WorldWideScience

Sample records for foam mobility control

  1. Effect of Foam on Liquid Phase Mobility in Porous Media

    NARCIS (Netherlands)

    Eftekhari, A.A.; Farajzadeh, R.

    2017-01-01

    We investigate the validity of the assumption that foam in porous media reduces the mobility of gas phase only and does not impact the liquid-phase mobility. The foam is generated by simultaneous injection of nitrogen gas and a surfactant solution into sandstone cores and its strength is varied by

  2. Effect of Foam on Liquid Phase Mobility in Porous Media

    DEFF Research Database (Denmark)

    Eftekhari, Ali Akbar; Farajzadeh, R.

    2017-01-01

    We investigate the validity of the assumption that foam in porous media reduces the mobility of gas phase only and does not impact the liquid-phase mobility. The foam is generated by simultaneous injection of nitrogen gas and a surfactant solution into sandstone cores and its strength is varied...... by changing surfactant type and concentration. We find, indeed, that the effect of foam on liquid-phase mobility is not pronounced and can be ignored. Our new experimental results and analyses resolve apparent discrepancies in the literature. Previously, some researchers erroneously applied relative...

  3. Controlling of density uniformity of polyacrylate foams

    International Nuclear Information System (INIS)

    Shan Wenwen; Yuan Baohe; Wang Yanhong; Xu Jiayun; Zhang Lin

    2010-01-01

    The density non-uniformity existing in most low-density foams will affect performance of the foams. The trimethylolpropane trimethacrylate (TMPTA) foam targets were prepared and controlling methods of the foams, density uniformity were explored together with its forming mechanism. It has been found that the UV-light with high intensity can improve the distribution uniformity of the free radicals induced by UV photons in the solvents, thus improve the density uniformity of the foams. In addition, container wall would influence the concentration distribution of the solution, which affects the density uniformity of the foams. Thus, the UV-light with high intensity was chosen together with polytetrafluoroethylene molds instead of glass molds to prepare the foams with the density non-uniformity less than 10%. β-ray detection technology was used to measure the density uniformity of the TMPTA foams with the density in the range of 10 to 100 mg · cm -3 , and the results show that the lower the foam density is, the worse the density uniformity is. (authors)

  4. Structure formation control of foam concrete

    Science.gov (United States)

    Steshenko, Aleksei; Kudyakov, Aleksander; Konusheva, Viktoriya; Syrkin, Oleg

    2017-01-01

    The process of predetermined foam concrete structure formation is considered to be a crucial issue from the point of process control and it is currently understudied thus defining the need for additional research. One of the effective ways of structure formation control in naturally hardening foam concrete is reinforcement with dispersed fibers or introduction of plasticizers. The paper aims at studying the patterns of influence of microreinforcing and plasticizing additives on the structure and performance properties of foam concrete. Preparation of foam concrete mix has been conducted using one-step technology. The structure of modified foam concrete has been studied by means of electron microscopy. The cellular structure of foam concrete samples with the additives is homogeneous; the pores are uniformly distributed over the total volume. It has been revealed that introduction of the Neolas 5.2 plasticizer and microreinforcing fibers in the foam concrete mixture in the amount of 0.4 - 0.1 % by weight of cement leads to reduction of the average pore diameter in the range of 45.3 to 30.2 microns and the standard deviation of the pore average diameter from 23.6 to 9.2 in comparison with the sample without additive. Introduction of modifying additives has stimulated formation of a large number of closed pores. Thus porosity of conditionally closed pores has increased from 16.06 % to 34.48 %, which has lead to increase of frost resistance brand of foam concrete from F15 to F50 and to reduction of its water absorption by weight by 20 %.

  5. Stability analysis of uniform equilibrium foam states for EOR processes

    NARCIS (Netherlands)

    Ashoori, E.; Marchesin, D.; Rossen, W.R.

    2011-01-01

    The use of foam for mobility control is a promising mean to improve sweep efficiency in EOR. Experimental studies discovered that foam exhibits three different states (weak foam, intermediate foam, and strong foam). The intermediate-foam state is found to be unstable in the lab whereas the weak- and

  6. Neurodynamic mobilization and foam rolling improved delayed-onset muscle soreness in a healthy adult population: a randomized controlled clinical trial

    Directory of Open Access Journals (Sweden)

    Blanca Romero-Moraleda

    2017-10-01

    Full Text Available Objectives Compare the immediate effects of a Neurodynamic Mobilization (NM treatment or foam roller (FR treatment after DOMS. Design Double blind randomised clinical trial. Setting The participants performed 100 drop jumps (5 sets of 20 repetitions, separated by 2 min rests from a 0.5-m high box in a University biomechanics laboratory to induce muscle soreness. The participants were randomly assigned in a counter-balanced fashion to either a FR or NM treatment group. Participants Thirty-two healthy subjects (21 males and 11 females, mean age 22.6 ± 2.2 years were randomly assigned into the NM group (n = 16 or the FR group (n = 16. Main Outcome Measures The numeric pain rating scale (NPRS; 0–10, isometric leg strength with dynamometry, surface electromyography at maximum voluntary isometric contraction (MVIC and muscle peak activation (MPA upon landing after a test jump were measured at baseline, 48 h after baseline before treatment, and immediately after treatment. Results Both groups showed significant reduction in NPRS scores after treatment (NM: 59%, p  .05. The percentage change improvement in the MVIC for the rectus femoris was the only significant difference between the groups (p < 0.05 at post-treatment. After treatment, only the FR group had a statistically significant improvement (p < 0.01 in strength compared to pre-treatment. Conclusion Our results illustrate that both treatments are effective in reducing pain perception after DOMS whereas only FR application showed differences for the MVIC in the rectus femoris and strength.

  7. Viscous Control of the Foam Glass Process

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund; König, Jakob; Smedskjær, Morten Mattrup

    The production of foam glass as heat insulating material is an important industrial process because it enables low-cost recycling of glass waste from a variety of chemical compositions. Optimization of the foaming process of new glass waste compositions is time consuming, since many factors affect...... the foaming process such as temperature, particle size, type and concentration of foaming agent. The foaming temperature is one of the key factors, because even small temperature changes can affect the melt viscosity by several orders of magnitude. Therefore, it is important to establish the viscosity range...... in which the foaming process should take place, particularly when the type of recycled cullet is changed or several types of cullet are mixed in one batch. According to recent glass literature, the foaming process should occur at viscosity 103 to 105 Pa s. However, no systematic studies have hitherto been...

  8. Self-Mobilization Using a Foam Roller Versus a Roller Massager: Which Is More Effective for Increasing Hamstrings Flexibility?

    Science.gov (United States)

    DeBruyne, Danielle M; Dewhurst, Marina M; Fischer, Katelyn M; Wojtanowski, Michael S; Durall, Chris

    2017-01-01

    Clinical Scenario: Increasing the length of the muscle-tendon unit may prevent musculotendinous injury. Various methods have been proposed to increase muscle-tendon flexibility, including self-mobilization using foam rollers or roller massagers, although the effectiveness of these devices is uncertain. This review was conducted to determine if the use of foam rollers or roller massagers to improve hamstrings flexibility is supported by moderate- to high-quality evidence. Are foam rollers or roller massagers effective for increasing hamstrings flexibility in asymptomatic physically active adults? Summary of Key Findings: The literature was searched for studies on the effects of using foam rollers or roller massagers to increase hamstrings flexibility in asymptomatic physically active adults. Four randomized controlled trials were included; 2 studies provided level 2 or 3 evidence regarding foam rollers and 2 studies provided level 2 or 3 evidence regarding roller massagers. Both roller-massager studies reported increases in hamstrings flexibility after treatment. Data from the foam-roller studies did not demonstrate a statistically significant increase in hamstrings flexibility, but 1 study did demonstrate a strong effect size. Clinical Bottom Line: The reviewed moderate-quality studies support the use of roller massagers but provide limited evidence on the effectiveness of foam rolling to increase hamstrings flexibility in asymptomatic physically active adults. Flexibility gains may be improved by a longer duration of treatment and administration by a trained therapist. Gains appear to decline rapidly postrolling. Neither device has been shown to confer a therapeutic benefit superior to static stretching, and the effectiveness of these devices for preventing injury is unknown. Strength of Recommendation: Grade B evidence supports the use of roller massagers to increase hamstrings flexibility in asymptomatic physically active adults.

  9. Experimental Study of Hysteresis behavior of Foam Generation in Porous Media

    OpenAIRE

    Kahrobaei, S.; Vincent-Bonnieu, S.; Farajzadeh, R.

    2017-01-01

    Foam can be used for gas mobility control in different subsurface applications. The success of foam-injection process depends on foam-generation and propagation rate inside the porous medium. In some cases, foam properties depend on the history of the flow or concentration of the surfactant, i.e., the hysteresis effect. Foam may show hysteresis behavior by exhibiting multiple states at the same injection conditions, where coarse-textured foam is converted into strong foam with fine texture at...

  10. Foam property tests to evaluate the potential for longwall shield dust control.

    Science.gov (United States)

    Reed, W R; Beck, T W; Zheng, Y; Klima, S; Driscoll, J

    2018-01-01

    Tests were conducted to determine properties of four foam agents for their potential use in longwall mining dust control. Foam has been tried in underground mining in the past for dust control and is currently being reconsidered for use in underground coal longwall operations in order to help those operations comply with the Mine Safety and Health Administration's lower coal mine respirable dust standard of 1.5 mg/m 3 . Foams were generated using two different methods. One method used compressed air and water pressure to generate foam, while the other method used low-pressure air generated by a blower and water pressure using a foam generator developed by the U.S. National Institute for Occupational Safety and Health. Foam property tests, consisting of a foam expansion ratio test and a water drainage test, were conducted to classify foams. Compressed-air-generated foams tended to have low expansion ratios, from 10 to 19, with high water drainage. Blower-air-generated foams had higher foam expansion ratios, from 30 to 60, with lower water drainage. Foams produced within these ranges of expansion ratios are stable and potentially suitable for dust control. The test results eliminated two foam agents for future testing because they had poor expansion ratios. The remaining two foam agents seem to have properties adequate for dust control. These material property tests can be used to classify foams for their potential use in longwall mining dust control.

