01

This paper investigates finite-time tracking control problem of multiple non-holonomic mobile robots via visual servoing. It is assumed that the pinhole camera is fixed to the ceiling, and camera parameters are unknown. The desired reference trajectory is represented by a virtual leader whose states are available to only a subset of the followers, and the followers have only interaction. First, the camera-objective visual kinematic model is introduced by utilising the pinhole camera model for each mobile robot. Second, a unified tracking error system between camera-objective visual servoing model and desired reference trajectory is introduced. Third, based on the neighbour rule and by using finite-time control method, continuous distributed cooperative finite-time tracking control laws are designed for each mobile robot with unknown camera parameters, where the communication topology among the multiple mobile robots is assumed to be a directed graph. Rigorous proof shows that the group of mobile robots converges to the desired reference trajectory in finite time. Simulation example illustrates the effectiveness of our method.

Cooperative Control of Mobile Sensor Networks for Environmental Monitoring: An Event-Triggered Finite-Time Control Scheme.

Science.gov (United States)

Lu, Qiang; Han, Qing-Long; Zhang, Botao; Liu, Dongliang; Liu, Shirong

2017-12-01

This paper deals with the problem of environmental monitoring by developing an event-triggered finite-time control scheme for mobile sensor networks. The proposed control scheme can be executed by each sensor node independently and consists of two parts: one part is a finite-time consensus algorithm while the other part is an event-triggered rule. The consensus algorithm is employed to enable the positions and velocities of sensor nodes to quickly track the position and velocity of a virtual leader in finite time. The event-triggered rule is used to reduce the updating frequency of controllers in order to save the computational resources of sensor nodes. Some stability conditions are derived for mobile sensor networks with the proposed control scheme under both a fixed communication topology and a switching communication topology. Finally, simulation results illustrate the effectiveness of the proposed control scheme for the problem of environmental monitoring.

A mobile console for local access to accelerator control systems.

CERN Multimedia

1981-01-01

Microprocessors were installed as auxiliary crate controllers (ACCs) in the CAMAC interface of control systems for various accelerators. The same ACC was also at the hearth of a stand-alone system in the form of a mobile console. This was also used for local access to the control systems for tests and development work (Annual Report 1981, p. 80, Fig. 10).

Application of the remote microphone method to active noise control in a mobile phone.

Science.gov (United States)

Cheer, Jordan; Elliott, Stephen J; Oh, Eunmi; Jeong, Jonghoon

2018-04-01

Mobile phones are used in a variety of situations where environmental noise may interfere with the ability of the near-end user to communicate with the far-end user. To overcome this problem, it might be possible to use active noise control technology to reduce the noise experienced by the near-end user. This paper initially demonstrates that when an active noise control system is used in a practical mobile phone configuration to minimise the noise measured by an error microphone mounted on the mobile phone, the attenuation achieved at the user's ear depends strongly on the position of the source generating the acoustic interference. To help overcome this problem, a remote microphone processing strategy is investigated that estimates the pressure at the user's ear from the pressure measured by the microphone on the mobile phone. Through an experimental implementation, it is demonstrated that this arrangement achieves a significant improvement in the attenuation measured at the ear of the user, compared to the standard active control strategy. The robustness of the active control system to changes in both the interfering sound field and the position of the mobile device relative to the ear of the user is also investigated experimentally.

Slow positron studies of hydrogen activation/passivation on SiO2/Si(100) interfaces

International Nuclear Information System (INIS)

Lynn, K.G.; Asoka-Kumar, P.

1991-01-01

The hydrogen atoms are one of the most common impurity species found in semiconductor systems owing to its large diffusivity, and are easily incorporated either in a controlled process like in ion implantation or in an uncontrolled process like the one at the fabrication stage. Hydrogen can passivate dangling bonds and dislocations in these systems and hence can be used to enhance the electrical properties. In a SiO 2 /Si system, hydrogen can passivate electronic states at the interface and can alter the fixed or mobile charges in the oxide layer. Since hydrogen is present in almost all of the environments of SiO 2 /Si wafer fabrication, the activation energy of hydrogen atoms is of paramount importance to a proper understanding of SiO 2 /Si based devices and has not been measured on the technologically most important Si(100) face. There are no direct, nondestructive methods available to observe hydrogen injection into the oxide layer and subsequent diffusion. This study uses the positrons as a ''sensitive'', nondestructive probe to observe hydrogen interaction in the oxide layer and the interface region. We also describe a new way of characterizing the changes in the density of the interface states under a low-temperature annealing using positrons. 9 refs., 6 figs

Slow positron studies of hydrogen activation/passivation on SiO2/Si(100) interfaces

Science.gov (United States)

Lynn, K. G.; Asoka-Kumar, P.

The hydrogen atoms are one of the most common impurity species found in semiconductor systems owing to its large diffusivity, and are easily incorporated either in a controlled process like in ion implantation or in an uncontrolled process like the one at the fabrication stage. Hydrogen can passivate dangling bonds and dislocations in these systems and hence can be used to enhance the electrical properties. In a SiO2/Si system, hydrogen can passivate electronic states at the interface and can alter the fixed or mobile charges in the oxide layer. Since hydrogen is present in almost all of the environments of SiO2/Si wafer fabrication, the activation energy of hydrogen atoms is of paramount importance to a proper understanding of SiO2/Si based devices and has not been measured on the technologically most important Si(100) face. There are no direct, nondestructive methods available to observe hydrogen injection into the oxide layer and subsequent diffusion. The positrons are used as a 'sensitive', nondestructive probe to observe hydrogen interaction in the oxide layer and the interface region. A new way is described of characterizing the changes in the density of the interface states under a low temperature annealing using positrons.

Multimodal exercise training in multiple sclerosis: A randomized controlled trial in persons with substantial mobility disability.

Science.gov (United States)

Sandroff, Brian M; Bollaert, Rachel E; Pilutti, Lara A; Peterson, Melissa L; Baynard, Tracy; Fernhall, Bo; McAuley, Edward; Motl, Robert W

2017-10-01

Mobility disability is a common, debilitating feature of multiple sclerosis (MS). Exercise training has been identified as an approach to improve MS-related mobility disability. However, exercise randomized controlled trials (RCTs) on mobility in MS have generally not selectively targeted those with the onset of irreversible mobility disability. The current multi-site RCT compared the efficacy of 6-months of supervised, multimodal exercise training with an active control condition for improving mobility, gait, physical fitness, and cognitive outcomes in persons with substantial MS-related mobility disability. 83 participants with substantial MS-related mobility disability underwent initial mobility, gait, fitness, and cognitive processing speed assessments and were randomly assigned to 6-months of supervised multimodal (progressive aerobic, resistance, and balance) exercise training (intervention condition) or stretching-and-toning activities (control condition). Participants completed the same outcome assessments halfway through and immediately following the 6-month study period. There were statistically significant improvements in six-minute walk performance (F(2158)=3.12, p=0.05, η p 2 =0.04), peak power output (F(2150)=8.16, pmobility disability. This is critical for informing the development of multi-site exercise rehabilitation programs in larger samples of persons with MS-related mobility disability. Copyright © 2017 Elsevier Inc. All rights reserved.

Mobile lighting apparatus

Science.gov (United States)

Roe, George Michael; Klebanoff, Leonard Elliott; Rea, Gerald W; Drake, Robert A; Johnson, Terry A; Wingert, Steven John; Damberger, Thomas A; Skradski, Thomas J; Radley, Christopher James; Oros, James M; Schuttinger, Paul G; Grupp, David J; Prey, Stephen Carl

2013-05-14

A mobile lighting apparatus includes a portable frame such as a moveable trailer or skid having a light tower thereon. The light tower is moveable from a stowed position to a deployed position. A hydrogen-powered fuel cell is located on the portable frame to provide electrical power to an array of the energy efficient lights located on the light tower.

Electricity versus hydrogen for passenger cars under stringent climate change control

NARCIS (Netherlands)

Rösler, H.; van der Zwaan, B.; Keppo, I.; Bruggink, J.

2014-01-01

In this article we analyze how passenger car transportation in Europe may change this century under permanent high oil prices and stringent climate control policy. We focus on electricity and hydrogen as principal candidate energy carriers, because these two options are increasingly believed to

Field-controlled electron transfer and reaction kinetics of the biological catalytic system of microperoxidase-11 and hydrogen peroxide

Directory of Open Access Journals (Sweden)

Yongki Choi

2011-12-01

Full Text Available Controlled reaction kinetics of the bio-catalytic system of microperoxidase-11 and hydrogen peroxide has been achieved using an electrostatic technique. The technique allowed independent control of 1 the thermodynamics of the system using electrochemical setup and 2 the quantum mechanical tunneling at the interface between microperoxidase-11 and the working electrode by applying a gating voltage to the electrode. The cathodic currents of electrodes immobilized with microperoxidase-11 showed a dependence on the gating voltage in the presence of hydrogen peroxide, indicating a controllable reduction reaction. The measured kinetic parameters of the bio-catalytic reduction showed nonlinear dependences on the gating voltage as the result of modified interfacial electron tunnel due to the field induced at the microperoxidase-11-electrode interface. Our results indicate that the kinetics of the reduction of hydrogen peroxide can be controlled by a gating voltage and illustrate the operation of a field-effect bio-catalytic transistor, whose current-generating mechanism is the conversion of hydrogen peroxide to water with the current being controlled by the gating voltage.

A Matlab-Based Graphical User Interface for Simulation and Control Design of a Hydrogen Mixer

Science.gov (United States)

Richter, Hanz; Figueroa, Fernando

2003-01-01

A Graphical User Interface (GUI) that facilitates prediction and control design tasks for a propellant mixer is described. The Hydrogen mixer is used in rocket test stand operations at the NASA John C. Stennis Space Center. The mixer injects gaseous hydrogen (GH2) into a stream of liquid hydrogen (LH2) to obtain a combined flow with desired thermodynamic properties. The flows of GH2 and LH2 into the mixer are regulated by two control valves, and a third control valve is installed at the exit of the mixer to regulate the combined flow. The three valves may be simultaneously operated in order to achieve any desired combination of total flow, exit temperature and mixer pressure within the range of operation. The mixer, thus, constitutes a three-input, three-output system. A mathematical model of the mixer has been obtained and validated with experimental data. The GUI presented here uses the model to predict mixer response under diverse conditions.

Hydrogen absorption/desorption characteristics of room temperature ...

Indian Academy of Sciences (India)

ZrMn2-Ni system; metal hydrides; hydrogen storage materials. ... where ∼ 2.5 to 2.9 H/F.U. can be reversibly stored under the ideal operating conditions. ... these are promising candidates for stationary and short range mobile applications.

The new realized mobile device for extremal control research and presentation

Directory of Open Access Journals (Sweden)

Matej URBANSKÝ

2015-12-01

Full Text Available At our department we deal with torsional oscillating mechanical systems (TOMS continuous tuning during its operation in terms of torsional oscillation size. Therefore was build the new mobile device for research and presentation purposes of the TOMS continuous tuning using extremal control method. This paper deals mainly with design of the mobile device and its special compressed air distribution system, which is necessary for its regular function.

Dynamic optimization and robust explicit model predictive control of hydrogen storage tank

KAUST Repository

Panos, C.

2010-09-01

We present a general framework for the optimal design and control of a metal-hydride bed under hydrogen desorption operation. The framework features: (i) a detailed two-dimension dynamic process model, (ii) a design and operational dynamic optimization step, and (iii) an explicit/multi-parametric model predictive controller design step. For the controller design, a reduced order approximate model is obtained, based on which nominal and robust multi-parametric controllers are designed. © 2010 Elsevier Ltd.

Dynamic optimization and robust explicit model predictive control of hydrogen storage tank

KAUST Repository

Panos, C.; Kouramas, K.I.; Georgiadis, M.C.; Pistikopoulos, E.N.

2010-01-01

We present a general framework for the optimal design and control of a metal-hydride bed under hydrogen desorption operation. The framework features: (i) a detailed two-dimension dynamic process model, (ii) a design and operational dynamic optimization step, and (iii) an explicit/multi-parametric model predictive controller design step. For the controller design, a reduced order approximate model is obtained, based on which nominal and robust multi-parametric controllers are designed. © 2010 Elsevier Ltd.

Enhanced Photoelectrochemical Behavior of H-TiO2 Nanorods Hydrogenated by Controlled and Local Rapid Thermal Annealing.

Science.gov (United States)

Wang, Xiaodan; Estradé, Sonia; Lin, Yuanjing; Yu, Feng; Lopez-Conesa, Lluis; Zhou, Hao; Gurram, Sanjeev Kumar; Peiró, Francesca; Fan, Zhiyong; Shen, Hao; Schaefer, Lothar; Braeuer, Guenter; Waag, Andreas

2017-12-01

Recently, colored H-doped TiO 2 (H-TiO 2 ) has demonstrated enhanced photoelectrochemical (PEC) performance due to its unique crystalline core-disordered shell nanostructures and consequent enhanced conduction behaviors between the core-shell homo-interfaces. Although various hydrogenation approaches to obtain H-TiO 2 have been developed, such as high temperature hydrogen furnace tube annealing, high pressure hydrogen annealing, hydrogen-plasma assisted reaction, aluminum reduction and electrochemical reduction etc., there is still a lack of a hydrogenation approach in a controlled manner where all processing parameters (temperature, time and hydrogen flux) were precisely controlled in order to improve the PEC performance of H-TiO 2 and understand the physical insight of enhanced PEC performance. Here, we report for the first time a controlled and local rapid thermal annealing (RTA) approach to prepare hydrogenated core-shell H-TiO 2 nanorods grown on F:SnO 2 (FTO) substrate in order to address the degradation issue of FTO in the typical TiO 2 nanorods/FTO system observed in the conventional non-RTA treated approaches. Without the FTO degradation in the RTA approach, we systematically studied the intrinsic relationship between the annealing temperature, structural, optical, and photoelectrochemical properties in order to understand the role of the disordered shell on the improved photoelectrochemical behavior of H-TiO 2 nanorods. Our investigation shows that the improvement of PEC performance could be attributed to (i) band gap narrowing from 3.0 to 2.9 eV; (ii) improved optical absorption in the visible range induced by the three-dimensional (3D) morphology and rough surface of the disordered shell; (iii) increased proper donor density; (iv) enhanced electron-hole separation and injection efficiency due to the formation of disordered shell after hydrogenation. The RTA approach developed here can be used as a suitable hydrogenation process for TiO 2 nanorods

Properties of Mg-Al alloys in relation to hydrogen storage

DEFF Research Database (Denmark)

Andreasen, A.

2005-01-01

storage e.g. in stationary applications. In this report the properties of Mg-Al alloys are reviewed in relation to solid state hydrogen storage. Alloying with Al reduces the hydrogen capacity since Al doesnot form a hydride under conventional hydriding conditions, however both the thermodynamical......Magnesium theoretically stores 7.6 wt. % hydrogen, although it requires heating to above 300 degrees C in order to release hydrogen. This limits its use for mobile application. However, due to its low price and abundance magnesium should still beconsidered as a potential candidate for hydrogen...... properties (lower desorption temperature), and kinetics of hydrogenation/dehydrogenation are improved. In addition to this, the low price of the hydride isretained along with improved heat transfer properties and improved resistance towards oxygen contamination....

Flexible and Safe Control of Mobile Surface Systems, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — The primary innovation of this work is a novel approach for flexible and safe control of highly capable mobile surface systems, such as long-duration science rovers,...

Difficulties in controlling mobilization pain using a standardized patient-controlled analgesia protocol in burns.

Science.gov (United States)

Nilsson, Andreas; Kalman, Sigga; Sonesson, Lena Karin; Arvidsson, Anders; Sjöberg, Folke

2011-01-01

The aim of this study was to evaluate pain relief for patients with burns during rest and mobilization with morphine according to a standard protocol for patient-controlled analgesia (PCA). Eighteen patients with a mean (SD) burned TBSA% of 26 (20) were studied for 10 days. Using a numeric rating scale (NRS, 0 = no pain and 10 = unbearable pain), patients were asked to estimate their acceptable and worst experienced pain by specifying a number on a scale and at what point they would like additional analgesics. Patients were allowed free access to morphine with a PCA pump device. Bolus doses were set according to age, (100 - age)/24 = bolus dose (mg), and 6 minutes lockout time. Degrees of pain, morphine requirements, doses delivered and demanded, oral intake of food, and antiemetics given were used as endpoints. Acceptable pain (mean [SD]) was estimated to be 3.8 (1.3) on the NRS, and additional treatment was considered necessary at scores of 4.3 (1.6) or more. NRS at rest was 2.7 (2.2) and during mobilization 4.7 (2.6). Required mean morphine per day was 81 (15) mg, and the number of doses requested increased during the first 6 days after the burn. The authors found no correlation between dose of morphine required and any other variables. Background pain can be controlled adequately with a standard PCA protocol. During mobilization, the pain experienced was too intense, despite having the already high doses of morphine increased. The present protocol must be refined further to provide analgesia adequate to cover mobilization as well.

Experimental analysis and management issues of a hydrogen fuel cell system for stationary and mobile application

International Nuclear Information System (INIS)

Corbo, Pasquale; Migliardini, Fortunato; Veneri, Ottorino

2007-01-01

A laboratory fuel cell system based on a 20 kW H 2 /air proton exchange membrane stack was designed, realized and characterized with the aim to elucidate specific concerns to be considered for both hydrogen stationary power systems and automotive applications. The overall system characterization permitted the effect of the main operative variables (temperature, pressure and stoichiometric ratio) on stack power and efficiency to be evaluated. Reactant feeding, humidification and cooling problems are discussed, evidencing in particular the roles of air compressor, fuel purge, stack temperature and humidification strategy in system management. The characterization results are analyzed in terms of H 2 consumption and available power, evidencing the energy losses of the individual fuel cell system components. In particular, the data obtained on key components (stack, reactants, heat and water management devices) are used for a critical discussion about their specifications and operation characteristics as demanded by both stationary and mobile applications

Experimental analysis and management issues of a hydrogen fuel cell system for stationary and mobile application

Energy Technology Data Exchange (ETDEWEB)

Corbo, Pasquale; Migliardini, Fortunato; Veneri, Ottorino [Istituto Motori of Italian National Research Council, Via Marconi 8, 80125 Napoli (Italy)

2007-08-15

A laboratory fuel cell system based on a 20 kW H{sub 2}/air proton exchange membrane stack was designed, realized and characterized with the aim to elucidate specific concerns to be considered for both hydrogen stationary power systems and automotive applications. The overall system characterization permitted the effect of the main operative variables (temperature, pressure and stoichiometric ratio) on stack power and efficiency to be evaluated. Reactant feeding, humidification and cooling problems are discussed, evidencing in particular the roles of air compressor, fuel purge, stack temperature and humidification strategy in system management. The characterization results are analyzed in terms of H{sub 2} consumption and available power, evidencing the energy losses of the individual fuel cell system components. In particular, the data obtained on key components (stack, reactants, heat and water management devices) are used for a critical discussion about their specifications and operation characteristics as demanded by both stationary and mobile applications. (author)

Motion control of multi-actuator hydraulic systems for mobile machineries: Recent advancements and future trends

Science.gov (United States)

Xu, Bing; Cheng, Min

2018-06-01

This paper presents a survey of recent advancements and upcoming trends in motion control technologies employed in designing multi-actuator hydraulic systems for mobile machineries. Hydraulic systems have been extensively used in mobile machineries due to their superior power density and robustness. However, motion control technologies of multi-actuator hydraulic systems have faced increasing challenges due to stringent emission regulations. In this study, an overview of the evolution of existing throttling control technologies is presented, including open-center and load sensing controls. Recent advancements in energy-saving hydraulic technologies, such as individual metering, displacement, and hybrid controls, are briefly summarized. The impact of energy-saving hydraulic technologies on dynamic performance and control solutions are also discussed. Then, the advanced operation methods of multi-actuator mobile machineries are reviewed, including coordinated and haptic controls. Finally, challenges and opportunities of advanced motion control technologies are presented by providing an overall consideration of energy efficiency, controllability, cost, reliability, and other aspects.

Optimal control of hydrogen production in a continuous anaerobic fermentation bioreactor

Energy Technology Data Exchange (ETDEWEB)

Aceves-Lara, Cesar-Arturo [INRA, UMR792, Ingenierie des Systemes Biologiques et des Procedes, Toulouse (France); CNRS, UMR5504, Toulouse, France 135 Avenue de Rangueil, Toulouse Cedex F-31077 (France); INRA, UR050, Laboratoire de Biotechnologie de l' Environnement, Avenue des Etangs, Narbonne F-11100 (France); Latrille, Eric; Steyer, Jean-Philippe [INRA, UR050, Laboratoire de Biotechnologie de l' Environnement, Avenue des Etangs, Narbonne F-11100 (France)

2010-10-15

This paper addresses the problem of optimization of hydrogen production in continuous anaerobic digesters using a model predictive control (MPC) strategy. The process is described by a dynamic nonlinear model. The influent concentration of molasses together with the effluent substrate and product concentrations of acetate, propionate, butyrate and biomass were estimated by an asymptotic online observer from measurements of gas composition in H{sub 2} and CO{sub 2} and gas flow rate. The observer was tested experimentally before to apply MPC online. The combined strategy (MPC and observer) was used in order to optimize a bioreactor of 2 L. The hydrogen production was increased by 75% up to 8.27mL{sub H{sub 2}} L{sup -1}min{sup -1}, using the influent flow rate as the main control variable while keeping the conversion of the influent concentration higher than 95% and maintaining the temperature at 37 C and pH at 5.5. (author)

Pituitary tumor risk in relation to mobile phone use: A case-control study.

Science.gov (United States)

Shrestha, Mithila; Raitanen, Jani; Salminen, Tiina; Lahkola, Anna; Auvinen, Anssi

2015-01-01

The number of mobile phone users has grown rapidly, which has generated mounting public concern regarding possible health hazards. This study aims to assess pituitary tumor risk, as it has rarely been investigated. A case-control study was conducted with 80 eligible cases identified from all five university hospitals in Finland and frequency-matched 240 controls from the national population register. Controls were matched to cases by age, sex, region of residence and date of interview. A detailed history of mobile phone use was obtained using a structured interview. Several indicators of mobile phone use were assessed using conditional logistic regression. A reduced odds ratio was seen among regular mobile phone users [OR 0.39, 95% confidence interval (CI) 0.21, 0.72] relative to never/non-regular users, possibly reflecting methodological limitations. Pituitary tumor risk was not increased after 10 or more years since first use (OR 0.69, 95% CI 0.25, 1.89). The risk was not increased in relation to duration, cumulative hours of use, or cumulative number of calls. The results were similar for analog and digital phones. We found no excess risk associated with self-reported short- or medium-term use of mobile phones. This is consistent with most of the published studies. However, uncertainties remained for longer duration of use, as a very small proportion of study participants reported use beyond 10 years.

Flexible and Safe Control of Mobile Surface Systems, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The primary innovation of this work is a novel Petri net based approach for safe and flexible control of highly capable mobile surface systems, such as long-duration...

Study on control characteristics for HTTR hydrogen production system with mock-up test facility

International Nuclear Information System (INIS)

Inaba, Yoshitomo; Ohashi, Hirofumi; Nishihara, Tetsuo; Sato, Hiroyuki; Inagaki, Yoshiyuki; Takeda, Tetsuaki; Hayashi, Koji; Takada, Shoji

2005-01-01

The Japan Atomic Energy Research Institute has a demonstration test plan of a hydrogen production system by steam reforming of methane coupling with the High-Temperature Engineering Test Reactor (HTTR). Prior to the coupling of a hydrogen production plant with the HTTR, simulation tests with a mock-up test facility of the HTTR hydrogen production system (HTTR-H2) is underway. The test facility is a 1/30-scale of the HTTR-H2 and simulates key components downstream from an intermediate heat exchanger of the HTTR. The main objective of the simulation tests is the establishment and demonstration of control technology, focusing on the mitigation of a thermal disturbance to the reactor by a steam generator (SG) and on the controllability of the pressure difference between the helium and process gases at the reaction tube in a steam reformer (SR). It was confirmed that the fluctuation of the outlet helium gas temperature at the SG and the pressure difference in the SR can be controlled within the allowable range for the HTTR-H2 in the case of the system controllability test for the fluctuation of chemical reaction. In addition, a dynamic simulation code for the HTTR-H2 was verified with the obtained test data

Control of an automated mobile manipulator using artificial immune system

Science.gov (United States)

Deepak, B. B. V. L.; Parhi, Dayal R.

2016-03-01

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM) using artificial immune system. The aim of the developed methodology is to navigate the system autonomously and transport jobs and tools in manufacturing environments. This study integrates the kinematic structures of a four-axis manipulator and a differential wheeled mobile platform. The motion of the developed WMM is controlled by the complete system of parametric equation in terms of joint velocities and makes the robot to follow desired trajectories by the manipulator and platform within its workspace. The developed robot system performs its action intelligently according to the sensed environmental criteria within its search space. To verify the effectiveness of the proposed immune-based motion planner for WMM, simulations as well as experimental results are presented in various unknown environments.

Adaptive training of neural networks for control of autonomous mobile robots

NARCIS (Netherlands)

Steur, E.; Vromen, T.; Nijmeijer, H.; Fossen, T.I.; Nijmeijer, H.; Pettersen, K.Y.

2017-01-01

We present an adaptive training procedure for a spiking neural network, which is used for control of a mobile robot. Because of manufacturing tolerances, any hardware implementation of a spiking neural network has non-identical nodes, which limit the performance of the controller. The adaptive

An Optimal Mobile Service for Telecare Data Synchronization using a Role-based Access Control Model and Mobile Peer-to-Peer Technology.

Science.gov (United States)

Ke, Chih-Kun; Lin, Zheng-Hua

2015-09-01

The progress of information and communication technologies (ICT) has promoted the development of healthcare which has enabled the exchange of resources and services between organizations. Organizations want to integrate mobile devices into their hospital information systems (HIS) due to the convenience to employees who are then able to perform specific healthcare processes from any location. The collection and merage of healthcare data from discrete mobile devices are worth exploring possible ways for further use, especially in remote districts without public data network (PDN) to connect the HIS. In this study, we propose an optimal mobile service which automatically synchronizes the telecare file resources among discrete mobile devices. The proposed service enforces some technical methods. The role-based access control model defines the telecare file resources accessing mechanism; the symmetric data encryption method protects telecare file resources transmitted over a mobile peer-to-peer network. The multi-criteria decision analysis method, ELECTRE (Elimination Et Choice Translating Reality), evaluates multiple criteria of the candidates' mobile devices to determine a ranking order. This optimizes the synchronization of telecare file resources among discrete mobile devices. A prototype system is implemented to examine the proposed mobile service. The results of the experiment show that the proposed mobile service can automatically and effectively synchronize telecare file resources among discrete mobile devices. The contribution of this experiment is to provide an optimal mobile service that enhances the security of telecare file resource synchronization and strengthens an organization's mobility.

Hydrogen: energy transition under way

International Nuclear Information System (INIS)

Franc, Pierre-Etienne; Mateo, Pascal

2015-01-01

Written by a representative of Air Liquide with the help of a free lance journalist, this book proposes an overview of the technological developments for the use of hydrogen as a clean energy with its ability to store primary energy (notably that produced by renewable sources), and its capacity of energy restitution in combination with a fuel cell with many different applications (notably mobility-related applications). The authors outline that these developments are very important in a context of energy transition. They also outline what is left to be done, notably economically and financially, for hydrogen to play its role in the energy revolution which is now under way

Efficient Control Law Simulation for Multiple Mobile Robots

Energy Technology Data Exchange (ETDEWEB)

Driessen, B.J.; Feddema, J.T.; Kotulski, J.D.; Kwok, K.S.

1998-10-06

In this paper we consider the problem of simulating simple control laws involving large numbers of mobile robots. Such simulation can be computationally prohibitive if the number of robots is large enough, say 1 million, due to the 0(N2 ) cost of each time step. This work therefore uses hierarchical tree-based methods for calculating the control law. These tree-based approaches have O(NlogN) cost per time step, thus allowing for efficient simulation involving a large number of robots. For concreteness, a decentralized control law which involves only the distance and bearing to the closest neighbor robot will be considered. The time to calculate the control law for each robot at each time step is demonstrated to be O(logN).

High Density Hydrogen Storage in Metal Hydride Composites with Air Cooling

OpenAIRE

Dieterich, Mila; Bürger, Inga; Linder, Marc

2015-01-01

INTRODUCTION In order to combine fluctuating renewable energy sources with the actual demand of electrical energy, storages are essential. The surplus energy can be stored as hydrogen to be used either for mobile use, chemical synthesis or reconversion when needed. One possibility to store the hydrogen gas at high volumetric densities, moderate temperatures and low pressures is based on a chemical reaction with metal hydrides. Such storages must be able to absorb and desorb the hydrogen qu...

A green hydrogen economy

Energy Technology Data Exchange (ETDEWEB)

Clark, W.W. II [Clark Communications, Beverly Hills, CA (United States). Green Hydrogen Scientific Advisory Committee; Rifkin, J. [The Foundation on Economic Trends (United States)

2006-11-15

This paper is the result of over a dozen scholars and practitioners who strongly felt that a hydrogen economy and hence the future is closer than some American politicians and bureaucrats state. Moreover, when seen internationally, there is strong evidence, the most recent and obvious ones are the proliferation of hybrid vehicles, that for any nation-state to be energy independent it must seek a renewable or green hydrogen future in the near term. The State of California has once again taken the lead in this effort for both an energy-independent future and one linked strongly to the hydrogen economy. Then why a hydrogen economy in the first instance? The fact is that hydrogen most likely will not be used for refueling of vehicles in the near term. The number of vehicles to make hydrogen commercially viable will not be in the mass market by almost all estimates until 2010. However, it is less than a decade away. The time frame is NOT 30-40 years as some argue. The hydrogen economy needs trained people, new ventures and public-private partnerships now. The paper points out how the concerns of today, including higher costs and technologies under development, can be turned into opportunities for both the public and private sectors. It was not too long ago that the size of a mobile phone was that of a briefcase, and then almost 10 years ago, the size of a shoe box. Today, they are not only the size of a man's wallet but also often given away free to consumers who subscribe or contract for wireless services. While hydrogen may not follow this technological commercialization exactly, it certainly will be on a parallel path. International events and local or regional security dictate that the time for a hydrogen must be close at hand. (author)

A green hydrogen economy

International Nuclear Information System (INIS)

Clark, Woodrow W.; Rifkin, Jeremy

2006-01-01

This paper is the result of over a dozen scholars and practitioners who strongly felt that a hydrogen economy and hence the future is closer than some American politicians and bureaucrats state. Moreover, when seen internationally, there is strong evidence, the most recent and obvious ones are the proliferation of hybrid vehicles, that for any nation-state to be energy independent it must seek a renewable or green hydrogen future in the near term. The State of California has once again taken the lead in this effort for both an energy-independent future and one linked strongly to the hydrogen economy. Then why a hydrogen economy in the first instance? The fact is that hydrogen most likely will not be used for refueling of vehicles in the near term. The number of vehicles to make hydrogen commercially viable will not be in the mass market by almost all estimates until 2010. However, it is less than a decade away. The time frame is NOT 30-40 years as some argue. The hydrogen economy needs trained people, new ventures and public-private partnerships now. The paper points out how the concerns of today, including higher costs and technologies under development, can be turned into opportunities for both the public and private sectors. It was not too long ago that the size of a mobile phone was that of a briefcase, and then almost 10 years ago, the size of a shoe box. Today, they are not only the size of a man's wallet but also often given away free to consumers who subscribe or contract for wireless services. While hydrogen may not follow this technological commercialization exactly, it certainly will be on a parallel path. International events and local or regional security dictate that the time for a hydrogen must be close at hand

Enhanced dispersion stability and mobility of carboxyl-functionalized carbon nanotubes in aqueous solutions through strong hydrogen bonds

International Nuclear Information System (INIS)

Bahk, Yeon Kyoung; He, Xu; Gitsis, Emmanouil; Kuo, Yu-Ying; Kim, Nayoung; Wang, Jing

2015-01-01

Dispersion of carbon nanotubes has been heavily studied due to its importance for their technical applications, toxic effects, and environmental impacts. Common electrolytes, such as sodium chloride and potassium chloride, promote agglomeration of nanoparticles in aqueous solutions. On the contrary, we discovered that acetic electrolytes enhanced the dispersion of multi-walled carbon nanotubes (MWCNTs) with carboxyl functional group through the strong hydrogen bond, which was confirmed by UV–Vis spectrometry, dispersion observations and aerosolization-quantification method. When concentrations of acetate electrolytes such as ammonium acetate (CH 3 CO 2 NH 4 ) and sodium acetate (CH 3 CO 2 Na) were lower than 0.03 mol per liter, MWCNT suspensions showed better dispersion and had higher mobility in porous media. The effects by the acetic environment are also applicable to other nanoparticles with the carboxyl functional group, which was demonstrated with polystyrene latex particles as an example

Model predictive control in light naphtha distillation column of gasoline hydrogenation process

Directory of Open Access Journals (Sweden)

Kornkrit Chiewchanchairat

2015-03-01

Full Text Available The main scope of this research is for designing and implementing of model predictive control (MPC on the light naphtha distillation column of gasoline hydrogenation process. This model is designed by using robust multivariable predictive control technology (RMPCT. The performance of MPC controller is better than PID controllers 32.1 % those are comparing by using as the same of objective function and also in the MPC controller can be used for steam optimization that is shown in this research, stream consumption is reduced 6.6 Kg/ m3 of fresh feed.

AMC’s Hydrogen Future: Sustainable Air Mobility

Science.gov (United States)

2009-06-01

levels, acidification of the oceans , desertification and the increased intensity of hurricanes. Since the United States is the leading consumer of...and steel to Carbon Fiber Reinforced Plastics (CFRP). The Institute of Space and Astronautical Science (ISAS) designed a liquid hydrogen composite...shell interior with a carbon fiber reinforced plastic outer shell with insulation and water proof tape cover (see Figure 35). The tank ended up

Status report on controlled nuclear fusion as a source of hydrogen energy

International Nuclear Information System (INIS)

Powell, J.

1975-01-01

The present status of controlled fusion research is reviewed. Possible future reseach is also described. Tokamak systems using both fusion and fissionable fuels are discussed. Various aspects of hydrogen production by fusion reactors are described according to cost and economics. auth)

Hydrogen from renewable energy: A pilot plant for thermal production and mobility

Science.gov (United States)

Degiorgis, L.; Santarelli, M.; Calì, M.

In the mainframe of a research contract, a feasibility pre-design study of a hydrogen-fuelled Laboratory-Village has been carried out: the goals are the design and the simulation of a demonstration plant based on hydrogen as primary fuel. The hydrogen is produced by electrolysis, from electric power produced by a mix of hydroelectric and solar photovoltaic plants. The plant will be located in a small remote village in Valle d'Aosta (Italy). This country has large water availability from glaciers and mountains, so electricity production from fluent water hydroelectric plants is abundant and cheap. Therefore, the production of hydrogen during the night (instead of selling the electricity to the grid at very low prices) could become a good economic choice, and hydrogen could be a competitive local fuel in term of costs, if compared to oil or gas. The H 2 will be produced and stored, and used to feed a hydrogen vehicle and for thermal purposes (heating requirement of three buildings), allowing a real field test (Village-Laboratory). Due to the high level of pressure requested for H 2 storage on-board in the vehicle, the choice has been the experimental test of a prototype laboratory-scale high-pressure PEM electrolyzer: a test laboratory has been designed, to investigate the energy savings related to this technology. In the paper, the description of the dynamic simulation of the plant (developed with TRNSYS) together with a detailed design and an economic analysis (proving the technical and economical feasibility of the installation) has been carried out. Moreover, the design of the high-pressure PEM electrolyzer is described.

A Low Cost Mobile Robot Based on Proportional Integral Derivative (PID) Control System and Odometer for Education

Science.gov (United States)

Haq, R.; Prayitno, H.; Dzulkiflih; Sucahyo, I.; Rahmawati, E.

2018-03-01

In this article, the development of a low cost mobile robot based on PID controller and odometer for education is presented. PID controller and odometer is applied for controlling mobile robot position. Two-dimensional position vector in cartesian coordinate system have been inserted to robot controller as an initial and final position. Mobile robot has been made based on differential drive and sensor magnetic rotary encoder which measured robot position from a number of wheel rotation. Odometry methode use data from actuator movements for predicting change of position over time. The mobile robot is examined to get final position with three different heading angle 30°, 45° and 60° by applying various value of KP, KD and KI constant.

Properties of MgAl alloys in relation to hydrogen storage

Energy Technology Data Exchange (ETDEWEB)

Andreasen, Anders

2005-08-01

Magnesium theoretically stores 7.6 wt. % hydrogen, although it requires heating to above 300 degrees C in order to release hydrogen. This limits its use for mobile application. However, due to its low price and abundance magnesium should still be considered as a potential candidate for hydrogen storage e.g. in stationary applications. In this report the properties of Mg-Al alloys are reviewed in relation to solid state hydrogen storage Alloying with Al reduces the hydrogen capacity since Al does not form a hydride under conventional hydriding conditions, however both the thermodynamical properties (lower desorption temperature), and kinetics of hydrogenation/dehydrogenation are improved. In addition to this, the low price of the hydride is retained along with improved heat transfer properties and improved resistance towards oxygen contamination. (au)

Mobile-Based Video Learning Outcomes in Clinical Nursing Skill Education: A Randomized Controlled Trial.

Science.gov (United States)

Lee, Nam-Ju; Chae, Sun-Mi; Kim, Haejin; Lee, Ji-Hye; Min, Hyojin Jennifer; Park, Da-Eun

2016-01-01

Mobile devices are a regular part of daily life among the younger generations. Thus, now is the time to apply mobile device use to nursing education. The purpose of this study was to identify the effects of a mobile-based video clip on learning motivation, competence, and class satisfaction in nursing students using a randomized controlled trial with a pretest and posttest design. A total of 71 nursing students participated in this study: 36 in the intervention group and 35 in the control group. A video clip of how to perform a urinary catheterization was developed, and the intervention group was able to download it to their own mobile devices for unlimited viewing throughout 1 week. All of the students participated in a practice laboratory to learn urinary catheterization and were blindly tested for their performance skills after participation in the laboratory. The intervention group showed significantly higher levels of learning motivation and class satisfaction than did the control. Of the fundamental nursing competencies, the intervention group was more confident in practicing catheterization than their counterparts. Our findings suggest that video clips using mobile devices are useful tools that educate student nurses on relevant clinical skills and improve learning outcomes.

γ-irradiation effect on electronic properties in hydrogenated amorphous silicon

International Nuclear Information System (INIS)

Shirafuji, J.; Nagata, S.; Shirakawa, K.

1986-01-01

γ-irradiation effect on electron transport and photoelectric properties in glow-discharge hydrogenated amorphous silicon is investigated mainly by means of time-of-flight measurement. Although the electron transport changes from non-dispersive to dispersive when the total dose on γ-rays is increased, the electron mobility at room temperature is affected only slightly by γ-irradiation. The γ-irradiation introduces dominantly Si dangling bonds, allowing to study the recombination characteristic as a function of dangling bond density under controllable conditions. It is found that the electron recombination lifetime is inversely proportional to the dangling bond density. (author)

Remote Control of a Mobile Robot for Indoor Patrol

Directory of Open Access Journals (Sweden)

Shih-Yao Juang

2016-03-01

Full Text Available This study applies smartphone, Bluetooth, and Wi-Fi wireless network to control a wheeled mobile robot (WMR remotely. The first part of this study demonstrates that the WMR can be controlled manually by a smartphone. The smartphone can remotely control the WMR for forward, backward, left-turn, and right-turn operations. The second part of this article presents object tracking. The WMR can follow a moving object through the use of image processing for object tracking and distance detection. In the third part, infrared sensor and fuzzy system algorithms are integrated into the control scheme. Through wall-following and obstacle-avoidance control, the WMR can successfully perform indoor patrol.

Adaptive Tracking and Obstacle Avoidance Control for Mobile Robots with Unknown Sliding

Directory of Open Access Journals (Sweden)

Mingyue Cui

2012-11-01

Full Text Available An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time-varying parameters. A sliding model observer is introduced to estimate the sliding parameters online. A stable tracking control law for this nonholonomic system is proposed to compensate the unknown sliding effect. From Lyapunov-stability analysis, it is proved, regardless of unknown sliding, that tracking errors of the controlled closed-loop system are asymptotically stable, the tracking errors converge to zero outside the obstacle detection region and obstacle avoidance is guaranteed inside the obstacle detection region. The efficiency and robustness of the proposed control system are verified by simulation results.

Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

Directory of Open Access Journals (Sweden)

Leonimer Flavio de Melo

2013-09-01

Full Text Available This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.

Improving crystallization and electron mobility of indium tin oxide by carbon dioxide and hydrogen dual-step plasma treatment

Science.gov (United States)

Wang, Fengyou; Du, Rongchi; Ren, Qianshang; Wei, Changchun; Zhao, Ying; Zhang, Xiaodan

2017-12-01

Obtaining high conductivity indium tin oxide (ITO) films simultaneously with a "soft-deposited" (low temperature, low ions bombardment) and cost-efficient deposition process are critical aspect for versatile photo-electronic devices application. Usually, the low-cost "soft-deposited" process could be achieved via evaporation technique, but with scarifying the conductivity of the films. Here, we show a CO2 and H2 two-step plasma (TSP) post-treatment applied to ITO films prepared by reactive thermal evaporation (RTE), allows to meet the special trade-off between the deposition techniques and the electrical properties. Upon treatment, an increase in electron concentration and electron mobility is observed, which subsequently resulting a low sheet resistivity. The mobility reaches high values of 80.9 cm2/Vs for the TSP treated ∼100 nm thickness samples. From a combination of X-ray photoelectron spectroscopy and opto-electronic measurements, it demonstrated that: during the TSP process, the first-step CO2 plasma treatment could promote the crystallinity of the RTE ITO films. While the electron traps density at grain boundaries of polycrystalline RTE ITO films could be passivated by hydrogen atom during the second-step H2 plasma treatment. These results inspired that the TSP treatment process has significant application prospects owing to the outstanding electrical properties enhancement for "soft-deposited" RTE ITO films.

Autonomous Power Control MAC Protocol for Mobile Ad Hoc Networks

Directory of Open Access Journals (Sweden)

2006-01-01

Full Text Available Battery energy limitation has become a performance bottleneck for mobile ad hoc networks. IEEE 802.11 has been adopted as the current standard MAC protocol for ad hoc networks. However, it was developed without considering energy efficiency. To solve this problem, many modifications on IEEE 802.11 to incorporate power control have been proposed in the literature. The main idea of these power control schemes is to use a maximum possible power level for transmitting RTS/CTS and the lowest acceptable power for sending DATA/ACK. However, these schemes may degrade network throughput and reduce the overall energy efficiency of the network. This paper proposes autonomous power control MAC protocol (APCMP, which allows mobile nodes dynamically adjusting power level for transmitting DATA/ACK according to the distances between the transmitter and its neighbors. In addition, the power level for transmitting RTS/CTS is also adjustable according to the power level for DATA/ACK packets. In this paper, the performance of APCMP protocol is evaluated by simulation and is compared with that of other protocols.

Charge Modulation in Graphitic Carbon Nitride as a Switchable Approach to High-Capacity Hydrogen Storage.

Science.gov (United States)

Tan, Xin; Kou, Liangzhi; Tahini, Hassan A; Smith, Sean C

2015-11-01

Electrical charging of graphitic carbon nitride nanosheets (g-C4 N3 and g-C3 N4 ) is proposed as a strategy for high-capacity and electrocatalytically switchable hydrogen storage. Using first-principle calculations, we found that the adsorption energy of H2 molecules on graphitic carbon nitride nanosheets is dramatically enhanced by injecting extra electrons into the adsorbent. At full hydrogen coverage, the negatively charged graphitic carbon nitride achieves storage capacities up to 6-7 wt %. In contrast to other hydrogen storage approaches, the storage/release occurs spontaneously once extra electrons are introduced or removed, and these processes can be simply controlled by switching on/off the charging voltage. Therefore, this approach promises both facile reversibility and tunable kinetics without the need of specific catalysts. Importantly, g-C4 N3 has good electrical conductivity and high electron mobility, which can be a very good candidate for electron injection/release. These predictions may prove to be instrumental in searching for a new class of high-capacity hydrogen storage materials. © 2015 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Hydrogen - the fuel of the future

International Nuclear Information System (INIS)

Schoenwiesner, R.; Prosnan, J.

2003-01-01

Experts see hydrogen as the best possible long-term solution of the transport problem. Hydrogen as the fuel of the future should increase the competition amongst fuel suppliers and at the same time decrease the dependence of developed countries on oil import. Hydrogen can be produced from renewable sources - biomass, water, wind or solar energy. Hydrogen can be used as power source of mobile phones, computers, printers, television sets or even whole buildings. Hydrogen can be used as fuel for traditional combustion engines of cars but the system of mixing with air would have to be adjusted. For instance car producers like BMW or Hyundai have already started tests with hydrogen engines. These would then be much 'cleaner' then the traditional engines using diesel, petrol or natural gas. But rather then using hydrogen in traditional engines the experts consider fuel cells more perspective. According to company Shell Hydrogen first transformers would produce hydrogen using natural gas or other traditional fuels but this should decrease the volume of green-house-gasses by about 50 percent. In the opinion of company Shell the use of fuel cells would represent the most effective way of using minerals. Shell currently operates hydrogen filling stations on Island and in Tokyo, recently has opened a new one in Luxembourg and by the end of this month another one should open in Amsterdam. These plans are connected to a project of city busses run in cooperation of European Union and car producer Daimler Chrysler. (Authors)

Integrated waste hydrogen utilization project

International Nuclear Information System (INIS)

Armstrong, C.

2004-01-01

'Full text:' The BC Hydrogen Highway's, Integrated Waste Hydrogen Utilization Project (IWHUP) is a multi-faceted, synergistic collaboration that will capture waste hydrogen and promote its use through the demonstration of 'Hydrogen Economy' enabling technologies developed by Canadian companies. IWHUP involves capturing and purifying a small portion of the 600 kg/hr of by-product hydrogen vented to the atmosphere at the ERCO's electrochemical sodium chlorate plant in North Vancouver, BC. The captured hydrogen will then be compressed so it is suitable for transportation on roadways and can be used as a fuel in transportation and stationary fuel cell demonstrations. In summary, IWHUP invests in the following; Facilities to produce up to 20kg/hr of 99.999% pure 6250psig hydrogen using QuestAir's leading edge Pressure Swing Absorption technology; Ultra high-pressure transportable hydrogen storage systems developed by Dynetek Industries, Powertech Labs and Sacre-Davey Engineering; A Mobile Hydrogen Fuelling Station to create Instant Hydrogen Infrastructure for light-duty vehicles; Natural gas and hydrogen (H-CNG) blending and compression facilities by Clean Energy for fueling heavy-duty vehicles; Ten hydrogen, internal combustion engine (H-ICE), powered light duty pick-up vehicles and a specialized vehicle training, maintenance, and emissions monitoring program with BC Hydro, GVRD and the District of North Vancouver; The demonstration of Westport's H-CNG technology for heavy-duty vehicles in conjunction with local transit properties and a specialized vehicle training, maintenance, and emissions monitoring program; The demonstration of stationary fuel cell systems that will provide clean power for reducing peak-load power demands (peak shaving), grid independence and water heating; A comprehensive communications and outreach program designed to educate stakeholders, the public, regulatory bodies and emergency response teams in the local community, Supported by industry

Enhanced dispersion stability and mobility of carboxyl-functionalized carbon nanotubes in aqueous solutions through strong hydrogen bonds

Energy Technology Data Exchange (ETDEWEB)

Bahk, Yeon Kyoung; He, Xu; Gitsis, Emmanouil; Kuo, Yu-Ying [ETH Zurich, Institute of Environmental Engineering (Switzerland); Kim, Nayoung [EMPA, Building Energy Materials and Components (Switzerland); Wang, Jing, E-mail: jing.wang@ifu.baug.ethz.ch [ETH Zurich, Institute of Environmental Engineering (Switzerland)

2015-10-15

Dispersion of carbon nanotubes has been heavily studied due to its importance for their technical applications, toxic effects, and environmental impacts. Common electrolytes, such as sodium chloride and potassium chloride, promote agglomeration of nanoparticles in aqueous solutions. On the contrary, we discovered that acetic electrolytes enhanced the dispersion of multi-walled carbon nanotubes (MWCNTs) with carboxyl functional group through the strong hydrogen bond, which was confirmed by UV–Vis spectrometry, dispersion observations and aerosolization-quantification method. When concentrations of acetate electrolytes such as ammonium acetate (CH{sub 3}CO{sub 2}NH{sub 4}) and sodium acetate (CH{sub 3}CO{sub 2}Na) were lower than 0.03 mol per liter, MWCNT suspensions showed better dispersion and had higher mobility in porous media. The effects by the acetic environment are also applicable to other nanoparticles with the carboxyl functional group, which was demonstrated with polystyrene latex particles as an example.

Predictions of glass transition temperature for hydrogen bonding biomaterials.

Science.gov (United States)

van der Sman, R G M

2013-12-19

We show that the glass transition of a multitude of mixtures containing hydrogen bonding materials correlates strongly with the effective number of hydroxyl groups per molecule, which are available for intermolecular hydrogen bonding. This correlation is in compliance with the topological constraint theory, wherein the intermolecular hydrogen bonds constrain the mobility of the hydrogen bonded network. The finding that the glass transition relates to hydrogen bonding rather than free volume agrees with our recent finding that there is little difference in free volume among carbohydrates and polysaccharides. For binary and ternary mixtures of sugars, polyols, or biopolymers with water, our correlation states that the glass transition temperature is linear with the inverse of the number of effective hydroxyl groups per molecule. Only for dry biopolymer/sugar or sugar/polyol mixtures do we find deviations due to nonideal mixing, imposed by microheterogeneity.

Managing mobility outcomes in vulnerable seniors ( MMOVeS): a randomized controlled pilot study.

Science.gov (United States)

Figueiredo, Sabrina; Morais, Jose A; Mayo, Nancy

2017-12-01

To estimate feasibility and potential for efficacy of an individualized, exercise-focused, self-management program (i.e. Managing Mobility Outcomes In Vulnerable Seniors ( MMOVeS)), in comparison to exercise information in improving mobility after six months among seniors recently discharged from hospital. Randomized pilot study. Two McGill University-teaching hospitals. Community dwelling seniors, aged 70 years and older, recently discharged from either participating hospitals. The physiotherapy-facilitated intervention consisted of (1) evaluation of mobility capacity, (2) setting short- and long-term goals, (3) delineation of an exercise treatment plan, (4) an educational booklet to enhance mobility self-management skills, and (5) six monthly telephone calls. Control group received a booklet with information on exercises targeting mobility limitations in seniors. Mobility, pain, and health status were assessed at baseline and at six months using multiple indicators drawn from Disabilities of the Arm, Shoulder, and Hand (DASH) Score, Lower Extremity Functional Scale (LEFS) and Short-Form (SF)-36. In all, 26 people were randomized to the intervention (mean age: 81 ± 8; 39% women), and 23 were randomized to the control (mean age: 79 ± 7; 33% women). The odds ratio for the mobility outcomes combined was 3.08 and the 95% confidence interval excluded 1 (1.65-5.77). The odds ratio for pain and health perception favored the MMOVeS group, but the 95% confidence interval included the null value. This feasibility study highlights the potential for efficacy of an individualized, exercise-focused, self-management program in comparison to exercise information in improving mobility outcome for seniors. Furthermore, a home-program combining self-management skills and exercise taught with minimal supervision prove to be feasible. Finally, data from this study can be used to estimate sample size for a confirmatory trial.

Epigenetic control of mobile DNA as an interface between experience and genome change

Directory of Open Access Journals (Sweden)

James A. Shapiro

2014-04-01

Full Text Available Mobile DNA in the genome is subject to RNA-targeted epigenetic control. This control regulates the activity of transposons, retrotransposons and genomic proviruses. Many different life history experiences alter the activities of mobile DNA and the expression of genetic loci regulated by nearby insertions. The same experiences induce alterations in epigenetic formatting and lead to trans-generational modifications of genome expression and stability. These observations lead to the hypothesis that epigenetic formatting directed by non-coding RNA provides a molecular interface between life history events and genome alteration.

New efficient hydrogen process production from organosilane hydrogen carriers derivatives

Energy Technology Data Exchange (ETDEWEB)

Brunel, Jean Michel [Unite URMITE, UMR 6236 CNRS, Faculte de Medecine et de Pharmacie, Universite de la Mediterranee, 27 boulevard Jean Moulin, 13385 Marseille 05 (France)

2010-04-15

While the source of hydrogen constitutes a significant scientific challenge, addressing issues of hydrogen storage, transport, and delivery is equally important. None of the current hydrogen storage options, liquefied or high pressure H{sub 2} gas, metal hydrides, etc.. satisfy criteria of size, costs, kinetics, and safety for use in transportation. In this context, we have discovered a methodology for the production of hydrogen on demand, in high yield, under kinetic control, from organosilane hydrogen carriers derivatives and methanol as co-reagent under mild conditions catalyzed by a cheap ammonium fluoride salt. Finally, the silicon by-products can be efficiently recycle leading to an environmentally friendly source of energy. (author)

Cooperative control of a squad of mobile vehicles

International Nuclear Information System (INIS)

Lewis, C.; Feddema, J.; Klarer, P.

1998-01-01

Tasks such as the localization of chemical sources, demining, perimeter control, surveillance and search and rescue missions are usually performed by teams of people. At least conceptually, large groups of relatively cheap mobile vehicles outfitted with sensors should be able to automatically accomplish some of these tasks. Sandia National Labs is currently developing a swarm of semi-autonomous all terrain vehicles for remote cooperative sensing applications. This paper will describe the capabilities of this system and outline some of its possible applications. Cooperative control and sensing strategies will also be described. Eight Roving All Terrain Lunar Explorer Rovers (RATLERs) have been built at Sandia as a test platform for cooperative control and sensing applications. This paper will first describe the hardware capabilities of the RATLER system. Then it will describe the basic control algorithm for GPS based navigation and obstacle avoidance. A higher level cooperative control task will then be described

Mobile Workforce, Mobile Technology, Mobile Threats

International Nuclear Information System (INIS)

Garcia, J.

2015-01-01

Mobile technologies' introduction into the world of safeguards business processes such as inspection creates tremendous opportunity for novel approaches and could result in a number of improvements to such processes. Mobile applications are certainly the wave of the future. The success of the application ecosystems has shown that users want full fidelity, highly-usable, simple purpose applications with simple installation, quick responses and, of course, access to network resources at all times. But the counterpart to opportunity is risk, and the widespread adoption of mobile technologies requires a deep understanding of the threats and vulnerabilities inherent in mobile technologies. Modern mobile devices can be characterized as small computers. As such, the threats against computing infrastructure apply to mobile devices. Meanwhile, the attributes of mobile technology that make it such an obvious benefit over traditional computing platforms all have elements of risk: pervasive, always-on networking; diverse ecosystems; lack of centralized control; constantly shifting technological foundations; intense competition among competitors in the marketplace; the scale of the installation base (from millions to billions); and many more. This paper will explore the diverse and massive environment of mobile, the number of attackers and vast opportunities for compromise. The paper will explain how mobile devices prove valuable targets to both advanced and persistent attackers as well as less-skilled casual hackers. Organized crime, national intelligence agencies, corporate espionage are all part of the landscape. (author)

Local system for control by console-mobile crane for russian depository of fissionable materials

International Nuclear Information System (INIS)

Troshchenko, V.G.; Kapustin, V.N.; Zinina, N.V.; Derbyshev, S.A.

2005-01-01

Description of crane of console-mobile type used for transportation of fissionable materials in depository with local control system is represented. Local control system realizes program control in real time [ru

MIMO H∞ control of three-axis ship-mounted mobile antenna systems

Science.gov (United States)

Kuseyri, İ. Sina

2018-02-01

The need for on-line information in any environment has led to the development of mobile satellite communication terminals. These high data-rate terminals require inertial antenna pointing error tolerance within fractions of a degree. However, the base motion of the antenna platform in mobile applications complicates this pointing problem and must be accounted for. Gimbaled motorised pedestals are used to eliminate the effect of disturbance and maintain uninterrupted communication. In this paper, a three-axis ship-mounted antenna on a pedestal gimbal system is studied. Based on the derived dynamic model of the antenna pedestal multi input-multi output PID and H∞ linear controllers are designed to stabilise the antenna to keep its orientation unaltered towards the satellite while the sea waves disturb the antenna. Simulation results are presented to show the stabilisation performance of the system with the synthesised controllers. It is shown through performance comparison and analysis that the proposed H∞ control structure is preferable over PID controlled system in terms of system stability and the disturbance rejection.

DYNAMICS BASED CONTROL OF A SKID STEERING MOBILE ROBOT

Directory of Open Access Journals (Sweden)

Osama Elshazly

2016-06-01

Full Text Available In this paper, development of a reduced order, augmented dynamics-drive model that combines both the dynamics and drive subsystems of the skid steering mobile robot (SSMR is presented. A Linear Quadratic Regulator (LQR control algorithm with feed-forward compensation of the disturbances part included in the reduced order augmented dynamics-drive model is designed. The proposed controller has many advantages such as its simplicity in terms of design and implementation in comparison with complex nonlinear control schemes that are usually designed for this system. Moreover, the good performance is also provided by the controller for the SSMR comparable with a nonlinear controller based on the inverse dynamics which depends on the availability of an accurate model describing the system. Simulation results illustrate the effectiveness and enhancement provided by the proposed controller.