  11. Study on a Novel Gelled Foam for Conformance Control in High Temperature and High Salinity Reservoirs

    Directory of Open Access Journals (Sweden)

    Tong Li

    2018-05-01

    Full Text Available A novel gelled foam for conformance control was investigated for its ability to enhance oil recovery (EOR in high temperature and high salinity reservoirs. The formulation optimization, foaming performance, and core flooding performance of the gelled foam were systematically evaluated under harsh reservoir conditions. The gelled foam formulation was optimized with 0.4% polymer (hydrolyzed polyacrylamide; HPAM, 0.06% cross-linker (phenolic and 0.2% foaming agent (sulphobetaine; SB. The addition of the gel improved the stability of the foam system by 3.8 times that of traditional foam. A stabilization mechanism in the gelled foam was proposed to describe the stabilization process of the foam film. The uniformly distributed three-dimensional network structure of the gel provided a thick protective layer for the foam system that maintained the stability of the foam and improved the strength and thickness of the liquid film. The gelled foam exhibited good formation adaptability, profile control, and EOR performance. The foam flowed into the high permeability layer, plugged the dominant channel, and increased the swept volume. Oil recovery was enhanced by 29.4% under harsh high -temperature and high salinity conditions.

  12. 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.

  13. Experimental Study of Hysteresis behavior of Foam Generation in Porous Media

    NARCIS (Netherlands)

    Kahrobaei, S.S.; Vincent-Bonnieu, S.Y.F.; Farajzadeh, R.

    2017-01-01

    Foam can be used for gas mobility control in different subsurface applications. The success of foam-injection process depends on foam-generation and propagation rate inside the porous medium. In some cases, foam properties depend on the history of the flow or concentration of the surfactant,

  14. Spatial mobility fluctuation induced giant linear magnetoresistance in multilayered graphene foam

    KAUST Repository

    Li, Peng

    2016-07-05

    Giant, positive, and near-temperature-independent linear magnetoresistance (LMR), as large as 340%, was observed in graphene foam with a three-dimensional flexible network. Careful analysis of the magnetoresistance revealed that Shubnikov–de Haas (SdH) oscillations occurred at low temperatures and decayed with increasing temperature. The average classical mobility ranged from 300 (2 K) to 150 (300 K) cm2V−1s−1, which is much smaller than that required by the observed SdH oscillations. To understand the mechanism behind the observation, we performed the same measurements on the microsized graphene sheets that constitute the graphene foam. Much more pronounced SdH oscillations superimposed on the LMR background were observed in these microscaled samples, which correspond to a quantum mobility as high as 26,500cm2V−1s−1. Moreover, the spatial mobility fluctuated significantly from 64,200cm2V−1s−1 to 1370cm2V−1s−1, accompanied by a variation of magnetoresistance from near 20,000% to less than 20%. The presence of SdH oscillations actually excludes the possibility that the observed LMR originated from the extreme quantum limit, because this would demand all electrons to be in the first Landau level. Instead, we ascribe the large LMR to the second case of the classical Parish and Littlewood model, in which spatial mobility fluctuation dominates electrical transport. This is an experimental confirmation of the Parish and Littlewood model by measuring the local mobility randomly (by measuring the microsized graphene sheets) and finding the spatial mobility fluctuation.

  15. Foam rheology in porous media and enhanced oil recovery potential

    International Nuclear Information System (INIS)

    Burley, R.

    1985-01-01

    Previous studies using foam as a mobility control agent in partially depleted oil wells have shown that foam has a potential for enhancing oil recovery after primary water flooding. The characteristics of foam as indicated by the results of several studies point to three potential applications of foam in oil recovery processes. These are: Improving the displacement efficiency of gas-drive processes (mobility control). Improving the sweep efficiency of other fluid injection processes (mobility control and flow impediment). Restricting the flow of undesired fluids and plugging of high permeable oil 'thief' zones (partial or total pore blockage). (author)

  16. A 2d model for the effect of gas diffusion on mobility of foam for EOR

    NARCIS (Netherlands)

    Nonnekes, L.E.; Cox, S.J.; Rossen, W.R.

    2012-01-01

    Transport of gas across liquid films between bubbles is cited as one reason why CO2 foams for enhanced oil recovery (EOR) are usually weaker than N2 foams and why steam foams are weaker than foams of steam mixed with N2. We examine here the effect of inter-bubble gas diffusion on flowing bubbles in

  17. Artificial intelligence-based computer modeling tools for controlling slag foaming in electric arc furnaces

    Science.gov (United States)

    Wilson, Eric Lee

    Due to increased competition in a world economy, steel companies are currently interested in developing techniques that will allow for the improvement of the steelmaking process, either by increasing output efficiency or by improving the quality of their product, or both. Slag foaming is one practice that has been shown to contribute to both these goals. However, slag foaming is highly dynamic and difficult to model or control. This dissertation describes an effort to use artificial intelligence-based tools (genetic algorithms, fuzzy logic, and neural networks) to both model and control the slag foaming process. Specifically, a neural network is trained and tested on slag foaming data provided by a steel plant. This neural network model is then controlled by a fuzzy logic controller, which in turn is optimized by a genetic algorithm. This tuned controller is then installed at a steel plant and given control be a more efficient slag foaming controller than what was previously used by the steel plant.

  18. Influence of the elastic deformation of a foam on its mobility in channels of linearly varying width.

    Science.gov (United States)

    Dollet, Benjamin; Jones, Siân A; Méheust, Yves; Cantat, Isabelle

    2014-08-01

    We study foam flow in an elementary model porous medium consisting of a convergent and a divergent channel positioned side by side and possessing a fixed joint porosity. Configurations of converging or diverging channels are ubiquitous at the pore scale in porous media, as all channels linking pores possess a converging and diverging part. The resulting flow kinematics imposes asymmetric bubble deformations in the two channels, which modulate foam-wall friction and strongly impact the flux distribution. We measure, as well as quantitatively predict, the ratio of the fluxes in the two channels as a function of the channel widths by modeling pressure drops of both viscous and capillary origins. This study reveals the crucial importance of boundary-induced bubble deformation on the mobility of a flowing foam, resulting in particular in flow irreversibility.

  19. Infrared Thermography As Quality Control For Foamed In-Place Insulation

    Science.gov (United States)

    Schwartz, Joel A.

    1989-03-01

    Since November of 1985, FOAM-TECH, INC. has been utilizing an I.S.I. Model 91 Videotherm Camera to quality control the installation of foamed in-place polyurethane and polyisocyanurate insulation. Monitoring the injection of foam into the walls and roofs of new construction and during the the retrofitting of older buildings has become an integral and routine step in daily operations. The Videotherm is also used to monitor the injection of foam into hot water tanks, trailer bodies for refrigeration trucks, and pontoons and buoys for flotation. The camera is also used for the detection of heat loss and air infiltration for conventionally insulated buildings. Appendix A are thermograms of foamed in-place insulation.

  20. Foam Transport in Porous Media - A Review

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Z. F.; Freedman, Vicky L.; Zhong, Lirong

    2009-11-11

    Amendment solutions with or without surfactants have been used to remove contaminants from soil. However, it has drawbacks such that the amendment solution often mobilizes the plume, and its movement is controlled by gravity and preferential flow paths. Foam is an emulsion-like, two-phase system in which gas cells are dispersed in a liquid and separated by thin liquid films called lamellae. Potential advantages of using foams in sub-surface remediation include providing better control on the volume of fluids injected, uniformity of contact, and the ability to contain the migration of contaminant laden liquids. It is expected that foam can serve as a carrier of amendments for vadose zone remediation, e.g., at the Hanford Site. As part of the U.S. Department of Energy’s EM-20 program, a numerical simulation capability will be added to the Subsurface Transport Over Multiple Phases (STOMP) flow simulator. The primary purpose of this document is to review the modeling approaches of foam transport in porous media. However, as an aid to understanding the simulation approaches, some experiments under unsaturated conditions and the processes of foam transport are also reviewed. Foam may be formed when the surfactant concentration is above the critical micelle concentration. There are two main types of foams – the ball foam (microfoam) and the polyhedral foam. The characteristics of bulk foam are described by the properties such as foam quality, texture, stability, density, surface tension, disjoining pressure, etc. Foam has been used to flush contaminants such as metals, organics, and nonaqueous phase liquids from unsaturated soil. Ball foam, or colloidal gas aphrons, reportedly have been used for soil flushing in contaminated site remediation and was found to be more efficient than surfactant solutions on the basis of weight of contaminant removed per gram of surfactant. Experiments also indicate that the polyhedral foam can be used to enhance soil remediation. The

  1. Modeling of Flexible Polyurethane Foam Shrinkage for Bra Cup Moulding Process Control

    Directory of Open Access Journals (Sweden)

    Long Wu

    2018-04-01

    Full Text Available Nowadays, moulding technology has become a remarkable manufacturing process in the intimate apparel industry. Polyurethane (PU foam sheets are used to mould three-dimensional (3D seamless bra cups of various softness and shapes, which eliminate bulky seams and reduce production costs. However, it has been challenging to accurately and effectively control the moulding process and bra cup thickness. In this study, the theoretical mechanism of heat transfer and the thermal conductivity of PU foams are first examined. Experimental studies are carried out to investigate the changes in foam materials at various moulding conditions (viz., temperatures, and lengths of dwell time in terms of surface morphology and thickness by using electron and optical microscopy. Based on the theoretical and experimental investigations of the thermal conductivity of the foam materials, empirical equations of shrinkage ratio and thermal conduction of foam materials were established. A regression model to predict flexible PU foam shrinkage during the bra cup moulding process was formulated by using the Levenberg-Marquardt method of nonlinear least squares algorithm and verified for accuracy. This study therefore provides an effective approach that optimizes control of the bra cup moulding process and assures the ultimate quality and thickness of moulded foam cups.