Hierarchical Brokering with Feedback Control Framework in Mobile Device-Centric Clouds

Directory of Open Access Journals (Sweden)

Chao-Lieh Chen

2016-01-01

Full Text Available We propose a hierarchical brokering architecture (HiBA and Mobile Multicloud Networking (MMCN feedback control framework for mobile device-centric cloud (MDC2 computing. Exploiting the MMCN framework and RESTful web-based interconnection, each tier broker probes resource state of its federation for control and management. Real-time and seamless services were developed. Case studies including intrafederation energy-aware balancing based on fuzzy feedback control and higher tier load balancing are further demonstrated to show how HiBA with MMCN relieves the embedding of algorithms when developing services. Theoretical performance model and real-world experiments both show that an MDC2 based on HiBA features better quality in terms of resource availability and network latency if it federates devices with enough resources distributed in lower tier hierarchy. The proposed HiBA realizes a development platform for MDC2 computing which is a feasible solution to User-Centric Networks (UCNs.

Energy system aspects of hydrogen as an alternative fuel in transport

International Nuclear Information System (INIS)

Ramesohl, Stephan; Merten, Frank

2006-01-01

Considering the enormous ecological and economic importance of the transport sector the introduction of alternative fuels-together with drastic energy efficiency gains-will be a key to sustainable mobility, nationally as well as globally. However, the future role of alternative fuels cannot be examined from the isolated perspective of the transport sector. Interactions with the energy system as a whole have to be taken into account. This holds both for the issue of availability of energy sources as well as for allocation effects, resulting from the shift of renewable energy from the stationary sector to mobile applications. With emphasis on hydrogen as a transport fuel for private passenger cars, this paper discusses the energy systems impacts of various scenarios introducing hydrogen fueled vehicles in Germany. It identifies clear restrictions to an enhanced growth of clean hydrogen production from renewable energy sources (RES). Furthermore, it points at systems interdependencies that call for a priority use of RES electricity in stationary applications. Whereas hydrogen can play an increasing role in transport after 2030 the most important challenge is to exploit short-mid-term potentials of boosting car efficiency

Controllable pneumatic generator based on the catalytic decomposition of hydrogen peroxide

International Nuclear Information System (INIS)

Kim, Kyung-Rok; Kim, Kyung-Soo; Kim, Soohyun

2014-01-01

This paper presents a novel compact and controllable pneumatic generator that uses hydrogen peroxide decomposition. A fuel micro-injector using a piston-pump mechanism is devised and tested to control the chemical decomposition rate. By controlling the injection rate, the feedback controller maintains the pressure of the gas reservoir at a desired pressure level. Thermodynamic analysis and experiments are performed to demonstrate the feasibility of the proposed pneumatic generator. Using a prototype of the pneumatic generator, it takes 6 s to reach 3.5 bars with a reservoir volume of 200 ml at the room temperature, which is sufficiently rapid and effective to maintain the repetitive lifting of a 1 kg mass

Controllable pneumatic generator based on the catalytic decomposition of hydrogen peroxide

Science.gov (United States)

Kim, Kyung-Rok; Kim, Kyung-Soo; Kim, Soohyun

2014-07-01

This paper presents a novel compact and controllable pneumatic generator that uses hydrogen peroxide decomposition. A fuel micro-injector using a piston-pump mechanism is devised and tested to control the chemical decomposition rate. By controlling the injection rate, the feedback controller maintains the pressure of the gas reservoir at a desired pressure level. Thermodynamic analysis and experiments are performed to demonstrate the feasibility of the proposed pneumatic generator. Using a prototype of the pneumatic generator, it takes 6 s to reach 3.5 bars with a reservoir volume of 200 ml at the room temperature, which is sufficiently rapid and effective to maintain the repetitive lifting of a 1 kg mass.

New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

Directory of Open Access Journals (Sweden)

Nazim Mir-Nasiri

2008-11-01

Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

Directory of Open Access Journals (Sweden)

Nazim Mir-Nasiri

2005-09-01

Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

Toward semi-autonomous control of mobile robots for constrained environments

International Nuclear Information System (INIS)

Mercier, O.; Cara, O.

1991-01-01

Drawing from long-time experience in nuclear maintenance robotics, FRAMATOME leads with several partners an important effort with the goal of developing the decision and operator assistance capabilities of mobile robots. Future robots shall be better adapted (in size and configuration) to the operational requirements of nuclear plants work than current demonstrators. Due regards shall be paid to safety aspects and qualification procedure shall be specified soon. Also, dosimetry gains (e.g. as evaluated by DOSIANA) shall be evaluated to establish further the advantages of robotic solutions. Current achievements and plans for the next two years are expected to provide the necessary know-how for semi-autonomous control of various mobile robots in actual missions in nuclear plant environment. These advances in many closely connected disciplines and technologies should put FRAMATOME in a leader position as systems integrator or as developer for future markets in autonomous mobile robotics, not only in the nuclear field but in other domains as well. (author)

Tracking control of mobile robots: a case study in backstepping

NARCIS (Netherlands)

Jiang, Zhong-Ping; Nijmeijer, Henk

1997-01-01

A tracking control methodology via time-varying state feedback based on the backstepping technique is proposed for both a kinematic and simplified dynamic model of a two-degrees-of-freedom mobile robot. We first address the local tracking problem where initial tracking errors are sufficiently small.

Control of mobility in molecular organic semiconductors by dendrimer generation

Science.gov (United States)

Lupton, J. M.; Samuel, I. D.; Beavington, R.; Frampton, M. J.; Burn, P. L.; Bässler, H.

2001-04-01

Conjugated dendrimers are of interest as novel materials for light-emitting diodes. They consist of a luminescent chromophore at the core with highly branched conjugated dendron sidegroups. In these materials, light emission occurs from the core and is independent of generation. The dendron branching controls the separation between the chromophores. We present here a family of conjugated dendrimers and investigate the effect of dendron branching on light emission and charge transport. We apply a number of transport measurement techniques to thin films of a conjugated dendrimer in a light-emitting diode configuration to determine the effect of chromophore spacing on charge transport. We find that the mobility is reduced by two orders of magnitude as the size of the molecule doubles with increased branching or dendrimer generation. The degree of branching allows a unique control of mobility by molecular structure. An increase in chromophore separation also results in a reduction of intermolecular interactions, which reduces the red emission tail in film photoluminescence. We find that the steady-state charge transport is well described by a simple device model incorporating the effect of generation, and use the materials to shed light on the interpretation of transient electroluminescence data. We demonstrate the significance of the ability to tune the mobility in bilayer devices, where a more balanced charge transport can be achieved.

Passivity-based model predictive control for mobile vehicle motion planning

CERN Document Server

Tahirovic, Adnan

2013-01-01

Passivity-based Model Predictive Control for Mobile Vehicle Navigation represents a complete theoretical approach to the adoption of passivity-based model predictive control (MPC) for autonomous vehicle navigation in both indoor and outdoor environments. The brief also introduces analysis of the worst-case scenario that might occur during the task execution. Some of the questions answered in the text include: • how to use an MPC optimization framework for the mobile vehicle navigation approach; • how to guarantee safe task completion even in complex environments including obstacle avoidance and sideslip and rollover avoidance; and  • what to expect in the worst-case scenario in which the roughness of the terrain leads the algorithm to generate the longest possible path to the goal. The passivity-based MPC approach provides a framework in which a wide range of complex vehicles can be accommodated to obtain a safer and more realizable tool during the path-planning stage. During task execution, the optimi...

Generation and confinement of mobile charges in buried oxide of SOI substrates; Generation et confinement de charges mobiles dans les oxydes enterres de substrats SOI

Energy Technology Data Exchange (ETDEWEB)

Gruber, O.; Krawiec, S.; Musseau, O.; Paillet, Ph.; Courtot-Descharles, A. [CEA Bruyeres-le-Chatel, DIF, 91 (France)

1999-07-01

We analyze the mechanisms of generation and confinement of mobile protons resulting from hydrogen annealing of SOI buried oxides. This study of the mechanisms of generation and confinement of mobile protons in the buried oxide of SOI wafers emphasizes the importance of H+ diffusion in the oxide in the formation of a mobile charge. Under specific electric field conditions the irradiation of these devices results in a pinning of this mobile charge at the bottom Si-SiO{sub 2} interface. Ab initio calculations are in progress to investigate the possible precursor defects in the oxide and detail the mechanism for mobile proton generation and confinement. (authors)

Visual Trajectory-Tracking Model-Based Control for Mobile Robots

Directory of Open Access Journals (Sweden)

Andrej Zdešar

2013-09-01

Full Text Available In this paper we present a visual-control algorithm for driving a mobile robot along the reference trajectory. The configuration of the system consists of a two-wheeled differentially driven mobile robot that is observed by an overhead camera, which can be placed at arbitrary, but reasonable, inclination with respect to the ground plane. The controller must be capable of generating appropriate tangential and angular control velocities for the trajectory-tracking problem, based on the information received about the robot position obtained in the image. To be able to track the position of the robot through a sequence of images in real-time, the robot is marked with an artificial marker that can be distinguishably recognized by the image recognition subsystem. Using the property of differential flatness, a dynamic feedback compensator can be designed for the system, thereby extending the system into a linear form. The presented control algorithm for reference tracking combines a feedforward and a feedback loop, the structure also known as a two DOF control scheme. The feedforward part should drive the system to the vicinity of the reference trajectory and the feedback part should eliminate any errors that occur due to noise and other disturbances etc. The feedforward control can never achieve accurate reference following, but this deficiency can be eliminated with the introduction of the feedback loop. The design of the model predictive control is based on the linear error model. The model predictive control is given in analytical form, so the computational burden is kept at a reasonable level for real-time implementation. The control algorithm requires that a reference trajectory is at least twice differentiable function. A suitable approach to design such a trajectory is by exploiting some useful properties of the Bernstein-Bézier parametric curves. The simulation experiments as well as real system experiments on a robot normally used in the

Adaptive Control for Autonomous Navigation of Mobile Robots Considering Time Delay and Uncertainty

Science.gov (United States)

Armah, Stephen Kofi

Autonomous control of mobile robots has attracted considerable attention of researchers in the areas of robotics and autonomous systems during the past decades. One of the goals in the field of mobile robotics is development of platforms that robustly operate in given, partially unknown, or unpredictable environments and offer desired services to humans. Autonomous mobile robots need to be equipped with effective, robust and/or adaptive, navigation control systems. In spite of enormous reported work on autonomous navigation control systems for mobile robots, achieving the goal above is still an open problem. Robustness and reliability of the controlled system can always be improved. The fundamental issues affecting the stability of the control systems include the undesired nonlinear effects introduced by actuator saturation, time delay in the controlled system, and uncertainty in the model. This research work develops robustly stabilizing control systems by investigating and addressing such nonlinear effects through analytical, simulations, and experiments. The control systems are designed to meet specified transient and steady-state specifications. The systems used for this research are ground (Dr Robot X80SV) and aerial (Parrot AR.Drone 2.0) mobile robots. Firstly, an effective autonomous navigation control system is developed for X80SV using logic control by combining 'go-to-goal', 'avoid-obstacle', and 'follow-wall' controllers. A MATLAB robot simulator is developed to implement this control algorithm and experiments are conducted in a typical office environment. The next stage of the research develops an autonomous position (x, y, and z) and attitude (roll, pitch, and yaw) controllers for a quadrotor, and PD-feedback control is used to achieve stabilization. The quadrotor's nonlinear dynamics and kinematics are implemented using MATLAB S-function to generate the state output. Secondly, the white-box and black-box approaches are used to obtain a linearized

Authenticated Blind Issuing of Symmetric Keys for Mobile Access Control System without Trusted Parties

Directory of Open Access Journals (Sweden)

Shin-Yan Chiou

2013-01-01

Full Text Available Mobile authentication can be used to verify a mobile user’s identity. Normally this is accomplished through the use of logon passwords, but this can raise the secret-key agreement problem between entities. This issue can be resolved by using a public-key cryptosystem, but mobile devices have limited computation ability and battery capacity and a PKI is needed. In this paper, we propose an efficient, non-PKI, authenticated, and blind issued symmetric key protocol for mobile access control systems. An easy-to-deploy authentication and authenticated key agreement system is designed such that empowered mobile devices can directly authorize other mobile devices to exchange keys with the server upon authentication using a non-PKI system without trusted parties. Empowered mobile users do not know the key value of the other mobile devices, preventing users from impersonating other individuals. Also, for security considerations, this system can revoke specific keys or keys issued by a specific user. The scheme is secure, efficient, and feasible and can be implemented in existing environments.

Method for Reading Sensors and Controlling Actuators Using Audio Interfaces of Mobile Devices

Science.gov (United States)

Aroca, Rafael V.; Burlamaqui, Aquiles F.; Gonçalves, Luiz M. G.

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks. PMID:22438726

Method for reading sensors and controlling actuators using audio interfaces of mobile devices.

Science.gov (United States)

Aroca, Rafael V; Burlamaqui, Aquiles F; Gonçalves, Luiz M G

2012-01-01

This article presents a novel closed loop control architecture based on audio channels of several types of computing devices, such as mobile phones and tablet computers, but not restricted to them. The communication is based on an audio interface that relies on the exchange of audio tones, allowing sensors to be read and actuators to be controlled. As an application example, the presented technique is used to build a low cost mobile robot, but the system can also be used in a variety of mechatronics applications and sensor networks, where smartphones are the basic building blocks.

Social Welfare Control in Mobile Crowdsensing Using Zero-Determinant Strategy.

Science.gov (United States)

Hu, Qin; Wang, Shengling; Bie, Rongfang; Cheng, Xiuzhen

2017-05-03

As a promising paradigm, mobile crowdsensing exerts the potential of widespread sensors embedded in mobile devices. The greedy nature of workers brings the problem of low-quality sensing data, which poses threats to the overall performance of a crowdsensing system. Existing works often tackle this problem with additional function components. In this paper, we systematically formulate the problem into a crowdsensing interaction process between a requestor and a worker, which can be modeled by two types of iterated games with different strategy spaces. Considering that the low-quality data submitted by the workers can reduce the requestor's payoff and further decrease the global income, we turn to controlling the social welfare in the games. To that aim, we take advantage of zero-determinant strategy, based on which we propose two social welfare control mechanisms under both game models. Specifically, we consider the requestor as the controller of the games and, with proper parameter settings for the to-be-adopted zero-determinant strategy, social welfare can be optimized to the desired level no matter what strategy the worker adopts. Simulation results demonstrate that the requestor can achieve the maximized social welfare and keep it stable by using our proposed mechanisms.

Mechanisms controlling radionuclide mobility in forest soils

International Nuclear Information System (INIS)

Delvaux, B.; Kruyts, N.; Maes, E.; Agapkina, G.I.; Kliashtorin, A.; Bunzl, K.; Rafferty, B.

1996-01-01

Soil processes strongly influence the radionuclide mobility in soils. The mobility of radionuclides in forest soils is governed by several processes involving both abiotic and biotic factors. The sorption-desorption process chiefly governs the activity of radionuclides in the soil solution, hence thereby their mobility and biological availability. Radiocaesium exhibits a very low mobility in mineral soils. Both mobility and bioavailability however increase as the thickness of organic layers and their content in organic matter increases. Clay minerals of micaceous origin strongly act as slinks for radiocaesium in forest soils. The magnitude of cesium mineral fixation in topsoils is expected to be the highest in mineral soils of Eutric cambisol type, and, to a lesser extent, of type of Distric cambisol and Podzoluvisol. A low mobility of radiocaesium in the surface horizons of forest soils may also be partially explained by a biological mobilization: fungi absorb radiocaesium and transport it to upper layers, thereby contributing to constantly recycle the radioelement in the organic horizons. This mechanism is probably important in soils with thick organic layers (Podsol, Histosol, and, to a lesser extent, Distric cambisol and Podzoluvisol). Radionuclides can be associated with soluble organic anions in the soil solution of forest acid soils. Such associations are highly mobile: they are stable in conditions of poor biological activity (low temperatures, acid soil infertility, water excess, etc.). Their magnitude is expected to be the highest in thick acid organic layers (soils of type Podzol and Histosol)

Web Environment for Programming and Control of a Mobile Robot in a Remote Laboratory

Science.gov (United States)

dos Santos Lopes, Maísa Soares; Gomes, Iago Pacheco; Trindade, Roque M. P.; da Silva, Alzira F.; de C. Lima, Antonio C.

2017-01-01

Remote robotics laboratories have been successfully used for engineering education. However, few of them use mobile robots to to teach computer science. This article describes a mobile robot Control and Programming Environment (CPE) and its pedagogical applications. The system comprises a remote laboratory for robotics, an online programming tool,…

Automatic dosage of hydrogen peroxide in solar photo-Fenton plants: Development of a control strategy for efficiency enhancement

Energy Technology Data Exchange (ETDEWEB)

Ortega-Gomez, E. [Department of Chemical Engineering, University of Almeria, 04120 Almeria (Spain); CIESOL, Joint Centre of the University of Almeria-CIEMAT, 04120 Almeria (Spain); Moreno Ubeda, J.C. [Department of Language and Computation, University of Almeria, 04120 Almeria (Spain); Alvarez Hervas, J.D. [Department of Language and Computation, University of Almeria, 04120 Almeria (Spain); Department of Language and Computation, University of Sevilla, 41092 Sevilla (Spain); Casas Lopez, J.L.; Santos-Juanes Jorda, L. [Department of Chemical Engineering, University of Almeria, 04120 Almeria (Spain); CIESOL, Joint Centre of the University of Almeria-CIEMAT, 04120 Almeria (Spain); Sanchez Perez, J.A., E-mail: jsanchez@ual.es [Department of Chemical Engineering, University of Almeria, 04120 Almeria (Spain); CIESOL, Joint Centre of the University of Almeria-CIEMAT, 04120 Almeria (Spain)

2012-10-30

Highlights: Black-Right-Pointing-Pointer Dissolved oxygen monitoring is used for automatic dosage of H{sub 2}O{sub 2} in photo-Fenton. Black-Right-Pointing-Pointer PI with anti-windup minimises H{sub 2}O{sub 2} consumption. Black-Right-Pointing-Pointer The H{sub 2}O{sub 2} consumption was reduced up to 50% with respect to manual addition strategies. Black-Right-Pointing-Pointer Appropriate H{sub 2}O{sub 2} dosage is achieved by PI with anti-windup under disturbances. - Abstract: The solar photo-Fenton process is widely used for the elimination of pollutants in aqueous effluent and, as such, is amply cited in the literature. In this process, hydrogen peroxide represents the highest operational cost. Up until now, manual dosing of H{sub 2}O{sub 2} has led to low process performance. Consequently, there is a need to automate the hydrogen peroxide dosage for use in industrial applications. As it has been demonstrated that a relationship exists between dissolved oxygen (DO) concentration and hydrogen peroxide consumption, DO can be used as a variable in optimising the hydrogen peroxide dosage. For this purpose, a model was experimentally obtained linking the dynamic behaviour of DO to hydrogen peroxide consumption. Following this, a control system was developed based on this model. This control system - a proportional and integral controller (PI) with an anti-windup mechanism - has been tested experimentally. The assays were carried out in a pilot plant under sunlight conditions and with paracetamol used as the model pollutant. In comparison with non-assisted addition methods (a sole initial or continuous addition), a decrease of 50% in hydrogen peroxide consumption was achieved when the automatic controller was used, driving an economic saving and an improvement in process efficiency.

Morphology-controllable synthesis and characterization of carbon nanotube/polypyrrole composites and their hydrogen storage capacities

Energy Technology Data Exchange (ETDEWEB)

Okan, Burcu Saner, E-mail: bsanerokan@sabanciuniv.edu [Sabancı University Nanotechnology Research and Application Center, SUNUM, Tuzla, Istanbul 34956 (Turkey); Zanjani, Jamal Seyyed Monfared [Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul 34956 (Turkey); Letofsky-Papst, Ilse [Institute for Electron Microscopy, Graz University of Technology, Steyrergasse 17, A-8010, Graz (Austria); Cebeci, Fevzi Çakmak; Menceloglu, Yusuf Z. [Sabancı University Nanotechnology Research and Application Center, SUNUM, Tuzla, Istanbul 34956 (Turkey); Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul 34956 (Turkey)

2015-11-01

Sphere-like and layer-by-layer growth mechanisms of polypyrrole are controlled by changing pyrrole monomer concentration and using carbon nanotubes (CNT) as template. Pristine polypyrrole has sphere-like structures but remarkable change in types of polypyrrole growth is observed from spherical-like to layer-by-layer structures in the presence of CNT. Acid treatment enhances polypyrrole coverage on CNT surface by preventing agglomeration of polypyrrole due to an increase in surface oxygen groups and sp{sup 2} bonds in CNT structure. The crystallinity of powders comparably decreases after polypyrrole coating due to the amorphous structure of polypyrrole and a sharp decrease in the intensity of 002 peak. The influence of surface functionalization and polymer coating on the structural parameters of multi-walled CNT and their composites is investigated by tailoring the feeding ratio of polypyrrole. The hydrogen sorption measurements at ambient conditions by Intelligent Gravimetric Analyzer demonstrate that hydrogen uptake of CNT/polypyrrole composite is 1.66 wt.% which is almost 3 times higher than that of pristine CNT. Higher hydrogen uptake values are obtained by keeping the mass ratio of pyrrole monomer and CNT equal by using non-functionalized CNT in composite production. Hydrogen adsorption/desorption kinetics of polypyrrole/CNT composites is improved by increasing adsorption sites after polymer coating and acid treatment. The desorption curves of these modified surfaces are higher than their adsorption curves at lower pressures and hysteresis loop is observed in their isotherms since hydrogen is chemically bonded to the modified surfaces by the conversion of carbon atoms from sp{sup 2} to sp{sup 3} hybridization. - Highlights: • Growth mechanisms of polypyrrole are controlled by changing monomer concentration. • Lamellar structure is formed by using pristine CNT at high monomer concentration. • Homogeneous polymer coating is achieved on the surface of

Laboratory Studies of Hydrogen Gas Generation Using the Cobalt Chloride Catalyzed Sodium Borohydride-Water Reaction

Science.gov (United States)

2015-07-01

already use hydrogen for weather balloons . Besides cost, hydrogen has other advantages over helium. Hydrogen has more lift than helium, so larger...of water vapor entering the gas stream, and avoid damaging the balloon /aerostat (aerostats typically have an operational temperature range of -50 to...Aerostats: “Gepard” Tethered Aerostats with Mobile Mooring Systems. Available at http://rosaerosystems.com/aero/obj7. Accessed June 4, 2015. 11

Aminopropyl groups of the functionalized Mobil Crystalline Material 41 as a carrier for controlled diclofenac sodium and piroxicam delivery.

Science.gov (United States)

Khodaverdi, Elham; Ahmadi, Mina; Kamali, Hossein; Hadizadeh, Farzin

2017-01-01

Synthetic Mobil Crystalline Material 41 (MCM-41) as a mesoporous material and functionalized MCM-41 using aminopropyl groups were studied in order to investigate their ability to encapsulate and to control the release of diclofenac sodium and piroxicam. MCM-41 was synthesized through sol-gel procedure and functionalized with aminopropyl groups. The physicochemical properties of MCM-41 were studied through particle size analysis, infrared spectroscopy, scanning electron microscopy, transmission electron microscopy, and carbon-hydrogen-nitrogen analysis. Diclofenac sodium and piroxicam were loaded into the MCM-41 matrix using the filtration and solvent evaporation methods. The drug-loading capacity was determined by ultraviolet, Fourier transform infrared, X-ray diffraction, and Brunauer-Emmett-Teller analysis. According to the results for pure drug release, >57% was released in the 1 st h, but when these drugs were loaded into pure Mobil Crystalline Material 41 (MCM-41) and functionalized MCM-41, the release into the simulated gastrointestinal medium was less, continuous, and slower. The release of piroxicam from functionalized MCM-41 was slower than that from MCM-41 in the simulated intestinal medium because of the formation of electrostatic bonds between piroxicam and the aminopropyl groups of the functionalized MCM-41. However, in the case of diclofenac sodium, there was no significant difference between pure MCM-41 and functionalized MCM-41. The difference between piroxicam and diclofenac sodium was due to the high solubility of diclofenac sodium in the intestinal medium (pH 6.8), which caused more rapid release from the matrixes than for piroxicam. Our findings indicate that, after functionalization of MCM-41, it could offer a good means of delivering controlled diclofenac sodium and piroxicam.

Computer system requirements specification for 101-SY hydrogen mitigation test project data acquisition and control system (DACS-1)

International Nuclear Information System (INIS)

McNeece, S.G.; Truitt, R.W.

1994-01-01

The system requirements specification for SY-101 hydrogen mitigation test project (HMTP) data acquisition and control system (DACS-1) documents the system requirements for the DACS-1 project. The purpose of the DACS is to provide data acquisition and control capabilities for the hydrogen mitigation testing of Tank SY-101. Mitigation testing uses a pump immersed in the waste, directed at varying angles and operated at different speeds and time durations. Tank and supporting instrumentation is brought into the DACS to monitor the status of the tank and to provide information on the effectiveness of the mitigation test. Instrumentation is also provided for closed loop control of the pump operation. DACS is also capable for being expanded to control and monitor other mitigation testing. The intended audience for the computer system requirements specification includes the SY-101 hydrogen mitigation test data acquisition and control system designers: analysts, programmers, instrument engineers, operators, maintainers. It is intended for the data users: tank farm operations, mitigation test engineers, the Test Review Group (TRG), data management support staff, data analysis, Hanford data stewards, and external reviewers

Mobile phones improve antenatal care attendance in Zanzibar: a cluster randomized controlled trial

Science.gov (United States)

2014-01-01

Background Applying mobile phones in healthcare is increasingly prioritized to strengthen healthcare systems. Antenatal care has the potential to reduce maternal morbidity and improve newborns’ survival but this benefit may not be realized in sub-Saharan Africa where the attendance and quality of care is declining. We evaluated the association between a mobile phone intervention and antenatal care in a resource-limited setting. We aimed to assess antenatal care in a comprehensive way taking into consideration utilisation of antenatal care as well as content and timing of interventions during pregnancy. Methods This study was an open label pragmatic cluster-randomised controlled trial with primary healthcare facilities in Zanzibar as the unit of randomisation. 2550 pregnant women (1311 interventions and 1239 controls) who attended antenatal care at selected primary healthcare facilities were included at their first antenatal care visit and followed until 42 days after delivery. 24 primary health care facilities in six districts were randomized to either mobile phone intervention or standard care. The intervention consisted of a mobile phone text-message and voucher component. Primary outcome measure was four or more antenatal care visits during pregnancy. Secondary outcome measures were tetanus vaccination, preventive treatment for malaria, gestational age at last antenatal care visit, and antepartum referral. Results The mobile phone intervention was associated with an increase in antenatal care attendance. In the intervention group 44% of the women received four or more antenatal care visits versus 31% in the control group (OR, 2.39; 95% CI, 1.03-5.55). There was a trend towards improved timing and quality of antenatal care services across all secondary outcome measures although not statistically significant. Conclusions The wired mothers’ mobile phone intervention significantly increased the proportion of women receiving the recommended four antenatal care

Development of control technology for HTTR hydrogen production system with mock-up test facility

International Nuclear Information System (INIS)

Ohashi, Hirofumi; Inaba, Yoshitomo; Nishihara, Tetsuo; Takeda, Tetsuaki; Hayashi, Koji; Takada, Shoji; Inagaki, Yoshiyuki

2006-01-01

The Japan Atomic Energy Agency has been planning the demonstration test of hydrogen production with the High Temperature Engineering Test Reactor (HTTR). In a HTTR hydrogen production system (HTTR-H2), it is required to control a primary helium temperature within an allowable value at a reactor inlet to prevent a reactor scram. A cooling system for a secondary helium with a steam generator (SG) and a radiator is installed at the downstream of a chemical rector in a secondary helium loop in order to mitigate the thermal disturbance caused by the hydrogen production system. Prior to HTTR-H2, the simulation test with a mock-up test facility has been carried out to establish the controllability on the helium temperature using the cooling system against the loss of chemical reaction. It was confirmed that the fluctuations of the helium temperature at chemical reactor outlet, more than 200 K, at the loss of chemical reaction could be successfully mitigated within the target of ±10 K at SG outlet. A dynamic simulation code of the cooling system for HTTR-H2 was verified with the obtained test data

Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

Energy Technology Data Exchange (ETDEWEB)

Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F., E-mail: c.hogan@latrobe.edu.au

2013-08-06

Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing.

Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

International Nuclear Information System (INIS)

Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F.

2013-01-01

Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing

Climate policy, emissions trading and hydrogen : Results of a Mannesmann Pilotentwicklung study and options for the hydrogen community

International Nuclear Information System (INIS)

Geres, R.