  2. A controlled trial of colostomy management by natural evacuation, irrigation and foam enema.

    Science.gov (United States)

    Doran, J; Hardcastle, J D

    1981-10-01

    Twenty patients entered a prospective controlled trial of colostomy management by three techniques--natural evacuation, colostomy irrigation and foam enema. Every patient spent 2 months using each technique. The mean number of colostomy actions weekly was 17 during natural evacuation, 6 during irrigation and 10 with the enema. There was no significant difference in the time taken to manage the colostomy by each technique. Eighteen patients considered that both irrigation and the foam enema improved the quality of their life, and opted to continue with irrigation on completion of the study. There were no major complications during the trial but leakage of foam and an increase in flatus were problems with the foam enema. It is concluded that patients should be made aware of the alternative methods available for colostomy management and be encouraged to use the method of their choice.

  3. The sedimentation of fine particles in liquid foams

    OpenAIRE

    Rouyer , Florence; Fritz , Christelle; Pitois , Olivier

    2010-01-01

    International audience; We investigate the sedimentation of fine particles in liquid channels of foams. The study combines numerical simulations with experiments performed in foams and in isolated vertical foam channels. Results show that particulate motion is controlled by the confinement parameter (l) and the mobility of the channel surfaces modelled by interfacial shear viscosity. Interestingly, whereas the position of the particle within the channel cross-section is expected to be a relev...

  4. FOAM3D: A numerical simulator for mechanistic prediciton of foam displacement in multidimensions

    Energy Technology Data Exchange (ETDEWEB)

    Kovscek, A.R.; Patzek, T.W. [Lawrence Berkeley Laboratory, Berkeley, CA (United States); Radke, C.J. [Univ. of California, Berkeley, CA (United States)

    1995-03-01

    Field application of foam is a technically viable enhanced oil recovery process (EOR) as demonstrated by recent steam-foam field studies. Traditional gas-displacement processes, such as steam drive, are improved substantially by controlling gas mobility and thereby improving volumetric displacement efficiency. For instance, Patzek and Koinis showed major oil-recovery response after about two years of foam injection in two different pilot studies at the Kern River field. They report increased production of 5.5 to 14% of the original oil in place over a five year period. Because reservoir-scale simulation is a vital component of the engineering and economic evaluation of any EOR project, efficient application of foam as a displacement fluid requires a predictive numerical model of foam displacement. A mechanistic model would also expedite scale-up of the process from the laboratory to the field scale. No general, mechanistic, field-scale model for foam displacement is currently in use.

  5. Porosity and cell size control in alumina foam preparation by thermo-foaming of powder dispersions in molten sucrose

    Directory of Open Access Journals (Sweden)

    Sujith Vijayan

    2016-09-01

    Full Text Available The foaming characteristics of alumina powder dispersions in molten sucrose have been studied as a function of alumina powder to sucrose weight ratio (WA/S and foaming temperature. The increase in foaming temperature significantly decreases the foaming and foam setting time and increases the foam volume due to an increase in the rate of OH condensation as well as a decrease in the viscosity of the dispersion. Nevertheless, the foam collapses beyond a critical foaming temperature, which depends on the WA/S. The sintering shrinkage depends mainly on the WA/S and marginally on the foaming temperature. The porosity (83.4–94.6 vol.% and cell size (0.55–1.6 mm increase with an increase in foaming temperature (120–170 °C and a decrease in WA/S (0.8–1.6. The drastic decrease in compressive strength and modulus beyond a WA/S of 1.2 is due to the pores generated on the cell walls and struts as a result of particle agglomeration. Gibson and Ashby plots show large deviation with respect to the model constants ‘C’ and ‘n’, especially at higher alumina powder to sucrose weight ratios.

  6. Experimental Study of Hysteresis behavior of Foam Generation in Porous Media.

    Science.gov (United States)

    Kahrobaei, S; Vincent-Bonnieu, S; Farajzadeh, R

    2017-08-21

    Foam can be used for gas mobility control in different subsurface applications. The success of foam-injection process depends on foam-generation and propagation rate inside the porous medium. In some cases, foam properties depend on the history of the flow or concentration of the surfactant, i.e., the hysteresis effect. Foam may show hysteresis behavior by exhibiting multiple states at the same injection conditions, where coarse-textured foam is converted into strong foam with fine texture at a critical injection velocity or pressure gradient. This study aims to investigate the effects of injection velocity and surfactant concentration on foam generation and hysteresis behavior as a function of foam quality. We find that the transition from coarse-foam to strong-foam (i.e., the minimum pressure gradient for foam generation) is almost independent of flowrate, surfactant concentration, and foam quality. Moreover, the hysteresis behavior in foam generation occurs only at high-quality regimes and when the pressure gradient is below a certain value regardless of the total flow rate and surfactant concentration. We also observe that the rheological behavior of foam is strongly dependent on liquid velocity.

  7. Dielectric and Radiative Properties of Sea Foam at Microwave Frequencies: Conceptual Understanding of Foam Emissivity

    OpenAIRE

    Peter W. Gaiser; Magdalena D. Anguelova

    2012-01-01

    Foam fraction can be retrieved from space-based microwave radiometric data at frequencies from 1 to 37 GHz. The retrievals require modeling of ocean surface emissivity fully covered with sea foam. To model foam emissivity well, knowledge of foam properties, both mechanical and dielectric, is necessary because these control the radiative processes in foam. We present a physical description of foam dielectric properties obtained from the foam dielectric constant including foam skin depth; foam ...

  8. A foam formulation of an entomopathogenic fungus for control of boring beetles in avocado orchards

    Science.gov (United States)

    A foam formulation of Beauveria bassiana was adapted to control boring beetles in avocado orchards. The two geographically independent avocado growing areas in the United States are threatened by emerging diseases vectored by boring beetles. In the California growing region, Fusarium dieback is vect...

  9. The effect of nanoparticle aggregation on surfactant foam stability.

    Science.gov (United States)

    AlYousef, Zuhair A; Almobarky, Mohammed A; Schechter, David S

    2018-02-01

    The combination of nanoparticles (NPs) and surfactant may offer a novel technique of generating stronger foams for gas mobility control. This study evaluates the potential of silica NPs to enhance the foam stability of three nonionic surfactants. Results showed that the concentration of surfactant and NPs is a crucial parameter for foam stability and that there is certain concentrations for strong foam generation. A balance in concentration between the nonionic surfactants and the NPs can enhance the foam stability as a result of forming flocs in solutions. At fixed surfactant concentration, the addition of NPs at low to intermediate concentrations can produce a more stable foam compared to the surfactant. The production of small population of flocs as a result of mixing the surfactant and NPs can enhance the foam stability by providing a barrier between the gas bubbles and delaying the coalescence of bubbles. Moreover, these flocs can increase the solution viscosity and, therefore, slow the drainage rate of thin aqueous film (lamellae). The measurements of foam half-life, bubble size, and mobility tests confirmed this conclusion. However, the addition of more solid particles or surfactant might have a negative impact on foam stability and reduce the maximum capillary pressure of coalescence as a result of forming extensive aggregates. Copyright © 2017 Elsevier Inc. All rights reserved.

  10. 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...

  11. Cross transfer acute effects of foam rolling with vibration on ankle dorsiflexion range of motion.

    Science.gov (United States)

    García-Gutiérrez, María Teresa; Guillén-Rogel, Paloma; Cochrane, Darryl J; Marín, Pedro J

    2018-06-01

    Foam roller is a device used as a massage intervention for rehabilitation and fitness performance. To examine the effects on the ankle dorsiflexion mobility of the foam roller as well as the combination of foam roller and vibration applied to the ankle plantarflexors muscles, and to observe the possible cross-effect. Thirty-eight undergraduate students participated in the study (19 males and 19 females). This study investigated. Three conditions (3 sets of 20 s) were performed in a randomized order (independent variables): 1) foam roller (Roller), 2) foam roller and vibration (Roller+VIB), and 3) no foam roller or vibration (Control). to determine whether of foam roller with or without vibration would benefit ankle dorsiflexion mobility. Ankle dorsiflexion ROM and plantar flexor were measured in both legs before and immediately after the treatment. A cross-effect was found in the non-stimulated leg. There was a significant effect on ankle mobility of Roller and Roller+VIB conditions (6% and 7%, pFoam roller massage and vibration stimulus' foam roller massage increase ankle mobility producing a cross-effect.

  12. Spatial mobility fluctuation induced giant linear magnetoresistance in multilayered graphene foam

    KAUST Repository

    Li, Peng; Zhang, Qiang; He, Xin; Ren, Wencai; Cheng, Hui-Ming; Zhang, Xixiang

    2016-01-01

    (SdH) oscillations occurred at low temperatures and decayed with increasing temperature. The average classical mobility ranged from 300 (2 K) to 150 (300 K) cm2V−1s−1, which is much smaller than that required by the observed SdH oscillations

  13. 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

  14. Mechanical and thermal property characterization of poly-L-lactide (PLLA) scaffold developed using pressure-controllable green foaming technology

    International Nuclear Information System (INIS)

    Sheng, Shen-Jun; Hu, Xiao; Wang, Fang; Ma, Qing-Yu; Gu, Min-Fen

    2015-01-01

    Poly-L-lactide (PLLA) is one of the most promising biological materials used for tissue engineering scaffolds (TES) because of their excellent biodegradability and tenability. Here, microcellular PLLA foams were fabricated by pressure-controllable green foaming technology. Scanning electron microscopy (SEM), dynamic mechanical analysis (DMA), differential scanning calorimetry (DSC), wide angle X-ray diffraction measurement (WAXRD), thermogravimetric (TG) analysis, reflection-Fourier transform infrared (FTIR) analysis, enzymatic degradation study and MTT assay were used to analyze the scaffolds' morphologies, structures and crystallinities, mechanical and biodegradation properties, as well as their cytotoxicity. The results showed that PLLA foams with pore sizes from 8 to 103 μm diameters were produced when the saturation pressure decreased from 7.0 to 4.0 MPa. Through a combination of StepScan DSC (SSDSC) and WAXRD approaches, it was observed in PLLA foams that the crystallinity, highly-oriented metastable state and rigid amorphous phase increased with the increasing foaming pressure. It was also found that both the glass transition temperature and apparent enthalpy of PLLA significantly increased after the foaming process, which suggested that the changes of microcellular structure could provide PLLA scaffolds better thermal stability and elasticity. Moreover, MTT assessments suggested that the smaller pore size should benefit cell attachment and growth in the scaffold. The results of current work will give us better understanding of the mechanisms involved in structure and property changes of PLLA at the molecular level, which enables more possibilities for the design of PLLA scaffold to satisfy various requirements in biomedical and green chemical applications. - Highlights: • Pressure-controllable green foaming technology is used. • The crystallinity and rigid amorphous fraction is calculated by using DSC and XRD. • We examine the changes of

  15. Mechanical and thermal property characterization of poly-L-lactide (PLLA) scaffold developed using pressure-controllable green foaming technology

    Energy Technology Data Exchange (ETDEWEB)

    Sheng, Shen-Jun [Center of Analysis and Testing, Nanjing Normal University, Nanjing 210023 (China); School of Chemistry and Materials Science, Nanjing Normal University, Nanjing 210023 (China); Hu, Xiao [Department of Physics and Astronomy, Rowan University, Glassboro, NJ 08028 (United States); Department of Biomedical and Translational Sciences, Rowan University, Glassboro, NJ 08028 (United States); Wang, Fang, E-mail: wangfang@njnu.edu.cn [Center of Analysis and Testing, Nanjing Normal University, Nanjing 210023 (China); Department of Physics and Astronomy, Rowan University, Glassboro, NJ 08028 (United States); Ma, Qing-Yu [Key Laboratory of Optoelectronics of Jiangsu Province, School of Physics and Technology, Nanjing Normal University, Nanjing 210023 (China); Gu, Min-Fen [Center of Analysis and Testing, Nanjing Normal University, Nanjing 210023 (China)

    2015-04-01

    Poly-L-lactide (PLLA) is one of the most promising biological materials used for tissue engineering scaffolds (TES) because of their excellent biodegradability and tenability. Here, microcellular PLLA foams were fabricated by pressure-controllable green foaming technology. Scanning electron microscopy (SEM), dynamic mechanical analysis (DMA), differential scanning calorimetry (DSC), wide angle X-ray diffraction measurement (WAXRD), thermogravimetric (TG) analysis, reflection-Fourier transform infrared (FTIR) analysis, enzymatic degradation study and MTT assay were used to analyze the scaffolds' morphologies, structures and crystallinities, mechanical and biodegradation properties, as well as their cytotoxicity. The results showed that PLLA foams with pore sizes from 8 to 103 μm diameters were produced when the saturation pressure decreased from 7.0 to 4.0 MPa. Through a combination of StepScan DSC (SSDSC) and WAXRD approaches, it was observed in PLLA foams that the crystallinity, highly-oriented metastable state and rigid amorphous phase increased with the increasing foaming pressure. It was also found that both the glass transition temperature and apparent enthalpy of PLLA significantly increased after the foaming process, which suggested that the changes of microcellular structure could provide PLLA scaffolds better thermal stability and elasticity. Moreover, MTT assessments suggested that the smaller pore size should benefit cell attachment and growth in the scaffold. The results of current work will give us better understanding of the mechanisms involved in structure and property changes of PLLA at the molecular level, which enables more possibilities for the design of PLLA scaffold to satisfy various requirements in biomedical and green chemical applications. - Highlights: • Pressure-controllable green foaming technology is used. • The crystallinity and rigid amorphous fraction is calculated by using DSC and XRD. • We examine the changes of

  16. Quantifying the retention of foam formulation components to sedimentary phases to enable predictions of mobility and treatment efficacy - 59369

    International Nuclear Information System (INIS)

    Ramirez, Rosa; Jansik, Danielle; Wellman, Dawn

    2012-01-01

    Document available in abstract form only. Full text of publication follows: Deep vadose zone remediation remains the most challenging remediation problem in the DOE Complex. Foam delivery technology is being developed as a method for delivering remedial amendments within vadose zone environments for in situ contaminant stabilization. Thus far, the physical propagation of foam within subsurface media has been evaluated and quantified. However, foam propagation is a product of surfactant sorption which directly impacts foam stability. In order to predict the stability of foam during subsurface transport it is necessary to quantify the sorption of foam components as a function of concentration, competitive sorption, sediment mineralogy, and temperature. This investigation provides the results of standard static batch test quantifying these relationships. High Performance Liquid Chromatography (HPLC) was used to measure surfactant concentrations. The results of this investigation provide necessary understanding to predict foam stability during subsurface transport and determination of the remedial radius of influence. This study is part of a multiple step process for demonstrating the feasibility of foam transport to distribute amendments within in the vadose zone. (authors)

  17. Novel application of bacteriophage for controlling foaming in wastewater treatment plant- an eco-friendly approach

    Science.gov (United States)

    Khairnar, Krishna; Chandekar, Rajshree; Nair, Aparna; Pal, Preeti; Paunikar, Waman N.

    2016-01-01

    ABSTRACT This addendum to “Novel application of bacteriophage for controlling foaming in wastewater treatment plant- an eco-friendly approach “ includes characteristics of the phages NOC1, NOC2 and NOC3 not discussed in the previous paper. The phage adsorption and host interaction properties, their sensitivity to pH and temperature are inferred. NOC2 is seen to be more temperature resistant while others are not. All the phages show pH sensitivity. There is a variance observed in the behavior of these phages. Also, applicability of the phage based system to large scale reactors is studied and discussed here. PMID:26890996

  18. FoamVis, A Visualization System for Foam Research: Design and Implementation

    OpenAIRE

    Lipsa, Dan; Roberts, Richard; Laramee, Robert

    2015-01-01

    Liquid foams are used in areas such as mineral separation, oil recovery, food and beverage production, sanitation and fire fighting. To improve the quality of products and the efficiency of processes in these areas, foam scientists wish to understand and control foam behaviour. To this end, foam scientists have used foam simulations to model foam behaviour; however, analysing these simulations presents difficult challenges. We describe the main foam research challenges and present the design ...

  19. Encapsulation of low density plastic foam materials for the fast ignition realization experiment (FIREX). Control of microstructure and density

    International Nuclear Information System (INIS)

    Nagai, Keiji; Yang, H.; Iwamoto, A.

    2008-10-01

    Development of foam capsule fabrication for cryogenically cooled fuel targets is overviewed in the present paper. The fabrication development was initiated as a part of the Fast Ignition Realization Experiment (FIREX) Project at the ILE, Osaka University in the way of bilateral collaboration between Osaka University and National Institute for Fusion Science (NIFS). A foam cryogenic target was designed where low-density foam shells with a conical light guide will be cooled down to the cryogenic temperature and will be fueled through a narrow pipe. The required diameter and thickness of the capsule are 500 μm and 20 μm, respectively. The material should be low-density plastics foam. We have prepared such capsules using 1) mixtureing a new material of (phloroglucinolcarboxylic acid)/formalin (PF) linear polymer to control kinematic viscosity of the precursor, 2) phase-transfer-catalyzed gelation process to keep density matching of three phases of the emulsion. 3) non-volatile silicone oil as outer oil of emulsion in order to prevent hazard halogenated hydrocarbon and flammable mineral oil. The obtained foam capsule had fine structure of 180 nm (outer surface) to 220 nm (inner surface) and uniform thickness reaching to resolution limit of optical analysis (∼0.5 μm). A small hole was made before the solvent exchange and the drying process to prevent distortion due to volume changes. The density of dried foam was 0.29 g/cm 3 . After attaching the petawatt laser guiding cone and fueling glass tube, poly([2,2]paracyclophane) was coated on the foam surface and supplied for a fueling test of cryogenic hydrogen. Generally, lower density is from larger pore, then precise control of thickness and its encapsulation becomes more difficult. We have clarified the relation between pore size and preparation conditions using several precursor materials, and revealed how to control pore size of low density foams, where the solvent affinity for the polymer chain plays fundamental

  20. Thermosetting Fluoropolymer Foams

    Science.gov (United States)

    Lee, Sheng Yen

    1987-01-01

    New process makes fluoropolymer foams with controllable amounts of inert-gas fillings in foam cells. Thermosetting fluoropolymers do not require foaming additives leaving undesirable residues and do not have to be molded and sintered at temperatures of about 240 to 400 degree C. Consequently, better for use with electronic or other parts sensitive to high temperatures or residues. Uses include coatings, electrical insulation, and structural parts.

  1. 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.

  2. 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.

  3. 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...

  4. 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

  5. The use of high expansion foam in the control of sodium and other fumes

    International Nuclear Information System (INIS)

    Hughes, G.W.