2002-01-01

The use of emissions trading for the introduction of hydrogen technologies into the market was studied under the Mannesmann Pilotentwicklung. It was argued that the integration of environmental effects becomes part of the business planning on the revenue side, provided a scenario with environmental benefits like the reduction of greenhouse gas emissions in the atmosphere. New possibilities and opportunities are available for hydrogen technologies. It enables the definition of more detailed projects within the hydrogen community, considering factors such as economic, strategic, technological and political aims. The projects involve both mobile and stationary applications, and cover regional activities as well as international cooperation. Public institutions or the private sector can undertake them. As a result of the ratification of the Kyoto Protocol, an emissions trading scheme is scheduled to begin in 2005 inside the European Union. 2 refs., 2 tabs., 2 figs

Albany Interim Landfill gas extraction and mobile power system: Using landfill gas to produce electricity. Final report

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-06-01

The Albany Interim Landfill Gas Extraction and Mobile Power System project served three research objectives: (1) determination of the general efficiency and radius of influence of horizontally placed landfill gas extraction conduits; (2) determination of cost and effectiveness of a hydrogen sulfide gas scrubber utilizing Enviro-Scrub{trademark} liquid reagent; and (3) construction and evaluation of a dual-fuel (landfill gas/diesel) 100 kW mobile power station. The horizontal gas extraction system was very successful; overall, gas recovery was high and the practical radius of influence of individual extractors was about 50 feet. The hydrogen sulfide scrubber was effective and its use appears feasible at typical hydrogen sulfide concentrations and gas flows. The dual-fuel mobile power station performed dependably and was able to deliver smooth power output under varying load and landfill gas fuel conditions.

Using real-time stereopsis for mobile robot control

Science.gov (United States)

Bonasso, R. P.; Nishihara, H. K.

1991-02-01

This paper describes on-going work in using range and motion data generated at video-frame rates as the basis for long-range perception in a mobile robot. A current approach in the artificial intelligence community to achieve timecritical perception for situated reasoning is to use low-level perception for motor reflex-like activity and higher-level but more computationally intense perception for path planning reconnaissance and retrieval activities. Typically inclinometers and a compass or an infra-red beacon system provide stability and orientation maintenance and ultrasonic or infra-red sensors serve as proximity detectors for obstacle avoidance. For distant ranging and area occupancy determination active imaging systems such as laser scanners can be prohibitivtly expensive and heretofore passive systems typically performed more slowly than the cycle time of the control system causing the robot to halt periodically along its way. However a recent stereo system developed by Nishihara known as PRISM (Practical Real-time Imaging Stereo Matcher) matches stereo pairs using a sign-correlation technique that gives range and motion at video frame rates. We are integrating this technique with constant-time control software for distant ranging and object detection at a speed that is comparable with the cycle-times of the low-level sensors. Possibilities for a variety of uses in a leader-follower mobile robot situation are discussed.

Hydrogen storage by organic chemical hydrides and hydrogen supply to fuel cells with superheated liquid-film-type catalysis

International Nuclear Information System (INIS)

Hodoshima, S.; Shono, A.; Sato, K.; Saito, Y.

2004-01-01

Organic chemical hydrides, consisting of decalin / naphthalene and tetralin / naphthalene pairs, have been proposed as the storage medium of hydrogen for operating fuel cells in mobile and static modes. The target values in the DOE Hydrogen Plan, U.S., on storage ( 6.5 wt%, 62.0 kg-H 2 / m 3 ) are met with decalin ( 7.3 wt%, 64.8 kg-H 2 / m 3 ). In addition, existing gas stations and tank lorries are available for storage and supply of hydrogen by utilizing the decalin / naphthalene pair, suggesting that decalin is suitable for operating fuel-cell vehicles. Tetralin dehydrogenation proceeds quite rapidly, assuring a predominant power density, though its storage densities ( 3.0 wt%, 28.2 kg-H 2 / m 3 ) are relatively low. Efficient hydrogen supply from decalin or tetralin by heating at 210-280 o C was attained only with the carbon-supported nano-size metal catalysts in the 'superheated liquid-film states' under reactive distillation conditions, where coke formation over the catalyst surface was prevented. The catalyst layer superheated in the liquid-film states gave high reaction rates and conversions, minimizing the evaporation loss under boiling conditions and exergy loss in hydrogen energy systems. (author)

SDN-controlled topology-reconfigurable optical mobile fronthaul architecture for bidirectional CoMP and low latency inter-cell D2D in the 5G mobile era.

Science.gov (United States)

Cvijetic, Neda; Tanaka, Akihiro; Kanonakis, Konstantinos; Wang, Ting

2014-08-25

We demonstrate the first SDN-controlled optical topology-reconfigurable mobile fronthaul (MFH) architecture for bidirectional coordinated multipoint (CoMP) and low latency inter-cell device-to-device (D2D) connectivity in the 5G mobile networking era. SDN-based OpenFlow control is used to dynamically instantiate the CoMP and inter-cell D2D features as match/action combinations in control plane flow tables of software-defined optical and electrical switching elements. Dynamic re-configurability is thereby introduced into the optical MFH topology, while maintaining back-compatibility with legacy fiber deployments. 10 Gb/s peak rates with <7 μs back-to-back transmission latency and 29.6 dB total power budget are experimentally demonstrated, confirming the attractiveness of the new approach for optical MFH of future 5G mobile systems.

Control of microbially generated hydrogen sulfide in produced waters

Energy Technology Data Exchange (ETDEWEB)

Burger, E.D.; Vance, I.; Gammack, G.F.; Duncan, S.E.

1995-12-31

Production of hydrogen sulfide in produced waters due to the activity of sulfate-reducing bacteria (SRB) is a potentially serious problem. The hydrogen sulfide is not only a safety and environmental concern, it also contributes to corrosion, solids formation, a reduction in produced oil and gas values, and limitations on water discharge. Waters produced from seawater-flooded reservoirs typically contain all of the nutrients required to support SRB metabolism. Surface processing facilities provide a favorable environment in which SRB flourish, converting water-borne nutrients into biomass and H{sub 2}S. This paper will present results from a field trial in which a new technology for the biochemical control of SRB metabolism was successfully applied. A slip stream of water downstream of separators on a produced water handling facility was routed through a bioreactor in a side-steam device where microbial growth was allowed to develop fully. This slip stream was then treated with slug doses of two forms of a proprietary, nonbiocidal metabolic modifier. Results indicated that H{sub 2}S production was halted almost immediately and that the residual effect of the treatment lasted for well over one week.

Integrated Control Strategies Supporting Autonomous Functionalities in Mobile Robots

Directory of Open Access Journals (Sweden)

Brandon Sights

2006-10-01

Full Text Available High-level intelligence allows a mobile robot to create and interpret complex world models, but without a precise control system, the accuracy of the world model and the robot's ability to interact with its surroundings are greatly diminished. This problem is amplified when the environment is hostile, such as in a battlefield situation where an error in movement or a slow response may lead to destruction of the robot. As the presence of robots on the battlefield continues to escalate and the trend toward relieving the human of the low-level control burden advances, the ability to combine the functionalities of several critical control systems on a single platform becomes imperative.

Hydrogen Filling Station

Energy Technology Data Exchange (ETDEWEB)

Boehm, Robert F; Sabacky, Bruce; Anderson II, Everett B; Haberman, David; Al-Hassin, Mowafak; He, Xiaoming; Morriseau, Brian

2010-02-24

future. Project partners also conducted a workshop on hydrogen safety and permitting. This provided an opportunity for the various permitting agencies and end users to gather to share experiences and knowledge. As a result of this workshop, the permitting process for the hydrogen filling station on the Las Vegas Valley Water District’s land was done more efficiently and those who would be responsible for the operation were better educated on the safety and reliability of hydrogen production and storage. The lessons learned in permitting the filling station and conducting this workshop provided a basis for future hydrogen projects in the region. Continuing efforts to increase the working pressure of electrolysis and efficiency have been pursued. Research was also performed on improving the cost, efficiency and durability of Proton Exchange Membrane (PEM) hydrogen technology. Research elements focused upon PEM membranes, electrodes/catalysts, membrane-electrode assemblies, seals, bipolar plates, utilization of renewable power, reliability issues, scale, and advanced conversion topics. Additionally, direct solar-to-hydrogen conversion research to demonstrate stable and efficient photoelectrochemistry (PEC) hydrogen production systems based on a number of optional concepts was performed. Candidate PEC concepts included technical obstacles such as inefficient photocatalysis, inadequate photocurrent due to non-optimal material band gap energies, rapid electron-hole recombination, reduced hole mobility and diminished operational lifetimes of surface materials exposed to electrolytes. Project Objective 1: Design, build, operate hydrogen filling station Project Objective 2: Perform research and development for utilizing solar technologies on the hydrogen filling station and convert two utility vehicles for use by the station operators Project Objective 3: Increase capacity of hydrogen filling station; add additional vehicle; conduct safety workshop; develop a roadmap for

Development of a green bipropellant hydrogen peroxide thruster for attitude control on satellites

Science.gov (United States)

Woschnak, A.; Krejci, D.; Schiebl, M.; Scharlemann, C.

2013-03-01

This document describes the selection assessment of propellants for a 1-newton green bipropellant thruster for attitude control on satellites. The development of this thruster was conducted as a part of the project GRASP (Green Advanced Space Propellants) within the European FP7 research program. The green propellant combinations hydrogen peroxide (highly concentrated with 87.5 %(wt.)) with kerosene or hydrogen peroxide (87.5 %(wt.)) with ethanol were identified as interesting candidates and were investigated in detail with the help of an experimental combustion chamber in the chemical propulsion laboratory at the Forschungsund Technologietransfer GmbH ― Fotec. Based on the test results, a final selection of propellants was performed.

Admission Control for Multiservices Traffic in Hierarchical Mobile IPv6 Networks by Using Fuzzy Inference System

Directory of Open Access Journals (Sweden)

Jung-Shyr Wu

2012-01-01

Full Text Available CAC (Call Admission Control plays a significant role in providing QoS (Quality of Service in mobile wireless networks. In addition to much research that focuses on modified Mobile IP to get better efficient handover performance, CAC should be introduced to Mobile IP-based network to guarantee the QoS for users. In this paper, we propose a CAC scheme which incorporates multiple traffic types and adjusts the admission threshold dynamically using fuzzy control logic to achieve better usage of resources. The method can provide QoS in Mobile IPv6 networks with few modifications on MAP (Mobility Anchor Point functionality and slight change in BU (Binding Update message formats. According to the simulation results, the proposed scheme presents good performance of voice and video traffic at the expenses of poor performance on data traffic. It is evident that these CAC schemes can reduce the probability of the handoff dropping and the cell overload and limit the probability of the new call blocking.

Advanced chemical hydride-based hydrogen generation/storage system for fuel cell vehicles

Energy Technology Data Exchange (ETDEWEB)

Breault, R.W.; Rolfe, J. [Thermo Power Corp., Waltham, MA (United States)

1998-08-01

Because of the inherent advantages of high efficiency, environmental acceptability, and high modularity, fuel cells are potentially attractive power supplies. Worldwide concerns over clean environments have revitalized research efforts on developing fuel cell vehicles (FCV). As a result of intensive research efforts, most of the subsystem technology for FCV`s are currently well established. These include: high power density PEM fuel cells, control systems, thermal management technology, and secondary power sources for hybrid operation. For mobile applications, however, supply of hydrogen or fuel for fuel cell operation poses a significant logistic problem. To supply high purity hydrogen for FCV operation, Thermo Power`s Advanced Technology Group is developing an advanced hydrogen storage technology. In this approach, a metal hydride/organic slurry is used as the hydrogen carrier and storage media. At the point of use, high purity hydrogen will be produced by reacting the metal hydride/organic slurry with water. In addition, Thermo Power has conceived the paths for recovery and regeneration of the spent hydride (practically metal hydroxide). The fluid-like nature of the spent hydride/organic slurry will provide a unique opportunity for pumping, transporting, and storing these materials. The final product of the program will be a user-friendly and relatively high energy storage density hydrogen supply system for fuel cell operation. In addition, the spent hydride can relatively easily be collected at the pumping station and regenerated utilizing renewable sources, such as biomass, natural, or coal, at the central processing plants. Therefore, the entire process will be economically favorable and environmentally friendly.

A Universal Communication Framework and Navigation Control Software for Mobile Prototyping Platforms

Directory of Open Access Journals (Sweden)

Andreas Mitschele-Thiel

2010-09-01

Full Text Available In our contribution we would like to describe two new aspects of our low-cost mobile prototyping platform concept: a new hardware communication framework as well as new software features for navigation and control of our mobile platform. The paper is an extension of the ideas proposed in REV2009 [1] and is based on the therein used hardware platform and the monitoring and management software. This platform is based on the Quadrocopter concept – autonomous flying helicopter-style robots – and includes additional off-the-shelf parts. This leads to a universal mobile prototyping platform for communication tasks providing both mobile phone and WiFi access. However, the platform can provide these functions far more quickly than a technician on the ground might be able to. We will show that with our concept we can easily adapt the platform to the individual needs of the user, which leads to a very flexible and semi-autonomous system.

Stability of AlGaN/GaN heterostructures after hydrogen plasma treatment

Energy Technology Data Exchange (ETDEWEB)

Babchenko, O., E-mail: oleg.babchenko@savba.sk [Institute of Electrical Engineering SAV, Dúbravská cesta 9, 841 04 Bratislava (Slovakia); Dzuba, J.; Lalinský, T. [Institute of Electrical Engineering SAV, Dúbravská cesta 9, 841 04 Bratislava (Slovakia); Vojs, M. [Institute of Electronics and Photonics STU, Ilkovičova 3, 812 19 Bratislava (Slovakia); Vincze, A. [International Laser Centre, Ilkovičova 3, 841 04 Bratislava (Slovakia); Ižák, T. [Institute of Physics AS CR, v.v.i., Cukrovarnicka 10, 162 53 Prague (Czech Republic); Vanko, G. [Institute of Electrical Engineering SAV, Dúbravská cesta 9, 841 04 Bratislava (Slovakia)

2017-02-15

Highlights: • AlGaN/GaNheterostructures with electric contacts were treated by hydrogen plasma. • No surface degradation after treatment was detected by SEM. • Hydrogen plasma caused increasing of sheet resistance up to 3.5 times after 60 min. • Incorporation of hydrogen in AlGaN sub-surface region was observed by SIMS. • Electrical measurements indicate hydrogen induced Schottky barrier lowering. - Abstract: We report on the investigation of low temperature (300 °C) hydrogen plasma treatment influence on the AlGaN/GaN heterostructures. This issue was raised in the frame of study on processes related to hybrid integration of diamond with GaN-based devices. At the same time, the capabilities of thin SiN{sub x} covering were investigated. The samples were exposed to low pressure hydrogen plasma ignited in the linear plasma system at low temperature. We analyze the surface morphology of samples by scanning electron microscopy while microstructural changes down to AlGaN/GaN interface were studied using secondary ion mass spectrometry. The sheet resistance, monitored using circular transmission line measurements, increases more than 3.5 times after 60 min treatment. The basic transport properties of the fabricated circular high electron mobility transistors after H{sub 2} plasma treatment were analyzed. The sheet resistance increasing was attributed to the decrease of effective mobility. Whilst, the observed Schottky barrier lowering indicates necessity of gate contact protection.

Hierarchical coordination control of mobile robots

NARCIS (Netherlands)

Adinandra, S.

2012-01-01

In the last decade, robotic systems have penetrated human life more than human can imagine. In particular, the multi-mobile robotic systems have faced a fast growing due to the fact that by deploying a large collection of mobile robots the overall system has a high redundancy and offers the

Study of the bistable hydrogen donors properties in silicon implanted by the protons

International Nuclear Information System (INIS)

Abdullin, Kh.A.; Gorelkinskij, Yu.V.; Serikkanov, A.S.

2003-01-01

The proton implantation in silicon with doses 10 16 -10 17 cm -2 leads to formation of the hydrogen supersaturated solid solution in the Si. At the room temperature the hydrogen mobility on radiation defects limited by the H atom capture is inappreciably low. Thermal annealing at 400-500 Deg. C results in the decay and rebuilding of hydrogen-containing radiation defects and precipitants, that leads to reduction of the free energy of the system. Precipitation occurring in the form of nano-cluster defects formation, containing the hydrogen atoms. Thermal annealing of the silicon implanted by hydrogen at ∼450 Deg. C during 20 min. causing the hydrogen precipitation process and defects agglomeration leads to donor centers formation registering by the Hall effect

Is hydrogen economy dead and buried?

International Nuclear Information System (INIS)

Bento, N.

2010-01-01

This article focuses on hydrogen technology and fuel cells, in particular on their mobile applications. The difficulty in introducing hydrogen and fuel cells onto the market stems from the fact that these technologies do not constitute incremental innovation, such as biofuels or hybrid cars, but a real technological breakthrough. Currently, auto-makers are more active in the promotion of such technology than oil companies. As well as this, manufacturers of fuel cells are trying to accelerate their entry onto the market, in order to limit their period of losses. Finally, public R and D programs continue, and public-private partnerships are being established with a view to financing facilities in California, Japan and Germany. (authors)

Enhancement of hydrogen production during waste activated sludge anaerobic fermentation by carbohydrate substrate addition and pH control.

Science.gov (United States)

Chen, Yinguang; Xiao, Naidong; Zhao, Yuxiao; Mu, Hui

2012-06-01

The effects of carbohydrate/protein ratio (CH/Pr) and pH on hydrogen production from waste activated sludge (WAS) were investigated. Firstly, the optimal pH value for hydrogen production was influenced by the CH/Pr ratio, which was pH 10, 9, 8, 8, 8 and 6 at the CH/Pr ratio (COD based) of 0.2 (sole sludge), 1, 2.4, 3.8, 5 and 6.6, respectively. The maximal hydrogen production (100.6 mL/g-COD) was achieved at CH/Pr of 5 and pH 8, which was due to the synergistic effect of carbohydrate addition on hydrogen production, the enhancement of sludge protein degradation and protease and amylase activities, and the suitable fermentation pathway for hydrogen production. As hydrogen consumption was observed at pH 8, in order to further increase hydrogen production a two-step pH control strategy (pH 8+pH 10) was developed and the hydrogen production was further improved by 17.6%. Copyright © 2012 Elsevier Ltd. All rights reserved.

Unmanned Mobile Monitoring for Nuclear Emergency Response

Energy Technology Data Exchange (ETDEWEB)

Choi, YoungSoo; Park, JongWon; Kim, TaeWon; Jeong, KyungMin [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Severe accidents at nuclear power plant have led to significant consequences to the people, the environment or the facility. Therefore, the appropriate response is required for the mitigation of the accidents. In the past, most of responses were performed by human beings, but it was dangerous and risky. In this paper, we proposed unmanned mobile system for the monitoring of nuclear accident in order to response effectively. For the integrity of reactor cooling and containment building, reactor cooling pipe and hydrogen distribution monitoring with unmanned ground vehicle was designed. And, for the safety of workers, radiation distribution monitoring with unmanned aerial vehicle was designed. Unmanned mobile monitoring system was proposed to respond nuclear accidents effectively. Concept of reinforcing the integrity of RCS and containment building, and radiation distribution monitoring were described. RCS flow measuring, hydrogen distribution measuring and radiation monitoring deployed at unmanned vehicle were proposed. These systems could be a method for the preparedness of effective response of nuclear accidents.

Effects of methanogenic effluent recycle on fermentative hydrogen production

Energy Technology Data Exchange (ETDEWEB)

Kraemer, J.T.; Bagley, D.M. [Toronto Univ., ON (Canada). Dept. of Civil Engineering

2004-07-01

Most research on fermentative hydrogen production has focused on optimizing the process and not on the practicalities of pH control although active pH control in a hydrogen reactor is necessary for stable and efficient performance. Batch experiments have shown that hydrogen ceases to be produced when there is no pH control. This study determined if recycle effluent from the methane reactor of a two-phase hydrogen-producing system would reduce the external alkali needed for pH control in a hydrogen reactor. It also determined if recycle affected the performance of the hydrogen reactor and the overall two-phase system. This paper describes the experimental laboratory-scale, two-phase hydrogen producing system which was operated alternately with and without effluent recycle from a methane reactor to the hydrogen reactor. The two-phase hydrogen producing system yielded 5.7 times more energy recovery than that obtained by the fermentative hydrogen producing reactor alone. The use of effluent from the methane reactor can reduce the operational cost of external alkali for pH control. 6 refs., 5 figs.

Density functional theory for hydrogen storage materials: successes and opportunities

International Nuclear Information System (INIS)

Hector, L G Jr; Herbst, J F

2008-01-01

Solid state systems for hydrogen storage continue to be the focus of considerable international research, driven to a large extent by technological demands, especially for mobile applications. Density functional theory (DFT) has become a valuable tool in this effort. It has greatly expanded our understanding of the properties of known hydrides, including electronic structure, hydrogen bonding character, enthalpy of formation, elastic behavior, and vibrational energetics. Moreover, DFT holds substantial promise for guiding the discovery of new materials. In this paper we discuss, within the context of results from our own work, some successes and a few shortcomings of state-of-the-art DFT as applied to hydrogen storage materials

Learning Mobility: Adaptive Control Algorithms for the Novel Unmanned Ground Vehicle (NUGV)

National Research Council Canada - National Science Library

Blackburn, Mike

2003-01-01

Mobility is a serious limiting factor in the usefulness of unmanned ground vehicles, This paper contains a description of our approach to develop control algorithms for the Novel Unmanned Ground Vehicle (NUGV...

Heliostat-field gain-scheduling control applied to a two-step solar hydrogen production plant

International Nuclear Information System (INIS)

Roca, Lidia; Calle, Alberto de la; Yebra, Luis J.

2013-01-01

Highlights: ► A control system is proposed for a solar reactor system which produces hydrogen. ► The controller chooses which heliostats from the solar field must be focused. ► A gain scheduling scheme is included to deal with different system dynamics. ► The scheme is tested and tunned in simulation. ► Real experiments show the promising results of this work. -- Abstract: This article describes a temperature control structure designed for the interior of a solar hydrogen reactor based on a two-step ferrite-redox technology. Until now, this temperature has been controlled by manual selection of the heliostats to be focused on the receiver targets. However, the strong system dependency on operating conditions suggests that the procedure be automated in order to ensure the desired setpoint change response. The aims are to maintain the desired temperatures and to make the setpoint switch as fast as possible, keeping plant conditions within the margins of safety. The scheme proposed includes a procedure for selecting the heliostats to be focused on the reactor by using a simple model of the solar field and a gain scheduling control system which changes the control tuning parameters to deal with the varying dynamics observed during the process. Real experiments show the promising results of this work.

Flexible CP-ABE Based Access Control on Encrypted Data for Mobile Users in Hybrid Cloud System

Institute of Scientific and Technical Information of China (English)

Wen-Min Li; Xue-Lei Li; Qiao-Yan Wen; Shuo Zhang; Hua Zhang

2017-01-01

In hybrid cloud computing, encrypted data access control can provide a fine-grained access method for orga-nizations to enact policies closer to organizational policies. This paper presents an improved CP-ABE (ciphertext-policy attribute-based encryption) scheme to construct an encrypted data access control solution that is suitable for mobile users in hybrid cloud system. In our improvement, we split the original decryption keys into a control key, a secret key and a set of transformation keys. The private cloud managed by the organization administrator takes charge of updating the transformation keys using the control key. It helps to handle the situation of flexible access management and attribute alteration. Meanwhile, the mobile user's single secret key remains unchanged as well as the ciphertext even if the data user's attribute has been revoked. In addition, we modify the access control list through adding the attributes with corresponding control key and transformation keys so as to manage user privileges depending upon the system version. Finally, the analysis shows that our scheme is secure, flexible and efficient to be applied in mobile hybrid cloud computing.

Mobile technology habits: patterns of association among device usage, intertemporal preference, impulse control, and reward sensitivity.

Science.gov (United States)

Wilmer, Henry H; Chein, Jason M

2016-10-01

Mobile electronic devices are playing an increasingly pervasive role in our daily activities. Yet, there has been very little empirical research investigating how mobile technology habits might relate to individual differences in cognition and affect. The research presented in this paper provides evidence that heavier investment in mobile devices is correlated with a relatively weaker tendency to delay gratification (as measured by a delay discounting task) and a greater inclination toward impulsive behavior (i.e., weaker impulse control, assessed behaviorally and through self-report) but is not related to individual differences in sensitivity to reward. Analyses further demonstrated that individual variation in impulse control mediates the relationship between mobile technology usage and delay of gratification. Although based on correlational results, these findings lend some backing to concerns that increased use of portable electronic devices could have negative impacts on impulse control and the ability to appropriately valuate delayed rewards.

Hydrogen Storage Technologies for Future Energy Systems.

Science.gov (United States)

Preuster, Patrick; Alekseev, Alexander; Wasserscheid, Peter

2017-06-07

Future energy systems will be determined by the increasing relevance of solar and wind energy. Crude oil and gas prices are expected to increase in the long run, and penalties for CO 2 emissions will become a relevant economic factor. Solar- and wind-powered electricity will become significantly cheaper, such that hydrogen produced from electrolysis will be competitively priced against hydrogen manufactured from natural gas. However, to handle the unsteadiness of system input from fluctuating energy sources, energy storage technologies that cover the full scale of power (in megawatts) and energy storage amounts (in megawatt hours) are required. Hydrogen, in particular, is a promising secondary energy vector for storing, transporting, and distributing large and very large amounts of energy at the gigawatt-hour and terawatt-hour scales. However, we also discuss energy storage at the 120-200-kWh scale, for example, for onboard hydrogen storage in fuel cell vehicles using compressed hydrogen storage. This article focuses on the characteristics and development potential of hydrogen storage technologies in light of such a changing energy system and its related challenges. Technological factors that influence the dynamics, flexibility, and operating costs of unsteady operation are therefore highlighted in particular. Moreover, the potential for using renewable hydrogen in the mobility sector, industrial production, and the heat market is discussed, as this potential may determine to a significant extent the future economic value of hydrogen storage technology as it applies to other industries. This evaluation elucidates known and well-established options for hydrogen storage and may guide the development and direction of newer, less developed technologies.

Mobile phone intervention to improve diabetes care in rural areas of Pakistan: a randomized controlled trial.

Science.gov (United States)

Shahid, Muhammad; Mahar, Saeed Ahmed; Shaikh, Shiraz; Shaikh, Zuhaib-u-ddin

2015-03-01

To determine the effect of mobile phone intervention on HbA1c in type-2 Diabetes Mellitus (DM) patients living in rural areas of Pakistan. Randomized controlled trial. Department of Endocrinology, Liaquat National Hospital, Karachi, from December 2013 to June 2014. A total of 440 patients in intervention and control groups were enrolled. All patients between 18 - 70 years of age, residing in rural areas of Pakistan, HbA1c ³ 8.0% and having personal functional mobile phone were included. The intervention group patients were called directly on mobile phone after every 15 days for a period of 4 months. They were asked about the self-monitoring blood glucose, intake of medications, physical activity, healthy eating and were physically examined after 4 months. However, the control group was examined initially and after 4 months physically in the clinic and there were no mobile phone contacts with these patients. Patients in intervention group showed improvement (p Mobile phone technology in rural areas of Pakistan was helpful in lowering HbA1c levels in intervention group through direct communication with the diabetic patients. Lowering LDL and following diabetic diet plan can reduce HbA1c in these patients and help in preventing future complications.

Congestion Control and Traffic Scheduling for Collaborative Crowdsourcing in SDN Enabled Mobile Wireless Networks

Directory of Open Access Journals (Sweden)

Dawei Shen

2018-01-01

Full Text Available Currently, a number of crowdsourcing-based mobile applications have been implemented in mobile networks and Internet of Things (IoT, targeted at real-time services and recommendation. The frequent information exchanges and data transmissions in collaborative crowdsourcing are heavily injected into the current communication networks, which poses great challenges for Mobile Wireless Networks (MWN. This paper focuses on the traffic scheduling and load balancing problem in software-defined MWN and designs a hybrid routing forwarding scheme as well as a congestion control algorithm to achieve the feasible solution. The traffic scheduling algorithm first sorts the tasks in an ascending order depending on the amount of tasks and then solves it using a greedy scheme. In the proposed congestion control scheme, the traffic assignment is first transformed into a multiknapsack problem, and then the Artificial Fish Swarm Algorithm (AFSA is utilized to solve this problem. Numerical results on practical network topology reveal that, compared with the traditional schemes, the proposed congestion control and traffic scheduling schemes can achieve load balancing, reduce the probability of network congestion, and improve the network throughput.

Hydrogen formation and control under postulated LMFBR accident conditions

International Nuclear Information System (INIS)

Armstrong, G.R.; Wierman, R.W.

1976-09-01

The objective of this study is to experimentally investigate the potential for autoignition and combustion of hydrogen-sodium mixtures which may be produced in LMFBR accidents. The purpose and ultimate usefulness of this work is to provide data that will establish the validity and acceptability of mechanisms inherent to the LMFBR that could either prevent or delay the accumulation of hydrogen gas to less than 4 percent (V) in the Reactor Containment Building (RCB) under accident conditions. The results to date indicate that sodium and sodium-hydrogen mixtures such as may be expected during LMFBR postulated accidents will ignite upon entering an air atmosphere and that the hydrogen present will be essentially all consumed until such time that the oxygen concentration is depleted

Orbisphere: an immediate measurement of hydrogen

International Nuclear Information System (INIS)

Anon.

1986-01-01

The device presented here, has in the beginning been conceived for nuclear industries (nuclear power plants, waste processing, uranium enrichment) and can measure the concentration of dissolved hydrogen and the partial pressures of gaseous hydrogen. This hydrogen analyser has numerous applications, particularly in metal corrosion research and control, water processing, organic and mineral synthesis, in pharmaceutic industry, for gas purity control [fr

Behavior coordination of mobile robotics using supervisory control of fuzzy discrete event systems.

Science.gov (United States)

Jayasiri, Awantha; Mann, George K I; Gosine, Raymond G

2011-10-01

In order to incorporate the uncertainty and impreciseness present in real-world event-driven asynchronous systems, fuzzy discrete event systems (DESs) (FDESs) have been proposed as an extension to crisp DESs. In this paper, first, we propose an extension to the supervisory control theory of FDES by redefining fuzzy controllable and uncontrollable events. The proposed supervisor is capable of enabling feasible uncontrollable and controllable events with different possibilities. Then, the extended supervisory control framework of FDES is employed to model and control several navigational tasks of a mobile robot using the behavior-based approach. The robot has limited sensory capabilities, and the navigations have been performed in several unmodeled environments. The reactive and deliberative behaviors of the mobile robotic system are weighted through fuzzy uncontrollable and controllable events, respectively. By employing the proposed supervisory controller, a command-fusion-type behavior coordination is achieved. The observability of fuzzy events is incorporated to represent the sensory imprecision. As a systematic analysis of the system, a fuzzy-state-based controllability measure is introduced. The approach is implemented in both simulation and real time. A performance evaluation is performed to quantitatively estimate the validity of the proposed approach over its counterparts.

Research at the service of energy transition - Hydrogen and fuel cells

International Nuclear Information System (INIS)

Bodineau, Luc; Antoine, Loic; Tonnet, Nicolas; Theobald, Olivier; Tappero, Denis

2018-03-01

This brochure brings together 22 hydrogen-energy and fuel cell projects selected and supported by the French agency of environment and energy management (Ademe) since 2012 through its call for research projects TITEC (industrial tests and transfers in real conditions) and Sustainable Energy: 1 - BHYKE: electric-hydrogen bike experiment; 2 - CHYMENE: innovative hydrogen compressor for mobile applications; 3 - COMBIPOL 3: bipolar plates assembly technology and gasketing process for PEMFC; 4 - CRONOS: high temperature SOFC for domestic micro-cogeneration; 5 - EPILOG: natural gas fuel cell on the way to commercialization; 6 - EXALAME: polyfunctional catalytic complexes for membranes-electrodes assembly without Nafion for PEMFC; 7 - HYCABIOME: H 2 and CO 2 conversion by biological methanation; 8 - HYLOAD: hydrogen-fueled airport vehicle experiment with on-site supply chain; 9 - HYSPSC: Pressurized hydrogen without Compressor; 10 - HYWAY: hydrogen mobility cluster demonstrator (electric-powered Kangoo cars fleet with range extender) at Lyon and Grenoble; 11 - MHYEL: Pre-industrialization of composite hybrid Membranes for PEM electrolyzer; 12 - NAVHYBUS: Design and experimentation of an electric-hydrogen river shuttle for passengers transportation at Nantes; 13 - PACMONT: fuel cells integration and adaptation for high mountain and polar applications; 14 - PREMHYOME: fabrication process of hybrid membranes for PEMFC; 15 - PRODIG: lifetime prediction and warranty for fuel cell systems; 16 - REHYDRO: fuel cell integration in the circular economy principle; 17 - SPHYNX and Co: optimizing renewable energy integration and self-consumption in buildings; 18 - THEMIS: design and experimentation of an autonomous on-site power supply system; 19 - VABHYOGAZ: biogas valorization through renewable hydrogen generation, design and experimentation of a 5 Nm 3 /h demonstrator at a waste disposal site; 20 - VALORPAC: Integration and experimentation of a high-temperature SOFC system that use

Design and reliability assessment of control systems for a nuclear-based hydrogen production plant with copper-chlorine thermochemical cycle

Energy Technology Data Exchange (ETDEWEB)

Al-Dabbagh, Ahmad W. [Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario, L1H 7K4 (Canada); Lu, Lixuan [Faculty of Energy Systems and Nuclear Science, Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, Ontario, L1H 7K4 (Canada)

2010-02-15

The thermochemical Copper-Chlorine (Cu-Cl) cycle is an emerging new method of nuclear-based hydrogen production. In the process, water is decomposed into hydrogen and oxygen through several physical and chemical processes. In this paper, a Distributed Control System (DCS) is designed for the thermochemical Cu-Cl cycle. The architecture and the communication networks of the DCS are discussed. Reliability of the DCS is assessed using fault trees. In the assessment, the impact of the malfunction of the actuators, sensors, controllers and communication networks on the overall system reliability is investigated. This provides key information for the selection of control system components, and determination of their inspection frequency and maintenance strategy. The hydrogen reactor unit, which is one of the major components in the thermochemical Cu-Cl cycle, is used to demonstrate the detailed design and analysis. (author)

Research on Open-Closed-Loop Iterative Learning Control with Variable Forgetting Factor of Mobile Robots

Directory of Open Access Journals (Sweden)

Hongbin Wang

2016-01-01

Full Text Available We propose an iterative learning control algorithm (ILC that is developed using a variable forgetting factor to control a mobile robot. The proposed algorithm can be categorized as an open-closed-loop iterative learning control, which produces control instructions by using both previous and current data. However, introducing a variable forgetting factor can weaken the former control output and its variance in the control law while strengthening the robustness of the iterative learning control. If it is applied to the mobile robot, this will reduce position errors in robot trajectory tracking control effectively. In this work, we show that the proposed algorithm guarantees tracking error bound convergence to a small neighborhood of the origin under the condition of state disturbances, output measurement noises, and fluctuation of system dynamics. By using simulation, we demonstrate that the controller is effective in realizing the prefect tracking.

Intelligent control system for nuclear power plant mobile robot

International Nuclear Information System (INIS)

Koenig, A.; Lecoeur-Taibi, I.; Crochon, E.; Vacherand, F.

1991-01-01

In order to fully optimize the efficiency of the perception and navigation components available on a mobile robot, the upper level of a mobile robot control requires intelligence support to unload the work of the teleoperator. This knowledge-based system has to manage a priori data such as the map of the workspace, the mission, the characteristics of sensors and robot, but also, the current environment state and the running mission. It has to issue a plan to drive the sensors to focus on relevant objects or to scan the environment and to select the best algorithms depending on the current situation. The environment workspace is a nuclear power plant building. The teleoperated robot is a mobile wheeled or legged vehicle that moves inside the different floors of the building. There are three types of mission: radio-activity survey, inspection and intervention. To perform these goals the robot must avoid obstacles, pass through doors, possibly climb stairs and recognize valves and pipes. The perception control system has to provide the operator with a synthetic view of the surroundings. It manages background tasks such as obstacle detection and free space map building, and specific tasks such as beacon recognition for odometry relocalization and valve detection for maintenance. To do this, the system solves perception resources conflicts, taking into account the current states of the sensors and the current conditions such as lightness or darkness, cluttered scenes, sensor failure. A perception plan is issued from the mission goals, planned path, relocalization requirements and available perception resources. Basically, the knowledge-based system is implemented on a blackboard architecture which includes two parts: a top-down planning part and a bottom-up perception part. The results of the perception are continuously sent to the operator who can trigger new perception actions. (author)

Hydrogen: Fueling the Future

International Nuclear Information System (INIS)

Leisch, Jennifer

2007-01-01

As our dependence on foreign oil increases and concerns about global climate change rise, the need to develop sustainable energy technologies is becoming increasingly significant. Worldwide energy consumption is expected to double by the year 2050, as will carbon emissions along with it. This increase in emissions is a product of an ever-increasing demand for energy, and a corresponding rise in the combustion of carbon containing fossil fuels such as coal, petroleum, and natural gas. Undisputable scientific evidence indicates significant changes in the global climate have occurred in recent years. Impacts of climate change and the resulting atmospheric warming are extensive, and know no political or geographic boundaries. These far-reaching effects will be manifested as environmental, economic, socioeconomic, and geopolitical issues. Offsetting the projected increase in fossil energy use with renewable energy production will require large increases in renewable energy systems, as well as the ability to store and transport clean domestic fuels. Storage and transport of electricity generated from intermittent resources such as wind and solar is central to the widespread use of renewable energy technologies. Hydrogen created from water electrolysis is an option for energy storage and transport, and represents a pollution-free source of fuel when generated using renewable electricity. The conversion of chemical to electrical energy using fuel cells provides a high efficiency, carbon-free power source. Hydrogen serves to blur the line between stationary and mobile power applications, as it can be used as both a transportation fuel and for stationary electricity generation, with the possibility of a distributed generation energy infrastructure. Hydrogen and fuel cell technologies will be presented as possible pollution-free solutions to present and future energy concerns. Recent hydrogen-related research at SLAC in hydrogen production, fuel cell catalysis, and hydrogen

A case-control study of risk of leukaemia in relation to mobile phone use.

Science.gov (United States)

Cooke, R; Laing, S; Swerdlow, A J

2010-11-23

Mobile phone use is now ubiquitous, and scientific reviews have recommended research into its relation to leukaemia risk, but no large studies have been conducted. In a case-control study in South East England to investigate the relation of acute and non-lymphocytic leukaemia risk to mobile phone use, 806 cases with leukaemia incident 2003-2009 at ages 18-59 years (50% of those identified as eligible) and 585 non-blood relatives as controls (provided by 392 cases) were interviewed about mobile phone use and other potentially aetiological variables. No association was found between regular mobile phone use and risk of leukaemia (odds ratio (OR)=1.06, 95% confidence interval (CI)=0.76, 1.46). Analyses of risk in relation to years since first use, lifetime years of use, cumulative number of calls and cumulative hours of use produced no significantly raised risks, and there was no evidence of any trends. A non-significantly raised risk was found in people who first used a phone 15 or more years ago (OR=1.87, 95% CI=0.96, 3.63). Separate analyses of analogue and digital phone use and leukaemia subtype produced similar results to those overall. This study suggests that use of mobile phones does not increase leukaemia risk, although the possibility of an effect after long-term use, while biologically unlikely, remains open.

Optimal Design for PID Controller Based on DE Algorithm in Omnidirectional Mobile Robot

Directory of Open Access Journals (Sweden)

Wu Peizhang

2017-01-01

Full Text Available This paper introduces a omnidirectional mobile robot based on Mecanum wheel, which is used for conveying heavy load in a small space of the automatic warehousing logistics center. Then analyzes and establishes the omnidirectional chassis inverse and forward kinematic model. In order to improve the performance of motion, the paper proposes the optimal PID controller based on differential evolution algorithm. Finally, through MATLAB simulation, the results show that the kinematic model of mobile robot chassis is correct, further more the controller optimized by the DE algorithm working better than the traditional Z-N PID tuned. So the optimal scheme is reasonable and feasible, which has a value for engineering applications.

Improved electrical stability of CdS thin film transistors through Hydrogen-based thermal treatments

KAUST Repository

Salas Villaseñor, Ana L.

2014-06-01

Thin film transistors (TFTs) with a bottom-gate configuration were fabricated using a photolithography process with chemically bath deposited (CBD) cadmium sulfide (CdS) films as the active channel. Thermal annealing in hydrogen was used to improve electrical stability and performance of the resulting CdS TFTs. Hydrogen thermal treatments results in significant V T instability (V T shift) improvement while increasing the I on/I off ratio without degrading carrier mobility. It is demonstrated that after annealing V T shift and I on/I off improves from 10 V to 4.6 V and from 105 to 10 9, respectively. Carrier mobility remains in the order of 14.5 cm2 V s-1. The reduced V T shift and performance is attributed to a reduction in oxygen species in the CdS after hydrogen annealing, as evaluated by Fourier transform infrared spectroscopy (FTIR). © 2014 IOP Publishing Ltd.

Improved electrical stability of CdS thin film transistors through Hydrogen-based thermal treatments

KAUST Repository

Salas Villaseñ or, Ana L.; Mejia, Israel I.; Sotelo-Lerma, Mé rida; Guo, Zaibing; Alshareef, Husam N.; Quevedo-Ló pez, Manuel Angel Quevedo

2014-01-01

Thin film transistors (TFTs) with a bottom-gate configuration were fabricated using a photolithography process with chemically bath deposited (CBD) cadmium sulfide (CdS) films as the active channel. Thermal annealing in hydrogen was used to improve electrical stability and performance of the resulting CdS TFTs. Hydrogen thermal treatments results in significant V T instability (V T shift) improvement while increasing the I on/I off ratio without degrading carrier mobility. It is demonstrated that after annealing V T shift and I on/I off improves from 10 V to 4.6 V and from 105 to 10 9, respectively. Carrier mobility remains in the order of 14.5 cm2 V s-1. The reduced V T shift and performance is attributed to a reduction in oxygen species in the CdS after hydrogen annealing, as evaluated by Fourier transform infrared spectroscopy (FTIR). © 2014 IOP Publishing Ltd.

Complex Metal Hydrides for hydrogen storage and solid-state ion conductors

DEFF Research Database (Denmark)

Payandeh GharibDoust, SeyedHosein

and electricity in batteries. However, both hydrogen and electricity must be stored in a very dense way to be useful, e.g. for mobile applications. Complex metal hydrides have high hydrogen density and have been studied during the past twenty years in hydrogen storage systems. Moreover, they have shown high ionic...... conductivities which promote their application as solid electrolytes in batteries. This dissertation presents the synthesis and characterization of a variety of complex metal hydrides and explores their hydrogen storage properties and ionic conductivity. Five halide free rare earth borohydrides RE(BH4)3, (RE...... = La, Ce, Pr, Nd, Er) have been synthesized, which pave the way for studying the polymorphic transition in these compounds, obtaining new bimetallic borohydrides and designing new reactive hydride composites with improved hydrogen storage capacities. Two novel polymorphs of Pr(BH4)3 are identified...

Robust Feedback Linearization-based Control Design for a Wheeled Mobile Robot

DEFF Research Database (Denmark)

Bendtsen, Jan Dimon; Andersen, Palle; Pedersen, Tom Søndergaard

This paper considers the trajectory tracking problem for a four-wheel driven, four-wheel steered mobile robot moving in outdoor terrain. The robot is modeled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. A nonlinear trajectory tracking feedback control law based...

Fluidised bed membrane reactor for ultrapure hydrogen production via methane steam reforming: Experimental demonstration and model validation

NARCIS (Netherlands)

Patil, C.S.; van Sint Annaland, M.; Kuipers, J.A.M.

2007-01-01

Hydrogen is emerging as a future alternative for mobile and stationary energy carriers in addition to its use in chemical and petrochemical applications. A novel multifunctional reactor concept has been developed for the production of ultrapure hydrogen View the MathML source from light hydrocarbons

Fluidised bed membrane reactor for ultrapure hydrogen production via methane steam reforming: Experimental demonstration and model validation

NARCIS (Netherlands)

Patil, C.S.; Sint Annaland, van M.; Kuipers, J.A.M.

2007-01-01

Hydrogen is emerging as a future alternative for mobile and stationary energy carriers in addition to its use in chemical and petrochemical applications. A novel multifunctional reactor concept has been developed for the production of ultrapure hydrogen (<10 ppm CO) from light hydrocarbons such as

Alcohol control: Mobile sensor system and numerical signal analysis

OpenAIRE

Seifert, Rolf; Keller, Hubert B.; Conrad, Thorsten; Peter, Jens

2016-01-01

An innovative mobile sensor system for alcohol control in the respiratory air is introduced. The gas sensor included in the sensor system is thermo-cyclically operated. Ethanol is the leading component in this context. However, other components occur in the breathing air which can influence the concentration determination of ethanol. Therefore, mono- ethanol samples and binary gas mixtures are measured by the sensor system and analyzed with a new calibration and evaluation procedure which is ...

Quantifying the impact of selection bias caused by nonparticipation in a case-control study of mobile phone use

DEFF Research Database (Denmark)

Vrijheid, Martine; Richardson, Lesley; Armstrong, Bruce K

2009-01-01

To quantitatively assess the impact of selection bias caused by nonparticipation in a multinational case-control study of mobile phone use and brain tumor.......To quantitatively assess the impact of selection bias caused by nonparticipation in a multinational case-control study of mobile phone use and brain tumor....

Design and building of a new experimental setup for testing hydrogen storage materials

Energy Technology Data Exchange (ETDEWEB)

Andreasen, Anders

2005-09-01

For hydrogen to become the future energy carrier a suitable way of storing hydrogen is needed, especially if hydrogen is to be used in mobile applications such as cars. To test potential hydrogen storage materials with respect to capacity, kinetics and thermodynamics the Materials Research Department has a high pressure balance. However, the drawback of this equipment is, that in order to load samples, exposure towards air is inevitable. This has prompted the design and building of a new experimental setup with a detachable reactor allowing samples to be loaded under protective atmosphere. The purpose of this report is to serve as documentation of the new setup. (au)

Nickel-hydrogen battery design for the Transporter Energy Storage Subsystem (TESS)

Science.gov (United States)

Lapinski, John R.; Bourland, Deborah S.

1992-01-01

Information is given in viewgraph form on nickel hydrogen battery design for the transporter energy storage subsystem (TESS). Information is given on use in the Space Station Freedom, the launch configuration, use in the Mobile Servicing Center, battery design requirements, TESS subassembley design, proof of principle testing of a 6-cell battery, possible downsizing of TESS to support the Mobile Rocket Servicer Base System (MBS) redesign, TESS output capacity, and cell testing.

Compact hydrogen production systems for solid polymer fuel cells

Science.gov (United States)

Ledjeff-Hey, K.; Formanski, V.; Kalk, Th.; Roes, J.

Generally there are several ways to produce hydrogen gas from carbonaceous fuels like natural gas, oil or alcohols. Most of these processes are designed for large-scale industrial production and are not suitable for a compact hydrogen production system (CHYPS) in the power range of 1 kW. In order to supply solid polymer fuel cells (SPFC) with hydrogen, a compact fuel processor is required for mobile applications. The produced hydrogen-rich gas has to have a low level of harmful impurities; in particular the carbon monoxide content has to be lower than 20 ppmv. Integrating the reaction step, the gas purification and the heat supply leads to small-scale hydrogen production systems. The steam reforming of methanol is feasible at copper catalysts in a low temperature range of 200-350°C. The combination of a small-scale methanol reformer and a metal membrane as purification step forms a compact system producing high-purity hydrogen. The generation of a SPFC hydrogen fuel gas can also be performed by thermal or catalytic cracking of liquid hydrocarbons such as propane. At a temperature of 900°C the decomposition of propane into carbon and hydrogen takes place. A fuel processor based on this simple concept produces a gas stream with a hydrogen content of more than 90 vol.% and without CO and CO2.

Nanostructuring of Aluminum Alloy Powders by Cryogenic Attrition with Hydrogen-Free Process Control Agent

Science.gov (United States)

2015-02-01

Nanostructuring of Aluminum Alloy Powders by Cryogenic Attrition with Hydrogen-Free Process Control Agent by Frank Kellogg , Clara Hofmeister...Process Control Agent Frank Kellogg Bowhead Science and Technology Clara Hofmeister Advanced Materials Processing and Analysis Center...NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Frank Kellogg , Clara Hofmeister, Anit Giri, and Kyu Cho 5d. PROJECT NUMBER 5e

Design of neural network model-based controller in a fed-batch microbial electrolysis cell reactor for bio-hydrogen gas production

Science.gov (United States)

Azwar; Hussain, M. A.; Abdul-Wahab, A. K.; Zanil, M. F.; Mukhlishien

2018-03-01

One of major challenge in bio-hydrogen production process by using MEC process is nonlinear and highly complex system. This is mainly due to the presence of microbial interactions and highly complex phenomena in the system. Its complexity makes MEC system difficult to operate and control under optimal conditions. Thus, precise control is required for the MEC reactor, so that the amount of current required to produce hydrogen gas can be controlled according to the composition of the substrate in the reactor. In this work, two schemes for controlling the current and voltage of MEC were evaluated. The controllers evaluated are PID and Inverse neural network (NN) controller. The comparative study has been carried out under optimal condition for the production of bio-hydrogen gas wherein the controller output is based on the correlation of optimal current and voltage to the MEC. Various simulation tests involving multiple set-point changes and disturbances rejection have been evaluated and the performances of both controllers are discussed. The neural network-based controller results in fast response time and less overshoots while the offset effects are minimal. In conclusion, the Inverse neural network (NN)-based controllers provide better control performance for the MEC system compared to the PID controller.

Control of arsenic mobilization in paddy soils by manganese and iron oxides.

Science.gov (United States)

Xu, Xiaowei; Chen, Chuan; Wang, Peng; Kretzschmar, Ruben; Zhao, Fang-Jie

2017-12-01

Reductive mobilization of arsenic (As) in paddy soils under flooded conditions is an important reason for the relatively high accumulation of As in rice, posing a risk to food safety and human health. The extent of As mobilization varies widely among paddy soils, but the reasons are not well understood. In this study, we investigated As mobilization in six As-contaminated paddy soils (total As ranging from 73 to 122 mg kg -1 ) in flooded incubation and pot experiments. Arsenic speciation in the solution and solid phases were determined. The magnitude of As mobilization into the porewater varied by > 100 times among the six soils. Porewater As concentration correlated closely with the concentration of oxalate-extractable As, suggesting that As associated with amorphous iron (oxyhydr)oxides represents the potentially mobilizable pool of As under flooded conditions. Soil containing a high level of manganese oxides showed the lowest As mobilization, likely because Mn oxides retard As mobilization by slowing down the drop of redox potential upon soil flooding and maintaining a higher arsenate to arsenite ratio in the solid and solution phases. Additions of a synthetic Mn oxide (hausmannite) to two paddy soils increased arsenite oxidation, decreased As mobilization into the porewater and decreased As concentrations in rice grain and straw. Consistent with previous studies using simplified model systems or pure mineral phases, the present study shows that Mn oxides and amorphous Fe (oxyhydr)oxides are important factors controlling reductive As mobilization in As-contaminated paddy soils. In addition, this study also suggests a potential mitigation strategy using exogenous Mn oxides to decrease As uptake by rice in paddy soils containing low levels of indigenous Mn oxides, although further work is needed to verify its efficacy and possible secondary effects under field conditions. Copyright © 2017 Elsevier Ltd. All rights reserved.

Augmented models for improving vision control of a mobile robot

DEFF Research Database (Denmark)

Andersen, Gert Lysgaard; Christensen, Anders C.; Ravn, Ole

1994-01-01

obtain good performance even when using standard low cost equipment and a comparatively low sampling rate. The plant model is a compound of kinematic, dynamic and sensor submodels, all integrated into a discrete state space representation. An intelligent strategy is applied for the vision sensor......This paper describes the modelling phases for the design of a path tracking vision controller for a three wheeled mobile robot. It is shown that, by including the dynamic characteristics of vision and encoder sensors and implementing the total system in one multivariable control loop, one can...

Generation and confinement of mobile charges in buried oxide of SOI substrates

International Nuclear Information System (INIS)

Gruber, O.; Krawiec, S.; Musseau, O.; Paillet, Ph.; Courtot-Descharles, A.

1999-01-01

We analyze the mechanisms of generation and confinement of mobile protons resulting from hydrogen annealing of SOI buried oxides. This study of the mechanisms of generation and confinement of mobile protons in the buried oxide of SOI wafers emphasizes the importance of H+ diffusion in the oxide in the formation of a mobile charge. Under specific electric field conditions the irradiation of these devices results in a pinning of this mobile charge at the bottom Si-SiO 2 interface. Ab initio calculations are in progress to investigate the possible precursor defects in the oxide and detail the mechanism for mobile proton generation and confinement. (authors)

Multidimensional control using a mobile-phone based brain-muscle-computer interface.

Science.gov (United States)

Vernon, Scott; Joshi, Sanjay S

2011-01-01

Many well-known brain-computer interfaces measure signals at the brain, and then rely on the brain's ability to learn via operant conditioning in order to control objects in the environment. In our lab, we have been developing brain-muscle-computer interfaces, which measure signals at a single muscle and then rely on the brain's ability to learn neuromuscular skills via operant conditioning. Here, we report a new mobile-phone based brain-muscle-computer interface prototype for severely paralyzed persons, based on previous results from our group showing that humans may actively create specified power levels in two separate frequency bands of a single sEMG signal. Electromyographic activity on the surface of a single face muscle (Auricularis superior) is recorded with a standard electrode. This analog electrical signal is imported into an Android-based mobile phone. User-modulated power in two separate frequency band serves as two separate and simultaneous control channels for machine control. After signal processing, the Android phone sends commands to external devices via Bluetooth. Users are trained to use the device via biofeedback, with simple cursor-to-target activities on the phone screen.

A Study of Mobile Robot Control using EEG Emotiv Epoch Sensor

Directory of Open Access Journals (Sweden)

Victorio Yasin Timothius

2018-01-01

Full Text Available The study was using an EEG Emotiv Epoc+ sensor to recognize brain activity for controlling a mobile robot's movement. The study used Emotiv Control Panel software for EEG command identification. The commands will be interfaced inside Mind Your OSCs software and processing software which processed inside an Arduino Controller. The output of the Arduino is a movement command (ie. forward, backward, turn left, and turn right. The training methods of the system composed of three sets of thinking mode. First, thinking with doing facial expressions. Second, thinking with visual help. Third, thinking mentally without any help. In the first set, there are two configurations thinking with facial expression help as command of the mobile robot. Final results of the system are the second facial expressions configuration as the best facial expressions method with success rate 88.33 %. The second facial expression configuration has overall response time 1.60175 s faster than the first facial expressions configuration. In these two methods have dominant signals on the frontal lobe. The second facial expressions method have overall respond time 6.12 and 9.53 s faster than thinking with visual, and thinking without help respectively.

Positioning and tracking control system analysis for mobile free space optical network

Science.gov (United States)

Li, Yushan; Refai, Hazem; Sluss, , James J., Jr.; Verma, Pramode; LoPresti, Peter

2005-08-01

Free Space Optical (FSO) communication has evolved to be applied to the mobile network, because it can provide up to 2.5Gbps or higher data rate wireless communication. One of the key challenges with FSO systems is to maintain the Line of Sight (LOS) between transmitter and receiver. In this paper, the feasibility and performance of applying the FSO technology to the mobile network is explored, and the design plan of the attitude positioning and tracking control system of the FSO transceiver is investigated. First, the system architecture is introduced, the requirements for the control system are analyzed, the involved reference frames and frame transformation are presented. Second, the control system bandwidth is used to evaluate the system performance in controlling a positioning system consisting of a gimbal and a steering mirror, some definitions to describe the positioning accuracy and tracking capacity are given. The attitude control of a FSO transceiver is split into 2 similar channels: pitch and yaw. Using an equivalent linear control system model, the simulations are carried out, with and without the presence of uncertainties that includes GPS data errors and sensor measurement errors. Finally, based on the simulation results in the pitch channel, the quantitative evaluation on the performance of the control system is given, including positioning accuracy, tracking capability and uncertainty tolerance.

Fatigue behavior of niobium--hydrogen alloys

International Nuclear Information System (INIS)

Chung, D.W.; Stoloff, N.S.

1978-01-01

The effects of hydrogen on room temperature fatigue behavior of niobium were investigated under both high frequency stress control and low frequency strain control conditions, in air. Hydrogen markedly improved the fatigue life in high frequency tests, while low frequency tests resulted in decreased fatigue life with increasing hydrogen content. Notches in hydrogen-charged alloys reduced high cycle life significantly but had little effect on low cycle tests. Fracture surfaces of annealed niobium mainly exhibited striations, with numerous cracks originating at troughs of striated bands in both stress and strain control tests. The fracture mode for alloys with hydrogen in solution was mixed, with striations interspersed with cleavage facets at high frequencies but generally cleavage steps at low frequencies. For the hydrided alloys, distinctive steps of mixed ductile-brittle appearance were revealed under high frequency conditions, but large cleavage facets only were observed for low frequency tests. The results are discussed in terms of the effects of hydrogen on the cyclic strain hardening rate, as well as on fatigue strength and ductility of niobium

Microcontroller based instrumentation for heater control circuit of tin oxide based hydrogen sensor

International Nuclear Information System (INIS)

Premalatha, S.; Krithika, P.; Gunasekaran, G.; Ramakrishnan, R.; Ramanarayanan, R.R.; Prabhu, E.; Jayaraman, V.; Parthasarathy, R.