    1971-01-01

    The uses of high expansion air foam for removing sodium fume and airborne radioactivity is discussed. Experiments are described which indicate that a high rate of removal of air contamination can be expected by encapsulation in a high expansion foam of low stability. (author)

  6. Studies of Sound Absorption by and Transmission Through Layers of Elastic Noise Control Foams: Finite Element Modeling and Effects of Anisotropy

    Science.gov (United States)

    Kang, Yeon June

    In this thesis an elastic-absorption finite element model of isotropic elastic porous noise control materials is first presented as a means of investigating the effects of finite dimension and edge constraints on the sound absorption by, and transmission through, layers of acoustical foams. Methods for coupling foam finite elements with conventional acoustic and structural finite elements are also described. The foam finite element model based on the Biot theory allows for the simultaneous propagation of the three types of waves known to exist in an elastic porous material. Various sets of boundary conditions appropriate for modeling open, membrane-sealed and panel-bonded foam surfaces are formulated and described. Good agreement was achieved when finite element predictions were compared with previously established analytical results for the plane wave absorption coefficient and transmission loss in the case of wave propagation both in foam-filled waveguides and through foam-lined double panel structures of infinite lateral extent. The primary effect of the edge constraints of a foam layer was found to be an acoustical stiffening of the foam. Constraining the ends of the facing panels in foam-lined double panel systems was also found to increase the sound transmission loss significantly in the low frequency range. In addition, a theoretical multi-dimensional model for wave propagation in anisotropic elastic porous materials was developed to study the effect of anisotropy on the sound transmission of foam-lined noise control treatments. The predictions of the theoretical anisotropic model have been compared with experimental measurements for the random incidence sound transmission through double panel structure lined with polyimide foam. The predictions were made by using the measured and estimated macroscopic physical parameters of polyimide foam samples which were known to be anisotropic. It has been found that the macroscopic physical parameters in the direction

  7. A review of aqueous foam in microscale.

    Science.gov (United States)

    Anazadehsayed, Abdolhamid; Rezaee, Nastaran; Naser, Jamal; Nguyen, Anh V

    2018-06-01

    In recent years, significant progress has been achieved in the study of aqueous foams. Having said this, a better understanding of foam physics requires a deeper and profound study of foam elements. This paper reviews the studies in the microscale of aqueous foams. The elements of aqueous foams are interior Plateau borders, exterior Plateau borders, nodes, and films. Furthermore, these elements' contribution to the drainage of foam and hydraulic resistance are studied. The Marangoni phenomena that can happen in aqueous foams are listed as Marangoni recirculation in the transition region, Marangoni-driven flow from Plateau border towards the film in the foam fractionation process, and Marangoni flow caused by exposure of foam containing photosurfactants under UV. Then, the flow analysis of combined elements of foam such as PB-film along with Marangoni flow and PB-node are studied. Next, we contrast the behavior of foams in different conditions. These various conditions can be perturbation in the foam structure caused by injected water droplets or waves or using a non-Newtonian fluid to make the foam. Further review is about the effect of oil droplets and particles on the characteristics of foam such as drainage, stability and interfacial mobility. Copyright © 2018 Elsevier B.V. All rights reserved.

  8. Control of Sound Radiation and Reflection With Advanced Smart Foam Blankets

    National Research Council Canada - National Science Library

    Fuller, Chris

    2003-01-01

    .... The past few years of the project have demonstrated the high potential of using smart foam blankets for efficiently reducing the interior sound levels in the payloads of launch vehicles in the low...

  9. Technology of foamed propellants

    Energy Technology Data Exchange (ETDEWEB)

    Boehnlein-Mauss, Jutta; Kroeber, Hartmut [Fraunhofer Institut fuer Chemische Technologie ICT, Pfinztal (Germany)

    2009-06-15

    Foamed propellants are based on crystalline explosives bonded in energetic reaction polymers. Due to their porous structures they are distinguished by high burning rates. Energy content and material characteristics can be varied by using different energetic fillers, energetic polymers and porous structures. Foamed charges can be produced easily by the reaction injection moulding process. For the manufacturing of foamed propellants a semi-continuous remote controlled production plant in pilot scale was set up and a modified reaction injection moulding process was applied. (Abstract Copyright [2009], Wiley Periodicals, Inc.)

  10. Mobil's two-agent firetruck

    International Nuclear Information System (INIS)

    Lockwood, N.R.

    1985-01-01

    A unique, efficient fire truck that delivers both dry chemical and foam has been developed by Mobil Oil. It will extinguish three-dimensional fires 100 feet away, at grade or overhead, and spill fires 70 feet wide, 130 feet away. Knockdown, control or extinguishment occurs in less than 20 seconds. The foam water monitor has a reach of 200 feet - straight stream or spray. The truck can use any combination of dry chemical, foam or water and can extinguish tank fires to 120 feet in diameter

  11. Fatigue characterization of Poly Vinyl Chloride (PVC) foam core sandwich composite using the G-control method

    DEFF Research Database (Denmark)

    Manca, Marcello; Berggreen, Christian; Carlsson, Leif A.

    2016-01-01

    This paper presents experimental results from cyclic crack propagation tests performed on sandwich specimens with glass/epoxy face sheets and Poly Vinyl Chloride (PVC) foam cores using the G-controlled cyclic energy release rate (ΔG) test procedure. The face material was tested in tension......, compression and shear to determine in-plane and out-of-plane mechanical properties, such as Young’s modulus, Poisson’s ratio and shear modulus. These properties were then used in an analytical model of the mixed-mode bending sandwich specimen to calculate compliance and energy release rate. Finite element...... on tested specimens, highlighting the influence of mode mixity and foam density on the crack path. Crack propagation diagrams showing da/dN versus ΔG curves were obtained to establish the Paris-Erdogan relation for each material combination tested at the two mode-mixities. Results showed constant crack...

  12. 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)

  13. Dynamics of poroelastic foams

    Science.gov (United States)

    Forterre, Yoel; Sobac, Benjamin

    2010-11-01

    Soft poroelastic structures are widespread in biological tissues such as cartilaginous joints in bones, blood-filled placentae or plant organs. Here we investigate the dynamics of open elastic foams immersed in viscous fluids, as model soft poroelastic materials. The experiment consists in slowly compacting blocs of polyurethane solid foam embedded in silicon oil-tanks and studying their relaxation to equilibrium when the confining stress is suddenly released. Measurements of the local fluid pressure and foam velocity field are compared with a simple two-phase flow approach. For small initial compactions, the results show quantitative agreement with the classical diffusion theory of soil consolidation (Terzaghi, Biot). On the other hand, for large initial compactions, the dynamics exhibits long relaxation times and decompaction fronts, which are mainly controlled by the highly non-linear mechanical response of the foam. The analogy between this process and the evaporation of a polymer melt close to the glass transition will be briefly discussed.

  14. Ni foam assisted synthesis of high quality hexagonal boron nitride with large domain size and controllable thickness

    Science.gov (United States)

    Ying, Hao; Li, Xiuting; Li, Deshuai; Huang, Mingqiang; Wan, Wen; Yao, Qian; Chen, Xiangping; Wang, Zhiwei; Wu, Yanqing; Wang, Le; Chen, Shanshan

    2018-04-01

    The scalable synthesis of two-dimensional (2D) hexagonal boron nitride (h-BN) is of great interest for its numerous applications in novel electronic devices. Highly-crystalline h-BN films, with single-crystal sizes up to hundreds of microns, are demonstrated via a novel Ni foam assisted technique reported here for the first time. The nucleation density of h-BN domains can be significantly reduced due to the high boron solubility, as well as the large specific surface area of the Ni foam. The crystalline structure of the h-BN domains is found to be well aligned with, and therefore strongly dependent upon, the underlying Pt lattice orientation. Growth-time dependent experiments confirm the presence of a surface mediated self-limiting growth mechanism for monolayer h-BN on the Pt substrate. However, utilizing remote catalysis from the Ni foam, bilayer h-BN films can be synthesized breaking the self-limiting effect. This work provides further understanding of the mechanisms involved in the growth of h-BN and proposes a facile synthesis technique that may be applied to further applications in which control over the crystal alignment, and the numbers of layers is crucial.

  15. 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.

  16. 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...

  17. FoamVis, A Visualization System for Foam Research: Design and Implementation

    Directory of Open Access Journals (Sweden)

    Dan R. Lipsa

    2015-03-01

    Full Text Available Liquid foams are used in areas such as mineral separation, oil recovery, food and beverage production, sanitation and fire fighting. To improve the quality of products and the efficiency of processes in these areas, foam scientists wish to understand and control foam behaviour. To this end, foam scientists have used foam simulations to model foam behaviour; however, analysing these simulations presents difficult challenges. We describe the main foam research challenges and present the design of FoamVis, the only existing visualization, exploration and analysis application created to address them. We describe FoamVis’ main features, together with relevant design and implementation notes. Our goal is to provide a global overview and individual feature implementation details that would allow a visualization scientist to extend the FoamVis system with new algorithms and adapt it to new requirements. The result is a detailed presentation of the software that is not provided in previous visualization research papers.

  18. Clinical effectiveness and cost-effectiveness of foam sclerotherapy, endovenous laser ablation and surgery for varicose veins: results from the Comparison of LAser, Surgery and foam Sclerotherapy (CLASS) randomised controlled trial.

    Science.gov (United States)

    Brittenden, Julie; Cotton, Seonaidh C; Elders, Andrew; Tassie, Emma; Scotland, Graham; Ramsay, Craig R; Norrie, John; Burr, Jennifer; Francis, Jill; Wileman, Samantha; Campbell, Bruce; Bachoo, Paul; Chetter, Ian; Gough, Michael; Earnshaw, Jonothan; Lees, Tim; Scott, Julian; Baker, Sara A; MacLennan, Graeme; Prior, Maria; Bolsover, Denise; Campbell, Marion K

    2015-01-01

    BACKGROUND Foam sclerotherapy (foam) and endovenous laser ablation (EVLA) have emerged as alternative treatments to surgery for patients with varicose veins, but uncertainty exists regarding their effectiveness in the medium to longer term. OBJECTIVES To assess the clinical effectiveness and cost-effectiveness of foam, EVLA and surgery for the treatment of varicose veins. DESIGN A parallel-group randomised controlled trial (RCT) without blinding, and economic modelling evaluation. SETTING Eleven UK specialist vascular centres. PARTICIPANTS Seven hundred and ninety-eight patients with primary varicose veins (foam, n = 292; surgery, n = 294; EVLA, n = 212). INTERVENTIONS Patients were randomised between all three treatment options (eight centres) or between foam and surgery (three centres). PRIMARY OUTCOME MEASURES Disease-specific [Aberdeen Varicose Vein Questionnaire (AVVQ)] and generic [European Quality of Life-5 Dimensions (EQ-5D), Short Form questionnaire-36 items (SF-36) physical and mental component scores] quality of life (QoL) at 6 months. Cost-effectiveness as cost per quality-adjusted life-year (QALY) gained. SECONDARY OUTCOME MEASURES Quality of life at 6 weeks; residual varicose veins; Venous Clinical Severity Score (VCSS); complication rates; return to normal activity; truncal vein ablation rates; and costs. RESULTS The results appear generalisable in that participants' baseline characteristics (apart from a lower-than-expected proportion of females) and post-treatment improvement in outcomes were comparable with those in other RCTs. The health gain achieved in the AVVQ with foam was significantly lower than with surgery at 6 months [effect size -1.74, 95% confidence interval (CI) -2.97 to -0.50; p = 0.006], but was similar to that achieved with EVLA. The health gain in SF-36 mental component score for foam was worse than that for EVLA (effect size 1.54, 95% CI 0.01 to 3.06; p = 0.048) but similar to that for surgery. There were no

  19. Clinical effectiveness and cost-effectiveness of foam sclerotherapy, endovenous laser ablation and surgery for varicose veins: results from the Comparison of LAser, Surgery and foam Sclerotherapy (CLASS) randomised controlled trial.