2015-01-01

A thin film sensor based on tin oxide developed in IGCAR is used to monitor very low levels of hydrogen (concentration ranging from 2 ppm to 80 ppm). The heater and the sensor patterns are integrated on a miniature alumina substrate and necessary electrical leads are taken out. For proper functioning of the sensor, the heater has to be maintained at a constant temperature of 350°C. The sensor output (voltage signal) varies with H 2 concentration. In fast breeder reactors, liquid sodium is used as coolant. The sensor is used to detect water/steam leak in secondary sodium circuit. During the start up of the reactor, steam leak into sodium circuit generates hydrogen gas as a product that doesn't dissolve in sodium, but escapes to the surge tank containing argon i.e. in cover gas plenum of sodium circuit. On-line monitoring of hydrogen in cover gas is done to detect an event of water/steam leakage. The focus of this project is on the instrumentation pertaining to the temperature control for the sensor heater. The tin oxide based hydrogen sensor is embedded in a substrate which consists of a platinum heater, essentially a resistor. There is no provision of embedding a temperature sensor on the heater surface due to the physical constraints, without which maintaining a constant heater temperature is a complex task

Controllable synthesis and electrochemical hydrogen storage properties of Sb₂Se₃ ultralong nanobelts with urchin-like structures.

Science.gov (United States)

Jin, Rencheng; Chen, Gang; Pei, Jian; Sun, Jingxue; Wang, Yang

2011-09-01

The controlled synthesis of one-dimensional and three-dimensional Sb(2)Se(3) nanostructures has been achieved by a facile solvothermal process in the presence of citric acid. By simply controlling the concentration of citric acid, the nucleation, growth direction and exposed facet can be readily tuned, which brings the different morphologies and nanostructures to the final products. The as-prepared products have been characterized by means of X-ray diffraction, field-emission scanning electron microscopy, transmission electron microscopy (TEM), high-resolution TEM and selected area electron diffraction. Based on the electron microscope observations, a possible growth mechanism of Sb(2)Se(3) with distinctive morphologies including ultralong nanobelts, hierarchical urchin-like nanostructures is proposed and discussed in detail. The electrochemical hydrogen storage measurements reveal that the morphology plays a key role on the hydrogen storage capacity of Sb(2)Se(3) nanostructures. The Sb(2)Se(3) ultralong nanobelts with high percentage of {-111} facets exhibit higher hydrogen storage capacity (228.5 mA h g(-1)) and better cycle stability at room temperature.

Safety operation of chromatography column system with discharging hydrogen radiolytically generated

International Nuclear Information System (INIS)

Watanabe, S; Sano, Y.; Nomura, K.; Koma, Y.; Okamoto, Y.

2015-01-01

The extraction chromatography technology is one of the promising methods for the partitioning of minor actinides (Am and Cm) from spent nuclear fuels. In the extraction chromatography system, the accumulation of hydrogen gas in the chromatography column is suspected to lead to fire or explosion. In order to prevent hazardous accidents, it is necessary to evaluate behaviors of gas radiolytically generated inside the column. In this study, behaviors of gas inside the extraction chromatography column were investigated through experiments and Computation Fluid Dynamics (CFD) simulation. N_2 gas once accumulated as bubbles in the packed bed was hardly discharged by the flow of mobile phase. However, the CFD simulation and X-ray imaging on γ-ray irradiated column revealed that during operation the hydrogen gas generated in the column was dissolved into the mobile phase without accumulation and then discharged. (authors)

Conference on hydrogen-energy in France and Germany

International Nuclear Information System (INIS)

Bodineau, Luc; Menzen, Georg; Arnold, Peter Erich; Mauberger, Pascal; Roentzsch, Lars; Poggi, Philippe; Gervais, Thierry; Schneider, Guenther; Colomar, David; Buenger, Ulrich; Nieder, Babette; Zimmer, Rene; Jeanne, Fabrice; Le Grand, Jean-Francois

2014-01-01

The French-German office for Renewable energies (OFAEnR) organised a conference on hydrogen-energy in France and Germany. In the framework of this French-German exchange of experience, about 200 participants exchanged views on the different perspectives for use of hydrogen, in particular in transportation and energy storage applications. The technical production, transport and storage means were addressed too, as well as the technological models and the conditions for a large-scale industrial deployment. The economic prospects of hydrogen-energy in tomorrow's energy mix were also considered during the conference. This document brings together the available presentations (slides) made during this event: 1 - Hydrogen energy and Fuel Cells in France Today, and prospective (Luc Bodineau); 2 - The situation of energy Policy in Germany and the challenges for the Hydrogen Technology (Georg Menzen); 3 - Unlocking the Hydrogen Potential for Transport and Industry (Peter Erich Arnold); 4 - Hydrogen, a new energy for our planet - Hydrogen storage possibilities: example of solid storage (Pascal Mauberger); 5 - Innovative Materials and Manufacturing Technologies for H 2 Production and H 2 Storage (Lars Roentzsch); 6 - Scientific development and industrial strategy: experience feedback from the Myrte platform and energy transition-related perspectives (Philippe Poggi, Thierry Gervais); 7 - 'Power to Gas' - Important partner for renewables with big impact potential (Guenther Schneider) 8 - Developing a Hydrogen Infrastructure for Transport in France and Germany - A Comparison (David Colomar, Ulrich Buenger); 9 - H 2 and Fuel-Cells as Key Technologies for the Transition to Renewable energies - The example of Herten (Babette Nieder); 10 - Social acceptance of hydrogen mobility in Germany (Rene Zimmer); 11 - Hydrogen - A development opportunity for regions? (Fabrice Jeanne)

Role of a natural gas utility in the hydrogen economy

International Nuclear Information System (INIS)

Bayko, J.

2004-01-01

'Full text:' Enbridge Gas Distribution is the largest natural gas distribution company in Canada at about 1.7 million residential, commercial and industrial customers. Enbridge will speak to the role of a natural gas utility in the hydrogen economy, and outline the benefits of hydrogen production from natural gas reformation for both stationary and mobile applications. Hydrocarbon reformation will act at least as a bridge until a more fully developed hydrogen economy infrastructure is developed. Reformation allows immediate leveraging of the reliability of vast existing natural gas distribution systems, and a reduced need for on-site hydrogen storage. Natural gas powered fuel cells provide improved emissions over traditional internal combustion engines, and in the stationary market provide smarter use of resources through the higher efficiencies of cogeneration (the capture and use of otherwise waste heat). (author)

Optimizing the Binding Energy of Hydrogen on Nanostructured Carbon Materials through Structure Control and Chemical Doping

Energy Technology Data Exchange (ETDEWEB)

Jie Liu

2011-02-01

The DOE Hydrogen Sorption Center of Excellence (HSCoE) was formed in 2005 to develop materials for hydrogen storage systems to be used in light-duty vehicles. The HSCoE and two related centers of excellence were created as follow-on activities to the DOE Office of Energy Efficiency and Renewable Energy’s (EERE’s) Hydrogen Storage Grand Challenge Solicitation issued in FY 2003. The Hydrogen Sorption Center of Excellence (HSCoE) focuses on developing high-capacity sorbents with the goal to operate at temperatures and pressures approaching ambient and be efficiently and quickly charged in the tank with minimal energy requirements and penalties to the hydrogen fuel infrastructure. The work was directed at overcoming barriers to achieving DOE system goals and identifying pathways to meet the hydrogen storage system targets. To ensure that the development activities were performed as efficiently as possible, the HSCoE formed complementary, focused development clusters based on the following four sorption-based hydrogen storage mechanisms: 1. Physisorption on high specific surface area and nominally single element materials 2. Enhanced H2 binding in Substituted/heterogeneous materials 3. Strong and/or multiple H2 binding from coordinated but electronically unsatruated metal centers 4. Weak Chemisorption/Spillover. As a member of the team, our group at Duke studied the synthesis of various carbon-based materials, including carbon nanotubes and microporous carbon materials with controlled porosity. We worked closely with other team members to study the effect of pore size on the binding energy of hydrogen to the carbon –based materials. Our initial project focus was on the synthesis and purification of small diameter, single-walled carbon nanotubes (SWNTs) with well-controlled diameters for the study of their hydrogen storage properties as a function of diameters. We developed a chemical vapor deposition method that synthesized gram quantities of carbon nanotubes with

Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

Directory of Open Access Journals (Sweden)

Marcin Szuster

2014-01-01

Full Text Available Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal. The structure of the supervisory term derives from the stability analysis realised using the Lyapunov stability theorem. The globalised dual heuristic dynamic programming algorithm consists of two structures: the actor and the critic, realised in a form of neural networks. The actor generates the suboptimal control law, while the critic evaluates the realised control strategy by approximation of value function from the Bellman’s equation. The presented discrete tracking control system works online, the neural networks’ weights adaptation process is realised in every iteration step, and the neural networks preliminary learning procedure is not required. The performance of the proposed control system was verified by a series of computer simulations and experiments realised using the wheeled mobile robot Pioneer 2-DX.

Molecular mechanisms underlying the protective effects of hydrogen-saturated saline on noise-induced hearing loss.

Science.gov (United States)

Chen, Liwei; Han, Mingkun; Lu, Yan; Chen, Daishi; Sun, Xuejun; Yang, Shiming; Sun, Wei; Yu, Ning; Zhai, Suoqiang

2017-10-01

This study aimed to explore the molecular mechanism of the protective effects of hydrogen-saturated saline on NIHL. Guinea pigs were divided into three groups: hydrogen-saturated saline; normal saline; and control. For saline administration, the guinea pigs were given daily abdominal injections 3 d before and 1 h before noise exposure. ABR were tested to examine cochlear physiology changes. The changes of 8-hydroxy-desoxyguanosine (8-HOdG), interleukin-1 (IL-1), interleukin-6 (IL-6), interleukin-10 (IL-10), tumor necrosis factor-α (TNF-α), intercellular cell adhesion molecule-1 (ICAM-1) and high mobility group box-1 protein (HMGB1) in the cochlea were also examined. The results showed that pre-treatment with hydrogen-saturated saline could significantly attenuate noise-induced hearing loss. The concentration of 8-HOdG was also significantly decreased in the hydrogen-saturated saline group compared with the normal saline group. After noise exposure, the concentrations of IL-1, IL-6, TNF-α, and ICAM-1 in the cochlea of guinea pigs in the hydrogen-saturated saline group were dramatically reduced compared to those in the normal saline group. The concentrations of HMGB-1 and IL-10 in the hydrogen-saturated saline group were significantly higher than in those in the normal saline group immediately and at 7 d after noise exposure. This study revealed for the first time the protective effects of hydrogen-saturated saline on noise-induced hearing loss (NIHL) are related to both the anti-oxidative activity and anti-inflammatory activity.

Butterfly valve with metal seals controls flow of hydrogen from cryogenic through high temperatures

Science.gov (United States)

Johnson, L. D.

1967-01-01

Butterfly valve with metal seals operates over a temperature range of minus 423 degrees to plus 440 degrees F with hydrogen as a medium and in a radiation environment. Media flow is controlled by an internal butterfly disk which is rotated by an actuation shaft.

Distributed estimation and control for mobile sensor networks with coupling delays.

Science.gov (United States)

Su, Housheng; Chen, Xuan; Chen, Michael Z Q; Wang, Lei

2016-09-01

This paper deals with the issue of distributed estimation and control for mobile sensor networks with coupling delays. Based on the Kalman-Consensus filter and the flocking algorithm, all mobile sensors move to a target to increase the quality of gathered data, and achieve consensus on the estimation values of the target in the presence of time-delay and noises. By applying an effective cascading Lyapunov method and matrix theory, stability analysis is carried out. Furthermore, a necessary condition for the convergence is presented via the boundary conditions of feedback coefficients. Some numerical examples are provided to validate the effectiveness of theoretical results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Mobile diabetes intervention study: testing a personalized treatment/behavioral communication intervention for blood glucose control.

Science.gov (United States)

Quinn, Charlene C; Gruber-Baldini, Ann L; Shardell, Michelle; Weed, Kelly; Clough, Suzanne S; Peeples, Malinda; Terrin, Michael; Bronich-Hall, Lauren; Barr, Erik; Lender, Dan

2009-07-01

National data find glycemic control is within target (A1ccommunication system, using mobile phones and patient/physician portals to allow patient-specific treatment and communication. All physicians receive American Diabetes Association (ADA) Guidelines for diabetes care. Patients with poor diabetes control (A1c> or =7.5%) at baseline (n=260) are enrolled in study groups based on PCP randomization. All study patients receive blood glucose (BG) meters and a year's supply of testing materials. Patients in three treatment groups select one of two mobile phone models, receive one-year unlimited mobile phone data and service plan, register on the web-based individual patient portal and receive study treatment phone software based on study assignment. Control group patients receive usual care from their PCP. The primary outcome is mean change in A1c over a 12-month intervention period. Traditional methods of disease management have not achieved adequate control for BG and other conditions important to persons with diabetes. Tools to improve communication between patients and PCPs may improve patient outcomes and be satisfactory to patients and physicians. This RCT is ongoing.

Driving a Semiautonomous Mobile Robotic Car Controlled by an SSVEP-Based BCI.

Science.gov (United States)

Stawicki, Piotr; Gembler, Felix; Volosyak, Ivan

2016-01-01

Brain-computer interfaces represent a range of acknowledged technologies that translate brain activity into computer commands. The aim of our research is to develop and evaluate a BCI control application for certain assistive technologies that can be used for remote telepresence or remote driving. The communication channel to the target device is based on the steady-state visual evoked potentials. In order to test the control application, a mobile robotic car (MRC) was introduced and a four-class BCI graphical user interface (with live video feedback and stimulation boxes on the same screen) for piloting the MRC was designed. For the purpose of evaluating a potential real-life scenario for such assistive technology, we present a study where 61 subjects steered the MRC through a predetermined route. All 61 subjects were able to control the MRC and finish the experiment (mean time 207.08 s, SD 50.25) with a mean (SD) accuracy and ITR of 93.03% (5.73) and 14.07 bits/min (4.44), respectively. The results show that our proposed SSVEP-based BCI control application is suitable for mobile robots with a shared-control approach. We also did not observe any negative influence of the simultaneous live video feedback and SSVEP stimulation on the performance of the BCI system.

Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

Directory of Open Access Journals (Sweden)

Long Sheng

2012-01-01

for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

NARCIS (Netherlands)

Sadowska, A.D.; van den Broek, T.H.A.; Huijberts, H.J.C.; Wouw, van de N.; Kostic, D.; Nijmeijer, H.

2011-01-01

In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional

Proportional-integral control modes for a hydrogen isotope distillation column

International Nuclear Information System (INIS)

Kinoshita, M.; Bartlit, J.R.; Sherman, R.H.

1984-01-01

The dynamics and control of a hydrogen isotope distillation column are discussed. The proportionalintegral (PI) controller parameter setting method previously reported by one of the authors is further investigated and extended by applying the method to two different experimental control modes. The method accounts for the nonlinearity of the column to some extent and allows us to predict the unstable region or the region of the proportional-only control behavior. The method can also be applied to the cases where the measurement of the controlled variable is accompanied by a significant time lag. The mean delay time depends greatly on the controlled variable and manipulated variable chosen and the upset condition assumed, varying by over two orders of magnitude. The PI control presents great stability, and a rather long time lag is permissible in the measurement of the controlled variable if the flow rate of the top product is chosen for the manipulated variable. On the other hand, if the reflux ratio is manipulated for controlling the lightest key element in the bottom product, the great stability is no longer present and the time lag must be adequately short. Once several response curves of the controlled variable are calculated for different magnitudes of the manipulated variable upset, the parameter setting method proposed makes it possible to study how long a time lag is allowable in the measurement of the controlled variable

Hydrogen metal hydride storage with integrated catalytic recombiner for mobile application

Energy Technology Data Exchange (ETDEWEB)

Marinescu-Pasoi, L.; Behrens, U.; Langer, G.; Gramatte, W.; Rastogi, A.K.; Schmitt, R.E. (Battelle-Institut e.V., Frankfurt am Main (DE). Dept. of Energy Technology)

1991-01-01

A novel, thermodynamically efficient device is under development at Battelle in Frankfurt, by which the range of hydrogen-driven cars with a metal hydride tank might be roughly doubled. The device makes use of the properties of metal hydrides, combined with catalytic combustion. Its development is funded by the Hessian Ministry of Economic Affairs and Technology; it is to be completed by the end of 1990. High-temperature hydrides (HTH) have about three times the storage capacity of low temperature hydrides (LTH), but require relatively large amounts of heat at high temperatures to release the hydrogen. The exhaust heat from combustion-engine-driven vehicles is insufficient for this, and vehicles with electric (fuel cell) drive produce practically no exhaust heat at all. The Battelle-developed device is a combination of an HTH storage cell, an LTH storage cell and a catalyst. (author).

Mobile application as a prenatal education and engagement tool: A randomized controlled pilot.

Science.gov (United States)

Ledford, Christy J W; Canzona, Mollie Rose; Cafferty, Lauren A; Hodge, Joshua A

2016-04-01

Research has shown that mobile applications provide a powerful alternative to traditional paper diaries; however, little data exists in comparing apps to the traditional mode of paper as a patient education and engagement tool in the clinical setting. This study was designed to compare the effectiveness of a mobile app versus a spiral-notebook guide throughout prenatal care. This randomized (n=173) controlled pilot was conducted at an East Coast community hospital. Chi-square and repeated-measures analysis of variance was used to test intervention effects in the sample of 127 pregnant mothers who completed their prenatal care in the healthcare system. Patients who were distributed the mobile application used the tool to record information about pregnancy more frequently (p=.04) and developed greater patient activation (p=.02) than patients who were distributed notebooks. No difference was detected on interpersonal clinical communication. A mobile application successfully activated a patient population in which self-management is a critical factor. This study shows that mobile apps can prompt greater use and result in more activated patients. Findings may be translated to other patient populations who receive recurring care for chronic disease. Published by Elsevier Ireland Ltd.

Limited mobility of target pests crucially lowers controllability when sterile insect releases are spatiotemporally biased.

Science.gov (United States)

Ikegawa, Yusuke; Himuro, Chihiro

2017-05-21

The sterile insect technique (SIT) is a genetic pest control method wherein mass-reared sterile insects are periodically released into the wild, thereby impeding the successful reproduction of fertile pests. In Okinawa Prefecture, Japan, the SIT has been implemented to eradicate the West Indian sweet potato weevil Euscepes postfasciatus (Fairmaire), which is a flightless agricultural pest of sweet potatoes. It is known that E. postfasciatus is much less mobile than other insects to which the SIT has been applied. However, previous theoretical studies have rarely examined effects of low mobility of target pests and variation in the spatiotemporal evenness of sterile insect releases. To theoretically examine the effects of spatiotemporal evenness on the regional eradication of less mobile pests, we constructed a simple two-patch population model comprised of a pest and sterile insect moving between two habitats, and numerically simulated different release strategies (varying the number of released sterile insects and release intervals). We found that spatially biased releases allowed the pest to spatially escape from the sterile insect, and thus intensively lowered its controllability. However, we showed that the temporally counterbalancing spatially biased releases by swapping the number of released insects in the two habitats at every release (called temporal balancing) could greatly mitigate this negative effect and promote the controllability. We also showed that the negative effect of spatiotemporally biased releases was a result of the limited mobility of the target insect. Although directed dispersal of the insects in response to habitats of differing quality could lower the controllability in the more productive habitat, the temporal balancing could promote and eventually maximize the controllability as released insects increased. Copyright © 2017 Elsevier Ltd. All rights reserved.

Tetrahydroborates: Development and Potential as Hydrogen Storage Medium

Directory of Open Access Journals (Sweden)

Julián Puszkiel

2017-10-01

Full Text Available The use of fossil fuels as an energy supply becomes increasingly problematic from the point of view of both environmental emissions and energy sustainability. As an alternative, hydrogen is widely regarded as a key element for a potential energy solution. However, different from fossil fuels such as oil, gas, and coal, the production of hydrogen requires energy. Alternative and intermittent renewable sources such as solar power, wind power, etc., present multiple advantages for the production of hydrogen. On one hand, the renewable sources contribute to a remarkable reduction of pollutants released to the air. On the other hand, they significantly enhance the sustainability of energy supply. In addition, the storage of energy in form of hydrogen has a huge potential to balance an effective and synergetic utilization of the renewable energy sources. In this regard, hydrogen storage technology presents a key roadblock towards the practical application of hydrogen as “energy carrier”. Among the methods available to store hydrogen, solid-state storage is the most attractive alternative both from the safety and the volumetric energy density points of view. Because of their appealing hydrogen content, complex hydrides and complex hydride-based systems have attracted considerable attention as potential energy vectors for mobile and stationary applications. In this review, the progresses made over the last century on the development in the synthesis and research on the decomposition reactions of homoleptic tetrahydroborates is summarized. Furthermore, theoretical and experimental investigations on the thermodynamic and kinetic tuning of tetrahydroborates for hydrogen storage purposes are herein reviewed.

NHS connecting for health: healthcare professionals, mobile technology, and infection control.

Science.gov (United States)

Brady, Richard R W; Chitnis, Shruti; Stewart, Ross W; Graham, Catriona; Yalamarthi, Satheesh; Morris, Keith

2012-05-01

Mobile phones improve the efficiency of clinical communication and are increasingly involved in all areas of healthcare delivery. Despite this, healthcare workers' mobile phones provide a known reservoir of pathogenic bacteria, with the potential to undermine infection control efforts aimed at the reducing bacterial cross-contamination in hospitals. This potential could be amplified further when employers require doctors to carry additional electronic devices for communication, without concurrently providing appropriate guidance on decontamination or use. Eighty-seven on-call doctors' mobile phones were sampled for bacterial growth prior to, and 12 h after, a cleaning intervention involving 70% isopropyl alcohol. Seventy-eight percent of doctors were aware that mobile phones could carry pathogenic bacteria, but only 8% cleaned their phones regularly. The cleaning intervention reduced the number of phones that grew bacteria by 79% (55% [48 of 87] before versus 16% [14 of 87] after cleaning). Eight percent of the phones grew Staphyloccus aureus, and 44.8% of phones grew Gram-positive cocci. All S. aureus isolates were methicillin-sensitive. Bacterial contamination was not associated with gender, specialty, or seniority of the phone user (p>0.05). Simple cleaning interventions can reduce the surface bioburden of hospital-provided doctors' mobile phones and therefore the potential for cross-contamination. This cleaning intervention is inexpensive, easily instituted, and effective. Healthcare workers should carry the minimum number of electronic devices on their person, maintain good hand hygiene, and clean their device appropriately in order to minimize the potential for cross-contamination in the work place.

A neutronic method to determine low hydrogen concentrations in metals

International Nuclear Information System (INIS)

Bennun, Leonardo; Santisteban, Javier; Diaz-Valdes, J.; Granada, J.R.; Mayer, R.E.

2007-01-01

We propose a method for the non-destructive determination of low hydrogen content in metals. The method is based on measurements of neutron inelastic scattering combined with cadmium filters. Determination is simple and the method would allow to construct a mobile device, to perform the analysis 'in situ'. We give a brief description of the usual methods to determine low hydrogen contents in solids, paying special attention to those methods supported by neutron techniques. We describe the proposed method, calculations to achieve a better sensitivity, and experimental results

Defect engineering: reduction effect of hydrogen atom impurities in HfO2-based resistive-switching memory devices

International Nuclear Information System (INIS)

Kim, Seonghyun; Park, Jubong; Jung, Seungjae; Lee, Wootae; Shin, Jungho; Hwang, Hyunsang; Lee, Daeseok; Woo, Jiyong; Choi, Godeuni

2012-01-01

In this study, we propose a new and effective methodology for improving the resistive-switching performance of memory devices by high-pressure hydrogen annealing under ambient conditions. The reduction effect results in the uniform creation of oxygen vacancies that in turn enable forming-free operation and afford uniform switching characteristics. In addition, H + and mobile hydroxyl (OH − ) ions are generated, and these induce fast switching operation due to the higher mobility compared to oxygen ions. Defect engineering, specifically, the introduction of hydrogen atom impurities, improves the device performance for metal–oxide-based resistive-switching random access memory devices. (paper)

Study of the controllable reactivity of aluminum alloys and their promising application for hydrogen generation

International Nuclear Information System (INIS)

Fan Meiqiang; Sun Lixian; Xu Fen

2010-01-01

The hydrolysis performances of two aluminum alloys are investigated as their reactivity can be controlled via the different additives. The additive of NaCl has the positive effect to improve the hydrolysis properties of the aluminum alloys with quicker hydrolysis kinetic and lower hydrolysis temperature. For examples, in 6 min of hydrolysis reaction, the Al-5 wt%Hg-5 wt%NaCl can produce 971 mL g -1 hydrogen, higher than 917 mL g -1 hydrogen from Al-10 wt%Hg alloy. The Al-In-NaCl alloy has lower hydrolysis temperature about 10 K than that of Al-In alloy. Meanwhile, the reactivity of Al alloys can be improved or reduced via the additive metals. It can be found that the additive cadmium can reduce the reactivity of Al-Hg alloy. The Al-Hg-Cd alloys can keep good stability at the moist atmosphere below 343 K and have excellent hydrolysis performance around 343-373 K. The debased reactivity of Al-Hg-Cd composite comes from the formation of CdHg 2 compounds in the milling process. But the additive Zn and Ga doped into the Al-In-NaCl alloys can quickly increase the reactivity of the alloy which can quickly react with water at room temperature and have high hydrogen yield up to the theoretic value. Therefore, it is a promising possibility that the controllable reactivity of aluminum alloys can be obtained through the different additive according to the practical request, and the Al alloys can produce pure hydrogen for the fuel cell via the hydrolysis reaction.

Channel Access and Power Control for Mobile Crowdsourcing in Device-to-Device Underlaid Cellular Networks

Directory of Open Access Journals (Sweden)

Yue Ma

2018-01-01

Full Text Available With the access of a myriad of smart handheld devices in cellular networks, mobile crowdsourcing becomes increasingly popular, which can leverage omnipresent mobile devices to promote the complicated crowdsourcing tasks. Device-to-device (D2D communication is highly desired in mobile crowdsourcing when cellular communications are costly. The D2D cellular network is more preferable for mobile crowdsourcing than conventional cellular network. Therefore, this paper addresses the channel access and power control problem in the D2D underlaid cellular networks. We propose a novel semidistributed network-assisted power and a channel access control scheme for D2D user equipment (DUE pieces. It can control the interference from DUE pieces to the cellular user accurately and has low information feedback overhead. For the proposed scheme, the stochastic geometry tool is employed and analytic expressions are derived for the coverage probabilities of both the cellular link and D2D links. We analyze the impact of key system parameters on the proposed scheme. The Pareto optimal access threshold maximizing the total area spectral efficiency is obtained. Unlike the existing works, the performances of the cellular link and D2D links are both considered. Simulation results show that the proposed method can improve the total area spectral efficiency significantly compared to existing schemes.

Hydrogen in oxygen-free, phosphorus-doped copper-Charging techniques, hydrogen contents and modelling of hydrogen diffusion and depth profile

International Nuclear Information System (INIS)

Martinsson, Aasa; Sandstroem, Rolf; Lilja, Christina

2013-01-01

In Sweden spent nuclear fuel is planned to be disposed of by encapsulating in cast iron inserts protected by a copper shell. The copper can be exposed to hydrogen released during corrosion processes in the inserts. If the hydrogen is taken up by the copper, it could lead to hydrogen embrittlement. Specimens from oxygen-free copper have been hydrogen charged using two different methods. The purpose was to investigate how hydrogen could be introduced into copper in a controlled way. The thermal charging method resulted in a reduction of the initial hydrogen content. After electrochemical charging of cylindrical specimens, the measured hydrogen content was 2.6 wt. ppm which should compared with 0.6 wt. ppm before charging. The retained hydrogen after two weeks was reduced by nearly 40%. Recently the paper 'Hydrogen depth profile in phosphorus-doped, oxygen-free copper after cathodic charging' (Martinsson and Sandstrom, 2012) has been published. The paper describes experimental results for bulk specimens as well as presenting a model. Almost all the hydrogen is found to be located less than 100 μm from the surface. This model is used to interpret the experimental results on foils in the present report. Since the model is fully based on fundamental equations, it can be used to analyse what happens in new situations. In this report the effect of the charging intensity, the grain size, the critical nucleus size for hydrogen bubble formation as well as the charging time are analysed

Hydrogen in oxygen-free, phosphorus-doped copper - Charging techniques, hydrogen contents and modelling of hydrogen diffusion and depth profile

Energy Technology Data Exchange (ETDEWEB)

Martinsson, Aasa [Swerea KIMAB, Kista (Sweden); Sandstroem, Rolf [Swerea KIMAB, Kista (Sweden); Div. of Materials Science and Engineering, KTH Royal Institute of Technology, Stockholm (Sweden); Lilja, Christina [Swedish Nuclear Fuel and Waste Management Co., Stockholm (Sweden)

2013-01-15

In Sweden spent nuclear fuel is planned to be disposed of by encapsulating in cast iron inserts protected by a copper shell. The copper can be exposed to hydrogen released during corrosion processes in the inserts. If the hydrogen is taken up by the copper, it could lead to hydrogen embrittlement. Specimens from oxygen-free copper have been hydrogen charged using two different methods. The purpose was to investigate how hydrogen could be introduced into copper in a controlled way. The thermal charging method resulted in a reduction of the initial hydrogen content. After electrochemical charging of cylindrical specimens, the measured hydrogen content was 2.6 wt. ppm which should compared with 0.6 wt. ppm before charging. The retained hydrogen after two weeks was reduced by nearly 40%. Recently the paper 'Hydrogen depth profile in phosphorus-doped, oxygen-free copper after cathodic charging' (Martinsson and Sandstrom, 2012) has been published. The paper describes experimental results for bulk specimens as well as presenting a model. Almost all the hydrogen is found to be located less than 100 {mu}m from the surface. This model is used to interpret the experimental results on foils in the present report. Since the model is fully based on fundamental equations, it can be used to analyse what happens in new situations. In this report the effect of the charging intensity, the grain size, the critical nucleus size for hydrogen bubble formation as well as the charging time are analysed.