    Science.gov (United States)

    Brittenden, Julie; Cotton, Seonaidh C; Elders, Andrew; Tassie, Emma; Scotland, Graham; Ramsay, Craig R; Norrie, John; Burr, Jennifer; Francis, Jill; Wileman, Samantha; Campbell, Bruce; Bachoo, Paul; Chetter, Ian; Gough, Michael; Earnshaw, Jonothan; Lees, Tim; Scott, Julian; Baker, Sara A; MacLennan, Graeme; Prior, Maria; Bolsover, Denise; Campbell, Marion K

    2015-04-01

    Foam sclerotherapy (foam) and endovenous laser ablation (EVLA) have emerged as alternative treatments to surgery for patients with varicose veins, but uncertainty exists regarding their effectiveness in the medium to longer term. To assess the clinical effectiveness and cost-effectiveness of foam, EVLA and surgery for the treatment of varicose veins. A parallel-group randomised controlled trial (RCT) without blinding, and economic modelling evaluation. Eleven UK specialist vascular centres. Seven hundred and ninety-eight patients with primary varicose veins (foam, n = 292; surgery, n = 294; EVLA, n = 212). Patients were randomised between all three treatment options (eight centres) or between foam and surgery (three centres). Disease-specific [Aberdeen Varicose Vein Questionnaire (AVVQ)] and generic [European Quality of Life-5 Dimensions (EQ-5D), Short Form questionnaire-36 items (SF-36) physical and mental component scores] quality of life (QoL) at 6 months. Cost-effectiveness as cost per quality-adjusted life-year (QALY) gained. Quality of life at 6 weeks; residual varicose veins; Venous Clinical Severity Score (VCSS); complication rates; return to normal activity; truncal vein ablation rates; and costs. The results appear generalisable in that participants' baseline characteristics (apart from a lower-than-expected proportion of females) and post-treatment improvement in outcomes were comparable with those in other RCTs. The health gain achieved in the AVVQ with foam was significantly lower than with surgery at 6 months [effect size -1.74, 95% confidence interval (CI) -2.97 to -0.50; p = 0.006], but was similar to that achieved with EVLA. The health gain in SF-36 mental component score for foam was worse than that for EVLA (effect size 1.54, 95% CI 0.01 to 3.06; p = 0.048) but similar to that for surgery. There were no differences in EQ-5D or SF-36 component scores in the surgery versus foam or surgery versus EVLA comparisons at 6 months. The

  20. 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

  1. 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.

  2. 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.

  3. Foam patterns

    Science.gov (United States)

    Chaudhry, Anil R; Dzugan, Robert; Harrington, Richard M; Neece, Faurice D; Singh, Nipendra P; Westendorf, Travis

    2013-11-26

    A method of creating a foam pattern comprises mixing a polyol component and an isocyanate component to form a liquid mixture. The method further comprises placing a temporary core having a shape corresponding to a desired internal feature in a cavity of a mold and inserting the mixture into the cavity of the mold so that the mixture surrounds a portion of the temporary core. The method optionally further comprises using supporting pins made of foam to support the core in the mold cavity, with such pins becoming integral part of the pattern material simplifying subsequent processing. The method further comprises waiting for a predetermined time sufficient for a reaction from the mixture to form a foam pattern structure corresponding to the cavity of the mold, wherein the foam pattern structure encloses a portion of the temporary core and removing the temporary core from the pattern independent of chemical leaching.

  4. 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.

  5. Forming foam structures with carbon foam substrates

    Science.gov (United States)

    Landingham, Richard L.; Satcher, Jr., Joe H.; Coronado, Paul R.; Baumann, Theodore F.

    2012-11-06

    The invention provides foams of desired cell sizes formed from metal or ceramic materials that coat the surfaces of carbon foams which are subsequently removed. For example, metal is located over a sol-gel foam monolith. The metal is melted to produce a metal/sol-gel composition. The sol-gel foam monolith is removed, leaving a metal foam.

  6. 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

  7. 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)

  8. Foam Microrheology

    International Nuclear Information System (INIS)

    KRAYNIK, ANDREW M.; LOEWENBERG, MICHAEL; REINELT, DOUGLAS A.

    1999-01-01

    The microrheology of liquid foams is discussed for two different regimes: static equilibrium where the capillary number Ca is zero, and the viscous regime where viscosity and surface tension are important and Ca is finite. The Surface Evolver is used to calculate the equilibrium structure of wet Kelvin foams and dry soap froths with random structure, i.e., topological disorder. The distributions of polyhedra and faces are compared with the experimental data of Matzke. Simple shearing flow of a random foam under quasistatic conditions is also described. Viscous phenomena are explored in the context of uniform expansion of 2D and 3D foams at low Reynolds number. Boundary integral methods are used to calculate the influence of Ca on the evolution of foam microstructure, which includes bubble shape and the distribution of liquid between films, Plateau borders, and (in 3D) the nodes where Plateau borders meet. The micromechanical point of view guides the development of structure-property-processing relationships for foams

  9. 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…

  10. 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.

  11. 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...

  12. Foam for Enhanced Oil Recovery : Modeling and Analytical Solutions

    NARCIS (Netherlands)

    Ashoori, E.

    2012-01-01

    Foam increases sweep in miscible- and immiscible-gas enhanced oil recovery by decreasing the mobility of gas enormously. This thesis is concerned with the simulations and analytical solutions for foam flow for the purpose of modeling foam EOR in a reservoir. For the ultimate goal of upscaling our

  13. 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...

  14. Foamed emulsion drainage: flow and trapping of drops

    OpenAIRE

    Schneider, Maxime; Zou, Ziqiang; Langevin, Dominique; Salonen, Anniina

    2017-01-01

    Foamed emulsions are ubiquitous in our daily life but the ageing of such systems is still poorly understood. In this study we investigate foam drainage and measure the evolution of the gas, liquid and oil volume fractions inside the foam. We evidence three regimes of ageing. During an initial period of fast drainage, both bubbles and drops are very mobile. As the foam stabilises drainage proceeds leading to a gradual decrease of the liquid fraction and slowing down of drainage. Clusters of oi...

  15. Cellulose nanocrystals reinforced foamed nitrile rubber nanocomposites.

    Science.gov (United States)

    Chen, Yukun; Zhang, Yuanbing; Xu, Chuanhui; Cao, Xiaodong

    2015-10-05

    Research on foamed nitrile rubber (NBR)/cellulose nanocrystals (CNs) nanocomposites is rarely found in the literatures. In this paper, CNs suspension and NBR latex was mixed to prepared the foamed NBR/CNs nanocomposites. We found that the CNs mainly located in the cell walls, effectively reinforcing the foamed NBR. The strong interaction between the CNs and NBR matrix restricted the mobility of NBR chains surrounding the CNs, hence increasing the crosslink density of the NBR matrix. CNs exhibited excellent reinforcement on the foamed NBR: a remarkable increase nearly 76% in the tensile strength of the foamed nanocomposites was achieved with a load of only 15 phr CNs. Enhanced mechanical properties make the foamed NBR/CNs nanocomposites a promising damping material for industrial applications with a potential to reduce the petroleum consumption. Copyright © 2015 Elsevier Ltd. All rights reserved.

  16. Pipe Decontamination Involving String-Foam Circulation

    International Nuclear Information System (INIS)

    Turchet, J.P.; Estienne, G.; Fournel, B.

    2002-01-01

    Foam applications number for nuclear decontamination purposes has recently increased. The major advantage of foam decontamination is the reduction of secondary liquid wastes volumes. Among foam applications, we focus on foam circulation in contaminated equipment. Dynamic properties of the system ensures an homogeneous and rapid effect of the foam bed-drifted chemical reagents present in the liquid phase. This paper describes a new approach of foam decontamination for pipes. It is based on an alternated air and foam injections. We called it 'string-foam circulation'. A further reduction of liquid wastes is achieved compared to continuous foam. Secondly, total pressure loss along the pipe is controlled by the total foam length in the pipe. It is thus possible to clean longer pipes keeping the pressure under atmospheric pressure value. This ensures the non dispersion of contamination. This study describes experimental results obtained with a neutral foam as well with an acid foam on a 130 m long loop. Finally, the decontamination of a 44 meters pipe is presented. (authors)

  17. 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...

  18. Dynamics of foam flow in porous media in the presence of oil

    Science.gov (United States)

    Shokri, N.; Osei-Bonsu, K.

    2016-12-01

    Foams demonstrate great potential for fluid displacement in porous media which is important in a number of subsurface operations such as the enhanced oil recovery and soil remediation. The application of foam in these processes is down to its unique ability to reduce gas mobility by increasing its effective viscosity and to divert gas to un-swept low permeability zones in porous media [1-4]. To investigate the fundamental aspects of foam flow in porous media, we have conducted a systematic series of experiment using a well-characterised porous medium manufactured by a high resolution 3D printer. This enabled us to design and control the properties of porous media with high accuracy. The model porous medium was initially saturated with oil. Then the pre-generated foam was injected into the model at well-defined injection rates to displace oil. The dynamics of foam-oil displacement in porous media was recorded using a digital camera controlled by a computer [5]. The recorded images were analysed in MATLAB to determine the dynamics of foam-oil displacement under different boundary conditions. Effects of the type of oil, foam quality and foam flow rate were investigated. Our results reveal that generation of stable foam is delayed in the presence of light oil in the porous medium compared to the heavy oil. Furthermore, higher foam quality appears to be less stable in the presence of oil lowering its recovery efficiency. Pore-scale inspection of foam-oil patterns formed during displacement revealed formation of a more stable front in the case of lower foam quality which affected the oil recovery efficiency. This study extends the physical understanding of governing mechanisms controlling oil displacement by foam in porous media. Grassia, P., E. Mas-Hernandez, N. Shokri, S.J. Cox, G. Mishuris, W.R. Rossen (2014), J. Fluid Mech., 751, 346-405. Grassia, P., C. Torres-Ulloa, S. Berres, E. Mas-Hernandez, N. Shokri (2016), European Physical Journal E, 39 (4), 42. Mas

  19. 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,...

  20. 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...

  1. 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...

  2. 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.

  3. Efficacy of ethanol-based hand foams using clinically relevant amounts: a cross-over controlled study among healthy volunteers

    Directory of Open Access Journals (Sweden)

    Marschall Sigunde

    2010-03-01

    Full Text Available Abstract Background Foams containing 62% ethanol are used for hand decontamination in many countries. A long drying time may reduce the compliance of healthcare workers in applying the recommended amount of foam. Therefore, we have investigated the correlation between the applied amount and drying time, and the bactericidal efficacy of ethanol foams. Methods In a first part of tests, four foams (Alcare plus, Avagard Foam, Bode test foam, Purell Instant Hand Sanitizer containing 62% ethanol, which is commonly used in U.S. hospitals, were applied to 14 volunteers in a total of seven variations, to measure drying times. In a second part of tests, the efficacy of the established amount of foam for a 30 s application time of two foams (Alcare plus, Purell Instant Hand Sanitizer and water was compared to the EN 1500 standard of 2 × 3 mL applications of 2-propanol 60% (v/v, on hands artificially contaminated with Escherichia coli. Each application used a cross-over design against the reference alcohol with 15 volunteers. Results The mean weight of the applied foam varied between 1.78 and 3.09 g, and the mean duration to dryness was between 37 s and 103 s. The correlation between the amount of foam applied and time until hands felt dry was highly significant (p 10-reduction: 3.05 ± 0.45 and Alcare plus (3.58 ± 0.71 was significantly less effective than the reference disinfection (4.83 ± 0.89 and 4.60 ± 0.59, respectively; p 10-reduction of 2.39 ± 0.57. Conclusions When using 62% ethanol foams, the time required for dryness often exceeds the recommended 30 s. Therefore, only a small volume is likely to be applied in clinical practice. Small amounts, however, failed to meet the efficacy requirements of EN 1500 and were only somewhat more effective than water.

  4. 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

  5. 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.

  6. 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).

  7. A relative permeability model to derive fractional-flow functions of water-alternating-gas and surfactant-alternating-gas foam core-floods

    International Nuclear Information System (INIS)

    Al-Mossawy, Mohammed Idrees; Demiral, Birol; Raja, D M Anwar

    2013-01-01

    Foam is used in enhanced oil recovery to improve the sweep efficiency by controlling the gas mobility. The surfactant-alternating-gas (SAG) foam process is used as an alternative to the water-alternating-gas (WAG) injection. In the WAG technique, the high mobility and the low density of the gas lead the gas to flow in channels through the high permeability zones of the reservoir and to rise to the top of the reservoir by gravity segregation. As a result, the sweep efficiency decreases and there will be more residual oil in the reservoir. The foam can trap the gas in liquid films and reduces the gas mobility. The fractional-flow method describes the physics of immiscible displacements in porous media. Finding the water fractional flow theoretically or experimentally as a function of the water saturation represents the heart of this method. The relative permeability function is the conventional way to derive the fractional-flow function. This study presents an improved relative permeability model to derive the fractional-flow functions for WAG and SAG foam core-floods. The SAG flow regimes are characterized into weak foam, strong foam without a shock front and strong foam with a shock front. (paper)

  8. 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.

  9. 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.

  10. 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...

  11. Guidance Document on Anaerobic Digester Foaming Prevention and Control Methods (WERF Report INFR1SG10a)

    Science.gov (United States)

    The development of this anaerobic digester (AD) foaming guidance document is based on the need for a specific detailed methodology that water resource recovery facilities (WRRF) personnel can follow and implement to manage or mitigate AD foam incidents. This guidance manual is th...

  12. 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.

  13. Controlled Delegation Protocol in Mobile RFID Networks

    Directory of Open Access Journals (Sweden)

    Yang MingHour

    2010-01-01

    Full Text Available To achieve off-line delegation for mobile readers, we propose a delegation protocol for mobile RFID allowing its readers access to specific tags through back-end server. That is to say, reader-tag mutual authentication can be performed without readers being connected to back-end server. Readers are also allowed off-line access to tags' data. Compared with other delegation protocols, our scheme uniquely enables back-end server to limit each reader's reading times during delegation. Even in a multireader situation, our protocol can limit reading times and reading time periods for each of them and therefore makes back-end server's delegation more flexible. Besides, our protocol can prevent authorized readers from transferring their authority to the unauthorized, declining invalid access to tags. Our scheme is proved viable and secure with GNY logic; it is against certain security threats, such as replay attacks, denial of service (DoS attacks, Man-in-the-Middle attacks, counterfeit tags, and breaches of location and data privacy. Also, the performance analysis of our protocol proves that current tags can afford the computation load required in this scheme.

  14. Bio-based Polymer Foam from Soyoil

    Science.gov (United States)

    Bonnaillie, Laetitia M.; Wool, Richard P.

    2006-03-01

    The growing bio-based polymeric foam industry is presently lead by plant oil-based polyols for polyurethanes and starch foams. We developed a new resilient, thermosetting foam system with a bio-based content higher than 80%. The acrylated epoxidized soybean oil and its fatty acid monomers is foamed with pressurized carbon dioxide and cured with free-radical initiators. The foam structure and pore dynamics are highly dependent on the temperature, viscosity and extent of reaction. Low-temperature cure hinds the destructive pore coalescence and the application of a controlled vacuum results in foams with lower densities ˜ 0.1 g/cc, but larger cells. We analyze the physics of foam formation and stability, as well as the structure and mechanical properties of the cured foam using rigidity percolation theory. The parameters studied include temperature, vacuum applied, and cross-link density. Additives bring additional improvements: nucleating agents and surfactants help produce foams with a high concentration of small cells and low bulk density. Hard and soft thermosetting foams with a bio content superior to 80% are successfully produced and tested. Potential applications include foam-core composites for hurricane-resistant housing, structural reinforcement for windmill blades, and tissue scaffolds.

  15. 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.

  16. Infiltrated carbon foam composites

    Science.gov (United States)

    Lucas, Rick D. (Inventor); Danford, Harry E. (Inventor); Plucinski, Janusz W. (Inventor); Merriman, Douglas J. (Inventor); Blacker, Jesse M. (Inventor)

    2012-01-01

    An infiltrated carbon foam composite and method for making the composite is described. The infiltrated carbon foam composite may include a carbonized carbon aerogel in cells of a carbon foam body and a resin is infiltrated into the carbon foam body filling the cells of the carbon foam body and spaces around the carbonized carbon aerogel. The infiltrated carbon foam composites may be useful for mid-density ablative thermal protection systems.

  17. 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.

  18. 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.

  19. 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

  20. RAFT Dispersion Alternating Copolymerization of Styrene with N-Phenylmaleimide: Morphology Control and Application as an Aqueous Foam Stabilizer

    Science.gov (United States)

    2016-01-01

    We report a new nonaqueous polymerization-induced self-assembly (PISA) formulation based on the reversible addition–fragmentation chain transfer (RAFT) dispersion alternating copolymerization of styrene with N-phenylmaleimide using a nonionic poly(N,N-dimethylacrylamide) stabilizer in a 50/50 w/w ethanol/methyl ethyl ketone (MEK) mixture. The MEK cosolvent is significantly less toxic than the 1,4-dioxane cosolvent reported previously [YangP.; Macromolecules2013, 46, 8545−8556]. The core-forming alternating copolymer block has a relatively high glass transition temperature (Tg), which leads to vesicular morphologies being observed during PISA, as well as the more typical sphere and worm phases. Each of these copolymer morphologies has been characterized by transmission electron microscopy (TEM) and small-angle X-ray scattering (SAXS) studies. TEM studies reveal micrometer-sized elliptical particles with internal structure, with SAXS analysis suggesting an oligolamellar vesicle morphology. This structure differs from that previously reported for a closely related PISA formulation utilizing a poly(methacrylic acid) stabilizer block for which unilamellar platelet-like particles are observed by TEM and SAXS. This suggests that interlamellar interactions are governed by the nature of the steric stabilizer layer. Moreover, using the MEK cosolvent also enables access to a unilamellar vesicular morphology, despite the high Tg of the alternating copolymer core-forming block. This was achieved by simply conducting the PISA synthesis at a higher temperature for a longer reaction time (80 °C for 24 h). Presumably, MEK solvates the core-forming block more than the previously utilized 1,4-dioxane cosolvent, which leads to greater chain mobility. Finally, preliminary experiments indicate that the worms are much more efficient stabilizers for aqueous foams than either the spheres or the oligolamellar elliptical vesicles. PMID:27708458

  1. Autonomous Visual Control of a Mobile Robot

    National Research Council Canada - National Science Library

    Blackburn, Michael

    1994-01-01

    .... We propose that efficient and extensible solutions to the target acquisition and maintenance problem may be found when the machine sensor-effector control algorithms emulate the mechanisms employed...