Mobility potential of a robotic six-wheeled omnidirectional drive vehicle (ODV) with z-axis and tire inflation control

Science.gov (United States)

Witus, Gary

2000-07-01

Robot vehicle mobility is the product of the physical configuration, mechatronics (sensors, actuators, and control) and the motion programs for different obstacles, terrain conditions, and maneuver objectives. This paper examines the mobility potential of a robotic 6-by-6 wheeled omni-directional drive vehicle (ODV) with z-axis and tire inflation control. Ad ODV can steer and drive all wheels independently. The direction of motion is independent of the orientation of the body. Z- axis control refers to independent control of the suspension elevation at each wheel. Pneumatic tire inflation control provides the ability to inflate and deflate individual tires. The paper describes motion programs for various discrete obstacles and challenging terrain conditions. The paper illustrates how ODV control, z-axis control and tire inflation control interact to provide high mobility with respect to cornering, maneuvering on slopes, negotiating vertical step and horizontal gap obstacles, and braking/acceleration on soft soil and slick surfaces. The paper derives guidelines for the physical dimensions of the vehicle needed to achieve these capabilities.

Hydrogen storage materials at INCDTIM Cluj - Napoca. Achievements and outlook

International Nuclear Information System (INIS)

Lupu, D.; Biris, A.R.; Misan, I.

2005-01-01

Introducing hydrogen fuel to the transportation area poses key challenges for research on hydrogen storage materials. As one of the most promising alternative fuels for transport, hydrogen offers the long-term potential for an energy system that produces near-zero emissions and can be based on renewable energy sources. The Joint Research Centre (JRC), a Directorate-General of the European Commission fosters research for safe methods for storing hydrogen, for use in fuel cells or modified combustion engines in cars and other road vehicles. Hydrogen storage materials focused, in the last 30 years, the attention of the research programs in the many countries. Due to the fast development of the fuel cell technologies, the subject is much more stringent now. For mobile applications to fuel cell powered vehicles, on-board storage materials with hydrogen absorption/desorption capacities of at least 6.5%H are needed. For an efficient storage system the goal is to pack hydrogen as close as possible. Hydrogen storage implies the reduction of an enormous volume of H 2 gas (1 kg of gas has a volume of 11 m 3 at ambient temperature and pressure). To reach the high volumetric and gravimetric density suitable for mobile applications, basically six reversible storage methods are known today according to A. Zuettel: 1) high-pressure gas cylinders, 2) liquid in cryogenic tanks, 3) physisorbed on a solid surface e.g. carbon-nanotubes 4) metal hydrides of the metals or intermetallic compounds. 5) complex hydrides of light elements such as alanates and boranates, 6) storage via chemical reactions. Recently, the storage as hydrogen hydrates at 50 bar using promoters has been reported by F. Peetom. The paper discusses the feasibility of each of these storing alternatives. The authors presents their experience and results of the work in the field of metal hydrides and application obtained since 1975. All classes of hydrogen absorbing intermetallic compounds were studied: LaNi 5 , FeTi, Ti

Velocity Tracking Control of Wheeled Mobile Robots by Iterative Learning Control

Directory of Open Access Journals (Sweden)

Xiaochun Lu

2016-05-01

Full Text Available This paper presents an iterative learning control (ILC strategy to resolve the trajectory tracking problem of wheeled mobile robots (WMRs based on dynamic model. In the previous study of WMRs’ trajectory tracking, ILC was usually applied to the kinematical model of WMRs with the assumption that desired velocity can be tracked immediately. However, this assumption cannot be realized in the real world at all. The kinematic and dynamic models of WMRs are deduced in this chapter, and a novel combination of D-type ILC algorithm and dynamic model of WMR with random bounded disturbances are presented. To analyze the convergence of the algorithm, the method of contracting mapping, which shows that the designed controller can make the velocity tracking errors converge to zero completely when the iteration times tend to infinite, is adopted. Simulation results show the effectiveness of D-type ILC in the trajectory tracking problem of WMRs, demonstrating the effectiveness and robustness of the algorithm in the condition of random bounded disturbance. A comparative study conducted between D-type ILC and compound cosine function neural network (NN controller also demonstrates the effectiveness of the ILC strategy.

Discrete Globalised Dual Heuristic Dynamic Programming in Control of the Two-Wheeled Mobile Robot

OpenAIRE

Marcin Szuster; Zenon Hendzel

2014-01-01

Network-based control systems have been emerging technologies in the control of nonlinear systems over the past few years. This paper focuses on the implementation of the approximate dynamic programming algorithm in the network-based tracking control system of the two-wheeled mobile robot, Pioneer 2-DX. The proposed discrete tracking control system consists of the globalised dual heuristic dynamic programming algorithm, the PD controller, the supervisory term, and an additional control signal...

Hydrogen fuel cell power system

International Nuclear Information System (INIS)

Lam, A.W.

2004-01-01

'Full text:' Batteries are typically a necessary and prime component of any DC power system, providing a source of on-demand stored energy with proven reliability. The integration of batteries and basic fuel cells for mobile and stationary utility applications poses a new challenge. For high value applications, the specification and operating requirements for this hybrid module differ from conventional requirements as the module must withstand extreme weather conditions and provide extreme reliability. As an electric utility company, BCHydro has embarked in the development and application of a Hydrogen Fuel Cell Power Supply (HFCPS) for field trial. A Proton Exchange Membrane (PEM)- type fuel cell including power electronic modules are mounted in a standard 19-inch rack that provides 48V, 24V, 12V DC and 120V AC outputs. The hydrogen supply consists of hydrogen bottles and regulating devices to provide a continuous fuel source to the power modules. Many tests and evaluations have been done to ensure the HFCPS package is robust and suitable for electric utility grade operation. A field trial demonstrating this standalone system addressed reliability, durability, and installation concerns as well as developed the overall system operating procedures. (author)

Unexpected Effects of a System-Distributed Mobile Application in Maternity Care: A Randomized Controlled Trial.

Science.gov (United States)

Ledford, Christy J W; Womack, Jasmyne J; Rider, Heather A; Seehusen, Angela B; Conner, Stephen J; Lauters, Rebecca A; Hodge, Joshua A

2018-06-01

As pregnant mothers increasingly engage in shared decision making regarding prenatal decisions, such as induction of labor, the patient's level of activation may influence pregnancy outcomes. One potential tool to increase patient activation in the clinical setting is mobile applications. However, research is limited in comparing mobile apps with other modalities of patient education and engagement tools. This study was designed to test the effectiveness of a mobile app as a replacement for a spiral notebook guide as a patient education and engagement tool in the prenatal clinical setting. This randomized controlled trial was conducted in the Women's Health Clinic and Family Health Clinic of three hospitals. Repeated-measures analysis of covariance was used to test intervention effects in the study sample of 205 patients. Mothers used a mobile app interface to more frequently record information about their pregnancy; however, across time, mothers using a mobile app reported a significant decrease in patient activation. The unexpected negative effects in the group of patients randomized to the mobile app prompt these authors to recommend that health systems pause before distributing their own version of mobile apps that may decrease patient activation. Mobile apps can be inherently empowering and engaging, but how a system encourages their use may ultimately determine their adoption and success.

Acoustic neuroma risk in relation to mobile telephone use: Results of the INTERPHONE international case-control study

DEFF Research Database (Denmark)

Berg-Beckhoff, Gabi

2011-01-01

Background: The rapid increase in mobile telephone use has generated concern about possible health risks of radiofrequency electromagnetic fields from these devices. Methods: A case-control study of 1105 patients with newly diagnosed acoustic neuroma (vestibular schwannoma) and 2145 controls...... was conducted in 13 countries using a common protocol. Past mobile phone use was assessed by personal interview. In the primary analysis, exposure time was censored at one year before the reference date (date of diagnosis for cases and date of diagnosis of the matched case for controls); analyses censoring...

Reprint of: Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

Energy Technology Data Exchange (ETDEWEB)

Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F., E-mail: c.hogan@latrobe.edu.au

2013-11-25

Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing.

Reprint of: Use of a mobile phone for potentiostatic control with low cost paper-based microfluidic sensors

International Nuclear Information System (INIS)

Delaney, Jacqui L.; Doeven, Egan H.; Harsant, Anthony J.; Hogan, Conor F.

2013-01-01

Graphical abstract: -- Highlights: •The ability to generate ECL emission using the audio output of a mobile phone is demonstrated. •Electrochemical control can be achieved by controlling the amplitude and waveform of the sound. •A mobile phone “app” synchronises the electrochemical stimulation with detection via the camera. •In combination with paper-based microfluidic sensors, extremely low cost analysis is possible. •Detection of proline at levels suitable for diagnosis of hyperprolinemia is demonstrated. -- Abstract: By exploiting its ability to play sounds, a mobile phone with suitable software installed can serve the basic functions of a potentiostat in controlling an applied potential to oxidise ECL-active molecules, while the resultant photonic signal is monitored using the camera in video mode. In combination with paper microfluidic sensors this opens significant new possibilities for low-cost, instrument-free sensing

Process for forming a nickel foil with controlled and predetermined permeability to hydrogen

Science.gov (United States)

Engelhaupt, Darell E.

1981-09-22

The present invention provides a novel process for forming a nickel foil having a controlled and predetermined hydrogen permeability. This process includes the steps of passing a nickel plating bath through a suitable cation exchange resin to provide a purified nickel plating bath free of copper and gold cations, immersing a nickel anode and a suitable cathode in the purified nickel plating bath containing a selected concentration of an organic sulfonic acid such as a napthalene-trisulfonic acid, electrodepositing a nickel layer having the thickness of a foil onto the cathode, and separating the nickel layer from the cathode to provide a nickel foil. The anode is a readily-corrodible nickel anode. The present invention also provides a novel nickel foil having a greater hydrogen permeability than palladium at room temperature.

Process for forming a nickel foil with controlled and predetermined permeability to hydrogen

International Nuclear Information System (INIS)

Engelhaupt, D. E.

1981-01-01

The present invention provides a novel process for forming a nickel foil having a controlled and predetermined hydrogen permeability. This process includes the steps of passing a nickel plating bath through a suitable cation exchange resin to provide a purified nickel plating bath free of copper and gold cations, immersing a nickel anode and a suitable cathode in the purified nickel plating bath containing a selected concentration of an organic sulfonic acid such as a napthalene-trisulfonic acid, electrodepositing a nickel layer having the thickness of a foil onto the cathode, and separating the nickel layer from the cathode to provide a nickel foil. The anode is a readilycorrodible nickel anode. The present invention also provides a novel nickel foil having a greater hydrogen permeability than palladium at room temperature

Efficient hydrogen production using heat in neutron shield of fusion reactor

International Nuclear Information System (INIS)

Okano, Kunihiko; Asaoka, Yoshiyuki; Hiwatari, Ryouji; Yoshida, Tomoaki

2001-01-01

In future perspective of energy supply, a hydrogen energy cycle is expected to play an important role as a CO 2 free fuel for mobile or co-generation systems. Fusion power plants should offer advantages, compatibilities and/or synergistic effects with or in such future energy systems. In this paper, a comprehensive power station, in which a fusion plant is integrated with a hydrogen production plant, is proposed. A tenuous heat source in the outboard shield, which is unsuitable to produce high-pressure and high-temperature steam for efficient electric power generation, is used for the hydrogen production. This integrated system provides some synergistic effects and it would be advantageous over any independent use of each plant. (author)

Nanodiamond for hydrogen storage: temperature-dependent hydrogenation and charge-induced dehydrogenation.

Science.gov (United States)

Lai, Lin; Barnard, Amanda S

2012-02-21

Carbon-based hydrogen storage materials are one of hottest research topics in materials science. Although the majority of studies focus on highly porous loosely bound systems, these systems have various limitations including use at elevated temperature. Here we propose, based on computer simulations, that diamond nanoparticles may provide a new promising high temperature candidate with a moderate storage capacity, but good potential for recyclability. The hydrogenation of nanodiamonds is found to be easily achieved, in agreement with experiments, though we find the stability of hydrogenation is dependent on the morphology of nanodiamonds and surrounding environment. Hydrogenation is thermodynamically favourable even at high temperature in pure hydrogen, ammonia, and methane gas reservoirs, whereas water vapour can help to reduce the energy barrier for desorption. The greatest challenge in using this material is the breaking of the strong covalent C-H bonds, and we have identified that the spontaneous release of atomic hydrogen may be achieved through charging of hydrogenated nanodiamonds. If the degree of induced charge is properly controlled, the integrity of the host nanodiamond is maintained, which indicates that an efficient and recyclable approach for hydrogen release may be possible. This journal is © The Royal Society of Chemistry 2012

NATO Advanced Study Institute on Hydrogen in Disordered and Amorphous Solids

CERN Document Server

Bowman, Robert

1986-01-01

This is the second volume in the NATO ASI series dealing with the topic of hydrogen in solids. The first (V. B76, Metal Hydrides) appeared five years ago and focussed primarily on crystalline phases of hydrided metallic systems. In the intervening period, the amorphous solid state has become an area of intense research activity, encompassing both metallic and non-metallic, e.g. semiconducting, systems. At the same time the problem of storage of hydrogen, which motivated the first ASI, continues to be important. In the case of metallic systems, there were early indications that metallic glasses and disordered alloys may be more corrosion resistant, less susceptible to embrittlement by hydrogen and have a higher hydrogen mobility than ordered metals or intermetallics. All of these properties are desirable for hydrogen storage. Subsequent research has shown that thermodynamic instability is a severe problem in many amorphous metal hydrides. The present ASI has provided an appropriate forum to focus on these issu...

Hydrogen fracture toughness tester completion

Energy Technology Data Exchange (ETDEWEB)

Morgan, Michael J. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

2015-09-30

The Hydrogen Fracture Toughness Tester (HFTT) is a mechanical testing machine designed for conducting fracture mechanics tests on materials in high-pressure hydrogen gas. The tester is needed for evaluating the effects of hydrogen on the cracking properties of tritium reservoir materials. It consists of an Instron Model 8862 Electromechanical Test Frame; an Autoclave Engineering Pressure Vessel, an Electric Potential Drop Crack Length Measurement System, associated computer control and data acquisition systems, and a high-pressure hydrogen gas manifold and handling system.

Theoretical Studies of Hydrogen Storage Alloys.

Energy Technology Data Exchange (ETDEWEB)

Jonsson, Hannes

2012-03-22

Theoretical calculations were carried out to search for lightweight alloys that can be used to reversibly store hydrogen in mobile applications, such as automobiles. Our primary focus was on magnesium based alloys. While MgH{sub 2} is in many respects a promising hydrogen storage material, there are two serious problems which need to be solved in order to make it useful: (i) the binding energy of the hydrogen atoms in the hydride is too large, causing the release temperature to be too high, and (ii) the diffusion of hydrogen through the hydride is so slow that loading of hydrogen into the metal takes much too long. In the first year of the project, we found that the addition of ca. 15% of aluminum decreases the binding energy to the hydrogen to the target value of 0.25 eV which corresponds to release of 1 bar hydrogen gas at 100 degrees C. Also, the addition of ca. 15% of transition metal atoms, such as Ti or V, reduces the formation energy of interstitial H-atoms making the diffusion of H-atoms through the hydride more than ten orders of magnitude faster at room temperature. In the second year of the project, several calculations of alloys of magnesium with various other transition metals were carried out and systematic trends in stability, hydrogen binding energy and diffusivity established. Some calculations of ternary alloys and their hydrides were also carried out, for example of Mg{sub 6}AlTiH{sub 16}. It was found that the binding energy reduction due to the addition of aluminum and increased diffusivity due to the addition of a transition metal are both effective at the same time. This material would in principle work well for hydrogen storage but it is, unfortunately, unstable with respect to phase separation. A search was made for a ternary alloy of this type where both the alloy and the corresponding hydride are stable. Promising results were obtained by including Zn in the alloy.

Advanced materials for solid state hydrogen storage: “Thermal engineering issues”

International Nuclear Information System (INIS)

Srinivasa Murthy, S.; Anil Kumar, E.

2014-01-01

Hydrogen has been widely recognized as the “Energy Carrier” of the future. Efficient, reliable, economical and safe storage and delivery of hydrogen form important aspects in achieving success of the “Hydrogen Economy”. Gravimetric and volumetric storage capacities become important when one considers portable and mobile applications of hydrogen. In the case of solid state hydrogen storage, the gas is reversibly embedded (by physisorption and/or chemisorption) in a solid matrix. A wide variety of materials such as intermetallics, physisorbents, complex hydrides/alanates, metal organic frameworks, etc. have been investigated as possible storage media. This paper discusses the feasibility of lithium– and sodium–aluminum hydrides with emphasis on their thermodynamic and thermo-physical properties. Drawbacks such as poor heat transfer characteristics and poor kinetics demand special attention to the thermal design of solid state storage devices. - Highlights: • Advanced materials suitable for solid state hydrogen storage are discussed. • Issues related to thermodynamic and thermo-physical properties of hydriding materials are brought out. • Hydriding and dehydriding behavior including sorption kinetics of complex hydrides with emphasis on alanates are explained

A passive apparatus for controlled-flux delivery of biocides: hydrogen peroxide as an example

DEFF Research Database (Denmark)

Olsen, Stefan Møller; Pedersen, L.T.; Dam-Johansen, Kim

2010-01-01

A new test method has been developed to estimate the required release rate of hydrogen peroxide (H2O2) to prevent marine biofouling. The technique exploits a well-defined concentration gradient of biocide across a cellulose acetate membrane. A controlled flux of H2O2, an environmentally friendly ...

The mPED randomized controlled clinical trial: applying mobile persuasive technologies to increase physical activity in sedentary women protocol

Directory of Open Access Journals (Sweden)

Fukuoka Yoshimi

2011-12-01

Full Text Available Abstract Background Despite the significant health benefits of regular physical activity, approximately half of American adults, particularly women and minorities, do not meet the current physical activity recommendations. Mobile phone technologies are readily available, easily accessible and may provide a potentially powerful tool for delivering physical activity interventions. However, we need to understand how to effectively apply these mobile technologies to increase and maintain physical activity in physically inactive women. The purpose of this paper is to describe the study design and protocol of the mPED (mobile phone based physical activity education randomized controlled clinical trial that examines the efficacy of a 3-month mobile phone and pedometer based physical activity intervention and compares two different 6-month maintenance interventions. Methods A randomized controlled trial (RCT with three arms; 1 PLUS (3-month mobile phone and pedometer based physical activity intervention and 6-month mobile phone diary maintenance intervention, 2 REGULAR (3-month mobile phone and pedometer based physical activity intervention and 6-month pedometer maintenance intervention, and 3 CONTROL (pedometer only, but no intervention will be conducted. A total of 192 physically inactive women who meet all inclusion criteria and successfully complete a 3-week run-in will be randomized into one of the three groups. The mobile phone serves as a means of delivering the physical activity intervention, setting individualized weekly physical activity goals, and providing self-monitoring (activity diary, immediate feedback and social support. The mobile phone also functions as a tool for communication and real-time data capture. The primary outcome is objectively measured physical activity. Discussion If efficacy of the intervention with a mobile phone is demonstrated, the results of this RCT will be able to provide new insights for current behavioral

The mPED randomized controlled clinical trial: applying mobile persuasive technologies to increase physical activity in sedentary women protocol.

Science.gov (United States)

Fukuoka, Yoshimi; Komatsu, Judith; Suarez, Larry; Vittinghoff, Eric; Haskell, William; Noorishad, Tina; Pham, Kristin

2011-12-14

Despite the significant health benefits of regular physical activity, approximately half of American adults, particularly women and minorities, do not meet the current physical activity recommendations. Mobile phone technologies are readily available, easily accessible and may provide a potentially powerful tool for delivering physical activity interventions. However, we need to understand how to effectively apply these mobile technologies to increase and maintain physical activity in physically inactive women. The purpose of this paper is to describe the study design and protocol of the mPED (mobile phone based physical activity education) randomized controlled clinical trial that examines the efficacy of a 3-month mobile phone and pedometer based physical activity intervention and compares two different 6-month maintenance interventions. A randomized controlled trial (RCT) with three arms; 1) PLUS (3-month mobile phone and pedometer based physical activity intervention and 6-month mobile phone diary maintenance intervention), 2) REGULAR (3-month mobile phone and pedometer based physical activity intervention and 6-month pedometer maintenance intervention), and 3) CONTROL (pedometer only, but no intervention will be conducted). A total of 192 physically inactive women who meet all inclusion criteria and successfully complete a 3-week run-in will be randomized into one of the three groups. The mobile phone serves as a means of delivering the physical activity intervention, setting individualized weekly physical activity goals, and providing self-monitoring (activity diary), immediate feedback and social support. The mobile phone also functions as a tool for communication and real-time data capture. The primary outcome is objectively measured physical activity. If efficacy of the intervention with a mobile phone is demonstrated, the results of this RCT will be able to provide new insights for current behavioral sciences and mHealth. ClinicalTrials.gov#:NCTO1280812.

The hydrogen-energy sector. Report to Mrs the Minister of Ecology, Sustainable Development and Energy, Mr the Minister of Economy, Industry and Digital

International Nuclear Information System (INIS)

Durville, Jean-Louis; Gazeau, Jean-Claude; Nataf, Jean-Michel; Cueugniet, Jean; Legait, Benoit

2015-09-01

After a synthesis and 20 recommendations, this report discusses what the energy landscape could be by 2030. Then, it more specifically deals with the case of hydrogen as an energy vector. Several aspects are addressed: the main characteristics of hydrogen, the various modes of hydrogen production, hydrogen storage and distribution, uses of hydrogen in various sectors (notably energy and mobility), safety and regulation. It also proposes an international overview in terms on context and strategy, regulation, intellectual property, stationary installations, storage, and mobility. Issues related to the economic approach are discussed, notably by outlining the existence of divergent studies, different hypotheses on key parameters, and different models. The last part discusses strategic directions and states some recommendations related to assessment, to hydrogen production, to the contribution of hydrogen to the energy system regulation, to the emergence of a variety of uses, to objectives in terms of R and D, and to the evolution of the legal and regulatory context to promote and support the development of this sector

Non linear predictive control of a LEGO mobile robot

Science.gov (United States)

Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.

2014-10-01

Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.

Diagnostic experimental results on the hydrogen embrittlement of austenitic steels

Energy Technology Data Exchange (ETDEWEB)

Gavriljuk, V.G.; Shivanyuk, V.N.; Foct, J

2003-03-14

Three main available hypotheses of hydrogen embrittlement are analysed in relation to austenitic steels based on the studies of the hydrogen effect on the interatomic bonds, phase transformations and microplastic behaviour. It is shown that hydrogen increases the concentration of free electrons, i.e. enhances the metallic character of atomic interactions, although such a decrease in the interatomic bonding cannot be a reason for brittleness and rather assists an increased plasticity. The hypothesis of the critical role of the hydrogen-induced {epsilon} martensite was tested in the experiment with the hydrogen-charged Si-containing austenitic steel. Both the fraction of the {epsilon} martensite and resistance to hydrogen embrittlement were increased due to Si alloying, which is at variance with the pseudo-hydride hypothesis. The hydrogen-caused early start of the microplastic deformation and an increased mobility of dislocations, which are usually not observed in the common mechanical tests, are revealed by the measurements of the strain-dependent internal friction, which is consistent with the hypothesis of the hydrogen-enhanced localised plasticity. An influence of alloying elements on the enthalpy E{sub H} of hydrogen migration in austenitic steels is studied using the temperature-dependent internal friction and a correlation is found between the values of E{sub H} and hydrogen-caused decrease in plasticity. A mechanism for the transition from the hydrogen-caused microplasticity to the apparent macrobrittle fracture is proposed based on the similarity of the fracture of hydrogenated austenitic steels to that of high nitrogen steels.

The hydrogen economy: a threat or an opportunity for lead-acid batteries?

Science.gov (United States)

Rand, D. A. J.; Dell, R. M.

There is mounting concern over the sustainability of global energy supplies. Among the key drivers are: (i) global warming, ocean surface acidification and air pollution, which imply the need to control and reduce anthropogenic emissions of greenhouse gases, especially emissions from transportation and thermal power stations; (ii) the diminishing reserves of oil and natural gas; (iii) the need for energy security adapted to each country, such as decreasing the dependence on fossil fuel imports (in particular, the vulnerability to volatile oil prices) from regions where there is political or economic instability; (iv) the expected growth in world population with the ever-increasing aspiration for an improved standard-of-living for all, especially in developing and poor nations. Hydrogen is being promoted world-wide as a total panacea for energy problems. As a versatile carrier for storing and transporting energy from any one of a myriad of sources to an electricity generator, it is argued that hydrogen will eventually replace, or at least greatly reduce, the reliance on fossil fuels. Not unexpectedly, the building of a 'hydrogen economy' presents great scientific and technological challenges in production, delivery, storage, conversion, and end-use. In addition, there are many policy, regulatory, economic, financial, investment, environmental and safety questions to be addressed. Notwithstanding these obstacles, it is indeed plausible that hydrogen will become increasingly deployed and will compete with traditional systems of energy storage and supply. Moreover, the case for hydrogen will be greatly strengthened if fuel cells, which are the key enabling technology, become more reliable, more durable, and less expensive. This paper examines the prospects for hydrogen as a universal energy-provider and considers the impact that its introduction might have on the present deployment of lead-acid batteries in mobile, stationary and road transportation applications.

Review of thermodinamic and mechanical properties of hydrogen-transition metal systems

International Nuclear Information System (INIS)

Mathias, H.; Katz, Y.

1978-04-01

A large body of fundamental and empirical knowledge has been acquired during many years of research concerning the interactions between hydrogen and metals, the location of hydrogen in metal structures, its mobility in metals and its influence on mechanical properties of metals. Much progress has been made in the understanding of related phenomena, and various theories have been proposed, but considerable disagreement still exist about basic mechanisms involved. The growing interest in these subjects and their important role in science and technology are well documented by many reviews and symposia. A general survey of these topics with reference to experimental results and theories related to thermodynamic and mechanical properties of hydrogen-transition metal systems, such as H-Pd, H-Ti, H-Fe etc. is given in the present review. Special emphasis is given to hydrogen embrittlement of metals

Wearable computer for mobile augmented-reality-based controlling of an intelligent robot

Science.gov (United States)

Turunen, Tuukka; Roening, Juha; Ahola, Sami; Pyssysalo, Tino

2000-10-01

An intelligent robot can be utilized to perform tasks that are either hazardous or unpleasant for humans. Such tasks include working in disaster areas or conditions that are, for example, too hot. An intelligent robot can work on its own to some extent, but in some cases the aid of humans will be needed. This requires means for controlling the robot from somewhere else, i.e. teleoperation. Mobile augmented reality can be utilized as a user interface to the environment, as it enhances the user's perception of the situation compared to other interfacing methods and allows the user to perform other tasks while controlling the intelligent robot. Augmented reality is a method that combines virtual objects into the user's perception of the real world. As computer technology evolves, it is possible to build very small devices that have sufficient capabilities for augmented reality applications. We have evaluated the existing wearable computers and mobile augmented reality systems to build a prototype of a future mobile terminal- the CyPhone. A wearable computer with sufficient system resources for applications, wireless communication media with sufficient throughput and enough interfaces for peripherals has been built at the University of Oulu. It is self-sustained in energy, with enough operating time for the applications to be useful, and uses accurate positioning systems.

An optimal hydrogen control analysis for the in-containment refueling storage tank (IRWST) of the Korean next generation reactor (KNGR) containment under severe accidents

International Nuclear Information System (INIS)

Byung-Chul, Lee; Hee-Jin, Ko; Se-Won, Lee

2001-01-01

Under severe accidents that a large amount of hydrogen is expected to release, the In-Containment Refueling Water Storage Tank (IRWST) air space has more worse condition with respect to the hydrogen control since, as one of hydrogen source compartment, normally it is separated from the other compartments and has relatively small volume. The hydrogen concentrations in the IRWST gas space, when the hydrogen was directly released into this area, were analyzed using the MAAP4 code in order to investigate if locally very high concentrations could be reduced so that inadvertent detonation or detonation-to-deflagration (DDT) in this area might be prevented. For this purpose, the thermo-hydraulic and combustion phenomena being capable of occurring in the IRWST were also considered. As a result of numerical calculations with 12-compartment containment model, the time duration that the flammable gas mixture was formed was greatly decreased via oxygen-starved or steam-rich conditions, although instantaneously peak concentration itself could not be avoided. Moreover, if the diffusion flame or steam stripping can be occurred in the IRWST, it was expected to have more chance to control the hydrogen in the IRWST gas space. After the hydrogen finished to be rapidly released, the hydrogen in this area could be controlled by the PARs' hydrogen depletion and by igniter's deliberate burning. Especially, the review on the analyses for two typical, but most probable sequences of quite a different hydrogen release modes gives an insight that the flammable gas mixture in the IRWST can be avoid by rapid depressurization operation, which is recommendable for being implemented into accident management program. (authors)

Effect of a mobile app intervention on vegetable consumption in overweight adults: a randomized controlled trial.

Science.gov (United States)

Mummah, Sarah; Robinson, Thomas N; Mathur, Maya; Farzinkhou, Sarah; Sutton, Stephen; Gardner, Christopher D

2017-09-15

Mobile applications (apps) have been heralded as transformative tools to deliver behavioral health interventions at scale, but few have been tested in rigorous randomized controlled trials. We tested the effect of a mobile app to increase vegetable consumption among overweight adults attempting weight loss maintenance. Overweight adults (n=135) aged 18-50 years with BMI=28-40 kg/m 2 near Stanford, CA were recruited from an ongoing 12-month weight loss trial (parent trial) and randomly assigned to either the stand-alone, theory-based Vegethon mobile app (enabling goal setting, self-monitoring, and feedback and using "process motivators" including fun, surprise, choice, control, social comparison, and competition) or a wait-listed control condition. The primary outcome was daily vegetables servings, measured by an adapted Harvard food frequency questionnaire (FFQ) 8 weeks post-randomization. Daily vegetable servings from 24-hour dietary recalls, administered by trained, certified, and blinded interviewers 5 weeks post-randomization, was included as a secondary outcome. All analyses were conducted according to principles of intention-to-treat. Daily vegetable consumption was significantly greater in the intervention versus control condition for both measures (adjusted mean difference: 2.0 servings; 95% CI: 0.1, 3.8, p=0.04 for FFQ; and 1.0 servings; 95% CI: 0.2, 1.9; p=0.02 for 24-hour recalls). Baseline vegetable consumption was a significant moderator of intervention effects (p=0.002) in which effects increased as baseline consumption increased. These results demonstrate the efficacy of a mobile app to increase vegetable consumption among overweight adults. Theory-based mobile interventions may present a low-cost, scalable, and effective approach to improving dietary behaviors and preventing associated chronic diseases. ClinicalTrials.gov NCT01826591. Registered 27 March 2013.

Mobile platform security

CERN Document Server

Asokan, N; Dmitrienko, Alexandra

2013-01-01

Recently, mobile security has garnered considerable interest in both the research community and industry due to the popularity of smartphones. The current smartphone platforms are open systems that allow application development, also for malicious parties. To protect the mobile device, its user, and other mobile ecosystem stakeholders such as network operators, application execution is controlled by a platform security architecture. This book explores how such mobile platform security architectures work. We present a generic model for mobile platform security architectures: the model illustrat

Tuning carrier mobility of phosphorene nanoribbons by edge passivation and strain

International Nuclear Information System (INIS)

Zhang, Xiaoou; Li, Qingfang; Xu, Bo; Wan, Bo; Yin, Jiang; Wan, X.G.

2016-01-01

Using first-principles calculations, we have studied the effects of different edge passivation groups on the carrier mobility of the phosphorene nanoribbons (PNRs) and strain effect on the transport property in passivated PNRs. The numerical results show that the size-dependent carrier mobility of passivated PNRs is not very sensitive to the different passivation groups, such as hydrogen (H), fluorine (F) and chlorine (Cl), but strongly associated with the orientation of nanoribbons. Passivated armchair-PNR has much larger carrier mobility than passivated zigzag-PNR at the similar ribbon width. With increasing ribbon width, the electron mobility of passivated PNRs can be further enhanced. We also find that the anisotropy of carrier mobility in passivated PNRs can be reversed by applying tensile strain resulting from order switching of the conduction bands around Fermi level.

Tuning carrier mobility of phosphorene nanoribbons by edge passivation and strain

Energy Technology Data Exchange (ETDEWEB)

Zhang, Xiaoou [National Laboratory of Solid State Microstructures, College of Physics, Nanjing University, Nanjing 210093 (China); Li, Qingfang, E-mail: qingfangli@nuist.edu.cn [National Laboratory of Solid State Microstructures, College of Physics, Nanjing University, Nanjing 210093 (China); Department of Physics, Nanjing University of Information Science & Technology, Nanjing 210044 (China); Xu, Bo, E-mail: xubonju@gmail.com [National Laboratory of Solid State Microstructures and Department of Materials Science and Engineering, Nanjing University, Nanjing 210093 (China); Wan, Bo [National Laboratory of Solid State Microstructures, College of Physics, Nanjing University, Nanjing 210093 (China); Yin, Jiang [National Laboratory of Solid State Microstructures and Department of Materials Science and Engineering, Nanjing University, Nanjing 210093 (China); Wan, X.G. [National Laboratory of Solid State Microstructures, College of Physics, Nanjing University, Nanjing 210093 (China)

2016-02-05

Using first-principles calculations, we have studied the effects of different edge passivation groups on the carrier mobility of the phosphorene nanoribbons (PNRs) and strain effect on the transport property in passivated PNRs. The numerical results show that the size-dependent carrier mobility of passivated PNRs is not very sensitive to the different passivation groups, such as hydrogen (H), fluorine (F) and chlorine (Cl), but strongly associated with the orientation of nanoribbons. Passivated armchair-PNR has much larger carrier mobility than passivated zigzag-PNR at the similar ribbon width. With increasing ribbon width, the electron mobility of passivated PNRs can be further enhanced. We also find that the anisotropy of carrier mobility in passivated PNRs can be reversed by applying tensile strain resulting from order switching of the conduction bands around Fermi level.

Enhancing Charge Carrier Lifetime in Metal Oxide Photoelectrodes through Mild Hydrogen Treatment

KAUST Repository

Jang, Ji-Wook; Friedrich, Dennis; Mü ller, Sö nke; Lamers, Marlene; Hempel, Hannes; Lardhi, Sheikha F.; Cao, Zhen; Harb, Moussab; Cavallo, Luigi; Heller, René ; Eichberger, Rainer; van de Krol, Roel; Abdi, Fatwa F.

2017-01-01

and are relatively cheap, are particularly interesting, but high efficiency is still hindered by the poor carrier transport properties (i.e., carrier mobility and lifetime). Here, a mild hydrogen treatment is introduced to bismuth vanadate (BiVO4), which is one

Water in Earth's mantle: Hydrogen analysis of mantle olivine, pyroxenes and garnet using the SIMS

Science.gov (United States)

Kurosawa, Masanori; Yurimoto, Hisayoshi; Sueno, Shigeho

1993-01-01

Hydrogen (or water) in the Earth's interior plays a key role in the evolution and dynamics of the planet. However, the abundance and the existence form of the hydrogen have scarcely been clear in practice. Hydrogen in the mantle was incorporated in the interior during the formation of the Earth. The incorporated hydrogen was hardly possible to concentrate locally inside the Earth considering its high mobility and high reactivity. The hydrogen, preferably, could be distributed homogeneously over the mantle and the core by the subsequent physical and chemical processes. Therefore, hydrogen in the mantle could be present in the form of trace hydrogen in nominally anhydrous mantle minerals. The hydrogen and the other trace elements in mantle olivines, orthopyroxenes, clinopyroxenes, and garnets were determined using secondary ion mass spectrometry (SIMS) for elucidating (1) the exact hydrogen contents, (2) the correlation between the hydrogen and the other trace elements, (3) the dependence of the hydrogen contents on the depth, and (4) the dependence of the whole rock water contents on the depth.

Hydrogen inhalation reduced epithelial apoptosis in ventilator-induced lung injury via a mechanism involving nuclear factor-kappa B activation

International Nuclear Information System (INIS)

Huang, Chien-Sheng; Kawamura, Tomohiro; Peng, Ximei; Tochigi, Naobumi; Shigemura, Norihisa; Billiar, Timothy R.; Nakao, Atsunori; Toyoda, Yoshiya

2011-01-01

Highlights: → Hydrogen is a regulatory molecule with antiinflammatory and antiapoptotic protective effects. → There is very limited information on the pathways regulated in vivo by the hydrogen. → Antiapoptotic abilities of hydrogen were explained by upregulation of the antiapoptotic gene. → NFκB activation during hydrogen treatment was correlated with elevated antiapoptotic protein. → NFκB activation associated with increase Bcl-2 may contribute to cytoprotection of hydrogen. -- Abstract: We recently demonstrated the inhalation of hydrogen gas, a novel medical therapeutic gas, ameliorates ventilator-induced lung injury (VILI); however, the molecular mechanisms by which hydrogen ameliorates VILI remain unclear. Therefore, we investigated whether inhaled hydrogen gas modulates the nuclear factor-kappa B (NFκB) signaling pathway. VILI was generated in male C57BL6 mice by performing a tracheostomy and placing the mice on a mechanical ventilator (tidal volume of 30 ml/kg or 10 ml/kg without positive end-expiratory pressure). The ventilator delivered either 2% nitrogen or 2% hydrogen in balanced air. NFκB activation, as indicated by NFκB DNA binding, was detected by electrophoretic mobility shift assays and enzyme-linked immunosorbent assay. Hydrogen gas inhalation increased NFκB DNA binding after 1 h of ventilation and decreased NFκB DNA binding after 2 h of ventilation, as compared with controls. The early activation of NFκB during hydrogen treatment was correlated with elevated levels of the antiapoptotic protein Bcl-2 and decreased levels of Bax. Hydrogen inhalation increased oxygen tension, decreased lung edema, and decreased the expression of proinflammatory mediators. Chemical inhibition of early NFκB activation using SN50 reversed these protective effects. NFκB activation and an associated increase in the expression of Bcl-2 may contribute, in part, to the cytoprotective effects of hydrogen against apoptotic and inflammatory signaling pathway

Lightweight robotic mobility: template-based modeling for dynamics and controls using ADAMS/car and MATLAB

Science.gov (United States)

Adamczyk, Peter G.; Gorsich, David J.; Hudas, Greg R.; Overholt, James

2003-09-01

The U.S. Army is seeking to develop autonomous off-road mobile robots to perform tasks in the field such as supply delivery and reconnaissance in dangerous territory. A key problem to be solved with these robots is off-road mobility, to ensure that the robots can accomplish their tasks without loss or damage. We have developed a computer model of one such concept robot, the small-scale "T-1" omnidirectional vehicle (ODV), to study the effects of different control strategies on the robot's mobility in off-road settings. We built the dynamic model in ADAMS/Car and the control system in Matlab/Simulink. This paper presents the template-based method used to construct the ADAMS model of the T-1 ODV. It discusses the strengths and weaknesses of ADAMS/Car software in such an application, and describes the benefits and challenges of the approach as a whole. The paper also addresses effective linking of ADAMS/Car and Matlab for complete control system development. Finally, this paper includes a section describing the extension of the T-1 templates to other similar ODV concepts for rapid development.

Hydrogen Incorporation during Aluminium Anodisation on Silicon Wafer Surfaces

International Nuclear Information System (INIS)

Lu, Pei Hsuan Doris; Strutzberg, Hartmuth; Wenham, Stuart; Lennon, Alison

2014-01-01

Hydrogen can act to reduce recombination at silicon surfaces for solar cell devices and consequently the ability of dielectric layers to provide a source of hydrogen for this purpose is of interest. However, due to the ubiquitous nature of hydrogen and its mobility, direct measurements of hydrogen incorporation in dielectric layers are challenging. In this paper, we report the use of secondary ion mass spectrometry measurements to show that deuterium from an electrolyte can be incorporated in an anodic aluminium oxide (AAO) layer and be introduced into an underlying amorphous silicon layer during anodisation of aluminium on silicon wafers. After annealing at 400 °C, the concentration of deuterium in the AAO was reduced by a factor of two, as the deuterium was re-distributed to the interface between the amorphous silicon and AAO and to the amorphous silicon. The assumption that hydrogen, from an aqueous electrolyte, could be similarly incorporated in AAO, is supported by the observation that the hydrogen content in the underlying amorphous silicon was increased by a factor of ∼ 3 after anodisation. Evidence for hydrogen being introduced into crystalline silicon after aluminium anodisation was provided by electrochemical capacitance voltage measurements indicating boron electrical deactivation in the underlying crystalline silicon. If introduced hydrogen can electrically deactivate dopant atoms at the surface, then it is reasonable to assume that it could also deactivate recombination-active states at the crystalline silicon interface therefore enabling higher minority carrier lifetimes in the silicon wafer

Mobility of Cs137 and Sr90 in organic soils and its control

International Nuclear Information System (INIS)

Rovdan, E.

2002-01-01

In the management of the radionuclide contaminated areas and application of a countermeasure strategy for reduction of both the external and internal doses to the population it is extremely important to know the environmental mechanisms governing the behaviour of radionuclides in soil ecosystems. The purpose of work is to investigate by means of laboratory, field experiments and mathematical modelling the mechanisms and dynamics of radionuclide transfer in the organic soil to propose measures for control their mobility. The Chernobyl radionuclides behaviour was studied for ameliorated peat-mire soil (peat deposit Pogonyanskoye, 21 km off the ChNPP). To control the mobility of radionuclides in soils the characteristics of the migration and sorption of Cs 137 and Sr 90 in sedge peat, quartz sand, bentonite, kaolin, sapropel as well as the electrolytes impact upon the radionuclide behaviour have been experimentally investigated

A sub-target approach to the kinodynamic motion control of a wheeled mobile robot

Science.gov (United States)

Motonaka, Kimiko; Watanabe, Keigo; Maeyama, Shoichi

2018-02-01

A mobile robot with two independently driven wheels is popular, but it is difficult to stabilize it by a continuous controller with a constant gain, due to its nonholonomic property. It is guaranteed that a nonholonomic controlled object can always be converged to an arbitrary point using a switching control method or a quasi-continuous control method based on an invariant manifold in a chained form. From this, the authors already proposed a kinodynamic controller to converge the states of such a two-wheeled mobile robot to the arbitrary target position while avoiding obstacles, by combining the control based on the invariant manifold and the harmonic potential field (HPF). On the other hand, it was confirmed in the previous research that there is a case that the robot cannot avoid the obstacle because there is no enough space to converge the current state to the target state. In this paper, we propose a method that divides the final target position into some sub-target positions and moves the robot step by step, and it is confirmed by the simulation that the robot can converge to the target position while avoiding obstacles using the proposed method.

Virtual reality exercise improves mobility after stroke: an inpatient randomized controlled trial.

Science.gov (United States)

McEwen, Daniel; Taillon-Hobson, Anne; Bilodeau, Martin; Sveistrup, Heidi; Finestone, Hillel

2014-06-01

Exercise using virtual reality (VR) has improved balance in adults with traumatic brain injury and community-dwelling older adults. Rigorous randomized studies regarding its efficacy, safety, and applicability with individuals after stroke are lacking. The purpose of this study was to determine whether an adjunct VR therapy improves balance, mobility, and gait in stroke rehabilitation inpatients. A blinded randomized controlled trial studying 59 stroke survivors on an inpatient stroke rehabilitation unit was performed. The treatment group (n=30) received standard stroke rehabilitation therapy plus a program of VR exercises that challenged balance (eg, soccer goaltending, snowboarding) performed while standing. The control group (n=29) received standard stroke rehabilitation therapy plus exposure to identical VR environments but whose games did not challenge balance (performed in sitting). VR training consisted of 10 to 12 thirty-minute daily sessions for a 3-week period. Objective outcome measures of balance and mobility were assessed before, immediately after, and 1 month after training. Confidence intervals and effect sizes favored the treatment group on the Timed Up and Go and the Two-Minute Walk Test, with both groups meeting minimal clinical important differences after training. More individuals in the treatment group than in the control group showed reduced impairment in the lower extremity as measured by the Chedoke McMaster Leg domain (P=0.04) immediately after training. This VR exercise intervention for inpatient stroke rehabilitation improved mobility-related outcomes. Future studies could include nonambulatory participants as well as the implementation strategies for the clinical use of VR. http://www.ANZCTR.org.au/. Unique identifier: ACTRN12613000710729. © 2014 American Heart Association, Inc.

Relative mobility of 1-H atoms of carbohydrates in heterogeneous isotope exchange reactions

International Nuclear Information System (INIS)

Akulov, G.P.; Snetkova, E.V.; Kayumov, V.G.; Kaminskii, Yu.L.

1988-01-01

The method of competitive reactions was used to determine the relative mobilities of the 1-H atoms of carbohydrates in reactions of heterogeneous isotope exchange, using various reference standards, catalysts, and buffer systems. On the basis of the results obtained, the investigated carbohydrates are ranged in a series of decreasing mobility of the hydrogen atoms exchanged in heterogeneous isotope exchange reactions. It was demonstrated that the mobility of the 1-H atoms is related to the concentration of the acyclic forms of the carbohydrates

A mobile-mobile transport model for simulating reactive transport in connected heterogeneous fields

Science.gov (United States)

Lu, Chunhui; Wang, Zhiyuan; Zhao, Yue; Rathore, Saubhagya Singh; Huo, Jinge; Tang, Yuening; Liu, Ming; Gong, Rulan; Cirpka, Olaf A.; Luo, Jian

2018-05-01

Mobile-immobile transport models can be effective in reproducing heavily tailed breakthrough curves of concentration. However, such models may not adequately describe transport along multiple flow paths with intermediate velocity contrasts in connected fields. We propose using the mobile-mobile model for simulating subsurface flow and associated mixing-controlled reactive transport in connected fields. This model includes two local concentrations, one in the fast- and the other in the slow-flow domain, which predict both the concentration mean and variance. The normalized total concentration variance within the flux is found to be a non-monotonic function of the discharge ratio with a maximum concentration variance at intermediate values of the discharge ratio. We test the mobile-mobile model for mixing-controlled reactive transport with an instantaneous, irreversible bimolecular reaction in structured and connected random heterogeneous domains, and compare the performance of the mobile-mobile to the mobile-immobile model. The results indicate that the mobile-mobile model generally predicts the concentration breakthrough curves (BTCs) of the reactive compound better. Particularly, for cases of an elliptical inclusion with intermediate hydraulic-conductivity contrasts, where the travel-time distribution shows bimodal behavior, the prediction of both the BTCs and maximum product concentration is significantly improved. Our results exemplify that the conceptual model of two mobile domains with diffusive mass transfer in between is in general good for predicting mixing-controlled reactive transport, and particularly so in cases where the transfer in the low-conductivity zones is by slow advection rather than diffusion.

Improved control for distributed parameter systems with time-dependent spatial domains utilizing mobile sensor–actuator networks

International Nuclear Information System (INIS)

Zhang Jian-Zhong; Cui Bao-Tong; Zhuang Bo

2017-01-01

A guidance policy for controller performance enhancement utilizing mobile sensor–actuator networks (MSANs) is proposed for a class of distributed parameter systems (DPSs), which are governed by diffusion partial differential equations (PDEs) with time-dependent spatial domains. Several sufficient conditions for controller performance enhancement are presented. First, the infinite dimensional operator theory is used to derive an abstract evolution equation of the systems under some rational assumptions on the operators, and a static output feedback controller is designed to control the spatial process. Then, based on Lyapunov stability arguments, guidance policies for collocated and non-collocated MSANs are provided to enhance the performance of the proposed controller, which show that the time-dependent characteristic of the spatial domains can significantly affect the design of the mobile scheme. Finally, a simulation example illustrates the effectiveness of the proposed policy. (paper)

Properties of thermoplastic polymers used for hydrogen storage under pressure

International Nuclear Information System (INIS)

Jousse, F.; Mazabraud, P.; Icard, B.; Mosdale, R.; Serre-Combe, P.

2000-01-01

The storage of hydrogen is one of the points of development of industrial applications of fuel cells of type PEMFC ( Proton Exchange Membrane Fuel Cell). Developing an effective system of storage remains major. Ameliorations concerning the storage density of energy, the cost and facilities and the storage must be considered especially for the mobile applications. Among different approaches possible, the absorption on carbon nanotubes, the production by hydrides in the organic solutions or storage hyperbar in the gas state seem the most promising way. The storage of hydrogen gas at ambient temperature today appears as the simplest technical solution, the most advanced and the most economic solution. However, the energy density of hydrogen being weaker than that of the traditional fuels, of the quantities more important must be stored at equivalent rate. Hyperbar storage (higher pressure has 350 bar) of hydrogen makes it possible to reduce the volume of the tanks and strengthens the argument for their weights and cost

Hydrogen and water reactor safety: proceedings

International Nuclear Information System (INIS)

1982-01-01

Separate abstracts were prepared for papers presented in the following areas of interest: 1) hydrogen research programs; 2) hydrogen behavior during light water reactor accidents; 3) combustible gas generation; 4) hydrogen transport and mixing; 5) combustion modeling and experiments; 6) accelerated flames and detonations; 7) combustion mitigation and control; and 8) equipment survivability

Hydrogen and water reactor safety: proceedings

Energy Technology Data Exchange (ETDEWEB)

1982-01-01

Separate abstracts were prepared for papers presented in the following areas of interest: 1) hydrogen research programs; 2) hydrogen behavior during light water reactor accidents; 3) combustible gas generation; 4) hydrogen transport and mixing; 5) combustion modeling and experiments; 6) accelerated flames and detonations; 7) combustion mitigation and control; and 8) equipment survivability.

A multi-centre randomised controlled trial of rehabilitation aimed at improving outdoor mobility for people after stroke: Study protocol for a randomised controlled trial

Directory of Open Access Journals (Sweden)

Logan Pip A

2012-06-01

Full Text Available Abstract Background Up to 42% of all stroke patients do not get out of the house as much as they would like. This can impede a person’s quality of life. This study is testing the clinical effectiveness and cost effectiveness of a new outdoor mobility rehabilitation intervention by comparing it to usual care. Methods/design This is a multi-centre parallel group individually randomised, controlled trial. At least 506 participants will be recruited through 15 primary and secondary care settings and will be eligible if they are over 18 years of age, have had a stroke and wish to get out of the house more often. Participants are being randomly allocated to either the intervention group or the control group. Intervention group participants receive up to 12 rehabilitation outdoor mobility sessions over up to four months. The main component of the intervention is repeated practice of outdoor mobility with a therapist. Control group participants are receiving the usual intervention for outdoor mobility limitations: verbal advice and provision of leaflets provided over one session. Outcome measures are being collected using postal questionnaires, travel calendars and by independent assessors. The primary outcome measure is the Social Function domain of the SF36v2 quality of life assessment six months after recruitment. The secondary outcome measures include: functional ability, mobility, the number of journeys (monthly travel diaries, satisfaction with outdoor mobility, mood, health-related quality of life, resource use of health and social care. Carer mood information is also being collected. The mean Social Function score of the SF-36v2 will be compared between treatment arms using a multiple membership form of mixed effects multiple regression analysis adjusting for centre (as a fixed effect, age and baseline Social Function score as covariates and therapist as a multiple membership random effect. Regression coefficients and 95% confidence

MPC-Based Path Following Control of an Omnidirectional Mobile Robot with Consideration of Robot Constraints

Directory of Open Access Journals (Sweden)

Kiattisin Kanjanawanishkul

2015-01-01

Full Text Available In this paper, the path following problem of an omnidirectional mobile robot (OMR has been studied. Unlike nonholonomic mobile robots, translational and rotational movements of OMRs can be controlled simultaneously and independently. However the constraints of translational and rotational velocities are coupled through the OMR's orientation angle. Therefore, a combination of a virtual-vehicle concept and a model predictive control (MPC strategy is proposed in this work to handle both robot constraints and the path following problem. Our proposed control scheme allows the OMR to follow the reference path successfully and safely, as illustrated in simulation experiments. The forward velocity is close to the desired one and the desired orientation angle is achieved at a given point on the path, while the robot's wheel velocities are maintained within boundaries.

The role of sleep in the relation between young children’s mobile media use and effortful control

NARCIS (Netherlands)

Nathanson, A.I.; Beyens, I.

We explored the relations among young children's mobile media use, sleep, and a form of self‐regulation, temperamental effortful control (EC), among a national sample of 402 mothers who completed an online survey. We found that the relation between mobile media use and EC was moderated by children's

Design of an arbitrary path-following controller for a non-holonomic mobile platform

CSIR Research Space (South Africa)

Sabatta, DG

2009-11-01

Full Text Available required for the platform to asymptotically track the path. The controller derived in this paper is implemented on the Seekur platform from Mobile Robots. Results showing the following of a pre-recorded path from differential GPS are discussed....

SREBP controls oxygen-dependent mobilization of retrotransposons in fission yeast.

Directory of Open Access Journals (Sweden)

Alfica Sehgal

2007-08-01

Full Text Available Retrotransposons are mobile genetic elements that proliferate through an RNA intermediate. Transposons do not encode transcription factors and thus rely on host factors for mRNA expression and survival. Despite information regarding conditions under which elements are upregulated, much remains to be learned about the regulatory mechanisms or factors controlling retrotransposon expression. Here, we report that low oxygen activates the fission yeast Tf2 family of retrotransposons. Sre1, the yeast ortholog of the mammalian membrane-bound transcription factor sterol regulatory element binding protein (SREBP, directly induces the expression and mobilization of Tf2 retrotransposons under low oxygen. Sre1 binds to DNA sequences in the Tf2 long terminal repeat that functions as an oxygen-dependent promoter. We find that Tf2 solo long terminal repeats throughout the genome direct oxygen-dependent expression of adjacent coding and noncoding sequences, providing a potential mechanism for the generation of oxygen-dependent gene expression.

An efficient contents-adaptive backlight control method for mobile devices

Science.gov (United States)

Chen, Qiao Song; Yan, Ya Xing; Zhang, Xiao Mou; Cai, Hua; Deng, Xin; Wang, Jin

2015-03-01

For most of mobile devices with a large screen, image quality and power consumption are both of the major factors affecting the consumers' preference. Contents-adaptive backlight control (CABC) method can be utilized to adjust the backlight and promote the performance of mobile devices. Unlike the previous works mostly focusing on the reduction of power consumption, both of image quality and power consumption are taken into account in the proposed method. Firstly, region of interest (ROI) is detected to divide image into two parts: ROI and non-ROI. Then, three attributes including entropy, luminance, and saturation information in ROI are calculated. To achieve high perceived image quality in mobile devices, optimal value of backlight can be calculated by a linear combination of the aforementioned attributes. Coefficients of the linear combination are determined by applying the linear regression to the subjective scores of human visual experiments and objective values of the attributes. Based on the optimal value of backlight, displayed image data are processed brightly and backlight is darkened to reduce the power consumption of backlight later. Here, the ratios of increasing image data and decreasing backlight functionally depend on the luminance information of displayed image. Also, the proposed method is hardware implemented. Experimental results indicate that the proposed technique exhibits better performance compared to the conventional methods.

Prospects for hydrogen in the German energy system

International Nuclear Information System (INIS)

Hake, J.-F.; Linssen, J.; Walbeck, M.

2006-01-01

The focus of the paper concerns the current discussion on the contribution of the hydrogen economy to a 'sustainable energy system'. It considers whether advantages for the environmental situation and energy carrier supply can be expected from the already visible future characteristics of hydrogen as a new secondary energy carrier. Possible production paths for hydrogen from hydrocarbon-based, renewable or carbon-reduced/-free primary energy carriers are evaluated with respect to primary energy use and CO 2 emissions from the fuel cycle. Hydrogen has to be packaged by compression or liquefaction, transported by surface vehicles or pipelines, stored and transferred to the end user. Whether generated by electrolysis or by reforming, and even if produced locally at filling stations, the gaseous or liquid hydrogen has to undergo these market processes before it can be used by the customer. In order to provide an idea of possible markets with special emphasis on the German energy sector, a technical systems analysis of possible hydrogen applications is performed for the stationary, mobile and portable sector. Furthermore, different 'business as usual' scenarios are analysed for Germany, Europe and the World concerning end energy use in different sectors. The very small assumed penetration of hydrogen in the analysed scenarios up to the year 2050 indicates that the hydrogen economy is a long-term option. With reference to the assumed supply paths and analysed application possibilities, hydrogen can be an option for clean energy use if hydrogen can be produced with carbon-reduced or -free primary energy carriers like renewable energy or biomass. However, the energetic use of hydrogen competes with the direct use of clean primary energy and/or with the use of electric energy based on renewable primary energy. As a substitution product for other secondary energy carriers hydrogen is therefore under pressure of costs and/or must have advantages in comparison to the use of