  2. Intelligent control and cooperation for mobile robots

    Science.gov (United States)

    Stingu, Petru Emanuel

    The topic discussed in this work addresses the current research being conducted at the Automation & Robotics Research Institute in the areas of UAV quadrotor control and heterogenous multi-vehicle cooperation. Autonomy can be successfully achieved by a robot under the following conditions: the robot has to be able to acquire knowledge about the environment and itself, and it also has to be able to reason under uncertainty. The control system must react quickly to immediate challenges, but also has to slowly adapt and improve based on accumulated knowledge. The major contribution of this work is the transfer of the ADP algorithms from the purely theoretical environment to the complex real-world robotic platforms that work in real-time and in uncontrolled environments. Many solutions are adopted from those present in nature because they have been proven to be close to optimal in very different settings. For the control of a single platform, reinforcement learning algorithms are used to design suboptimal controllers for a class of complex systems that can be conceptually split in local loops with simpler dynamics and relatively weak coupling to the rest of the system. Optimality is enforced by having a global critic but the curse of dimensionality is avoided by using local actors and intelligent pre-processing of the information used for learning the optimal controllers. The system model is used for constructing the structure of the control system, but on top of that the adaptive neural networks that form the actors use the knowledge acquired during normal operation to get closer to optimal control. In real-world experiments, efficient learning is a strong requirement for success. This is accomplished by using an approximation of the system model to focus the learning for equivalent configurations of the state space. Due to the availability of only local data for training, neural networks with local activation functions are implemented. For the control of a formation

  3. Microcellular foams via phase separation

    International Nuclear Information System (INIS)

    Young, A.T.

    1985-01-01

    A study of wide variety of processes for making plastic foams shows that phase separation processes for polymers from solutions offers the most viable methods for obtaining rigid plastic foams which met the physical requirements for fusion target designs. Four general phase separation methods have been shown to give polymer foams with densities less than 0.1 g/cm 3 and cell sizes of 30μm or less. These methods involve the utilization of non-solvent, chemical or thermal cooling processes to achieve a controlled phase separation wherein either two distinct phases are obtained where the polymer phase is a continuous phase or two bicontinuous phases are obtained where both the polymer and solvent are interpenetrating, continuous, labyrinthine phases. Subsequent removal of the solvent gives the final foam structure

  4. 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.

  5. A cement based syntactic foam

    International Nuclear Information System (INIS)

    Li Guoqiang; Muthyala, Venkata D.

    2008-01-01

    In this study, a cement based syntactic foam core was proposed and experimentally investigated for composite sandwich structures. This was a multi-phase composite material with microballoon dispersed in a rubber latex toughened cement paste matrix. A trace amount of microfiber was also incorporated to increase the number of mechanisms for energy absorption and a small amount of nanoclay was added to improve the crystal structure of the hydrates. Three groups of cement based syntactic foams with varying cement content were investigated. A fourth group of specimens containing pure cement paste were also prepared as control. Each group contained 24 beam specimens. The total number of beam specimens was 96. The dimension of each beam was 30.5 cm x 5.1 cm x 1.5 cm. Twelve foam specimens from each group were wrapped with plain woven 7715 style glass fabric reinforced epoxy to prepare sandwich beams. Twelve cubic foam specimens, three from each group, with a side length of 5.1 cm, were also prepared. Three types of testing, low velocity impact test and four-point bending test on the beam specimens and compression test on the cubic specimens, were conducted to evaluate the impact energy dissipation, stress-strain behavior, and residual strength. Scanning electron microscope (SEM) was also used to examine the energy dissipation mechanisms in the micro-length scale. It was found that the cement based syntactic foam has a higher capacity for dissipating impact energy with an insignificant reduction in strength as compared to the control cement paste core. When compared to a polymer based foam core having similar compositions, it was found that the cement based foam has a comparable energy dissipation capacity. The developed cement based syntactic foam would be a viable alternative for core materials in impact-tolerant composite sandwich structures

  6. 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.

  7. System Acquires Data On Reactivities Of Foams

    Science.gov (United States)

    Walls, Joe T.

    1994-01-01

    Data-acquisition and -plotting system, called DAPS(TM), developed enabling accurate and objective determination of physical properties related to reactivities of polyurethane and polyisocyanurate foams. Automated, computer-controlled test apparatus that acquires data on rates of rise, rise profiles, exothermic temperatures, and internal pressures of foams prepared from both manual and machine-mixed batches. Data used to determine minute differences between reaction kinetics and exothermic profiles of foam formulations, properties of end products which are statistically undifferentiated.

  8. Fuzzy Behaviors for Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Saleh Zein-Sabatto

    2003-02-01

    Full Text Available In this research work, an RWI B-14 robot has been used as the development platform to embody some basic behaviors that can be combined to build more complex robotics behaviors. Emergency, avoid-obstacle, left wall- following, right wall-following, and move-to-point behaviors have been designed and embodied as basic robot behaviors. The basic behaviors developed in this research are designed based on fuzzy control technique and are integrated and coordinated to from complex robotics system. More behaviors can be added into the system as needed. A robot task can be defined by the user and executed by the intelligent robot control system. Testing results showed that fuzzy behaviors made the robot move intelligently and adapt to changes in its environment.

  9. Area 2. Use Of Engineered Nanoparticle-Stabilized CO2 Foams To Improve Volumetric Sweep Of CO2 EOR Processes

    Energy Technology Data Exchange (ETDEWEB)

    DiCarlo, David [Univ. of Texas, Austin, TX (United States); Huh, Chun [Univ. of Texas, Austin, TX (United States); Johnston, Keith P. [Univ. of Texas, Austin, TX (United States)

    2015-01-31

    The goal of this project was to develop a new CO2 injection enhanced oil recovery (CO2-EOR) process using engineered nanoparticles with optimized surface coatings that has better volumetric sweep efficiency and a wider application range than conventional CO2-EOR processes. The main objectives of this project were to (1) identify the characteristics of the optimal nanoparticles that generate extremely stable CO2 foams in situ in reservoir regions without oil; (2) develop a novel method of mobility control using “self-guiding” foams with smart nanoparticles; and (3) extend the applicability of the new method to reservoirs having a wide range of salinity, temperatures, and heterogeneity. Concurrent with our experimental effort to understand the foam generation and transport processes and foam-induced mobility reduction, we also developed mathematical models to explain the underlying processes and mechanisms that govern the fate of nanoparticle-stabilized CO2 foams in porous media and applied these models to (1) simulate the results of foam generation and transport experiments conducted in beadpack and sandstone core systems, (2) analyze CO2 injection data received from a field operator, and (3) aid with the design of a foam injection pilot test. Our simulator is applicable to near-injection well field-scale foam injection problems and accounts for the effects due to layered heterogeneity in permeability field, foam stabilizing agents effects, oil presence, and shear-thinning on the generation and transport of nanoparticle-stabilized C/W foams. This report presents the details of our experimental and numerical modeling work and outlines the highlights of our findings.

  10. Mobile Interfaces for Building Control Surveyors

    OpenAIRE

    Chmielewski , Jacek; Walczak , Krzysztof; Wiza , Wojciech

    2010-01-01

    International audience; The problem of integrating heterogeneous back-end platforms used in public administration has been widely addressed in a number of research and development projects. In such a complex and heterogeneous environment, application of the SOA paradigm can be particularly beneficial. However, in some application domains - such as the Building Control Administration - there is an additional requirement: integration of heterogeneous front-end platforms - including access throu...

  11. 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.

  12. 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.

  13. 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.

  14. 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

  15. 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

  16. Fuzzy Logic Supervised Teleoperation Control for Mobile Robot

    Institute of Scientific and Technical Information of China (English)

    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.

  17. Bubble and foam chemistry

    CERN Document Server

    Pugh, Robert J

    2016-01-01

    This indispensable guide will equip the reader with a thorough understanding of the field of foaming chemistry. Assuming only basic theoretical background knowledge, the book provides a straightforward introduction to the principles and properties of foams and foaming surfactants. It discusses the key ideas that underpin why foaming occurs, how it can be avoided and how different degrees of antifoaming can be achieved, and covers the latest test methods, including laboratory and industrial developed techniques. Detailing a variety of different kinds of foams, from wet detergents and food foams, to polymeric, material and metal foams, it connects theory to real-world applications and recent developments in foam research. Combining academic and industrial viewpoints, this book is the definitive stand-alone resource for researchers, students and industrialists working on foam technology, colloidal systems in the field of chemical engineering, fluid mechanics, physical chemistry, and applied physics.

  18. Aqueous foam toxicology evaluation and hazard review

    Energy Technology Data Exchange (ETDEWEB)

    Archuleta, M.M.

    1995-10-01

    Aqueous foams are aggregates of bubbles mechanically generated by passing air or other gases through a net, screen, or other porous medium that is wetted by an aqueous solution of surface-active foaming agents (surfactants). Aqueous foams are important in modem fire-fighting technology, as well as for military uses for area denial and riot or crowd control. An aqueous foam is currently being developed and evaluated by Sandia National Laboratories (SNL) as a Less-Than-Lethal Weapon for the National Institute of Justice (NIJ). The purpose of this study is to evaluate the toxicity of the aqueous foam developed for the NIJ and to determine whether there are any significant adverse health effects associated with completely immersing individuals without protective equipment in the foam. The toxicity of the aqueous foam formulation developed for NIJ is determined by evaluating the toxicity of the individual components of the foam. The foam is made from a 2--5% solution of Steol CA-330 surfactant in water generated at expansion ratios ranging from 500:1 to 1000:1. SteoI CA-330 is a 35% ammonium laureth sulfate in water and is produced by Stepan Chemical Company and containing trace amounts (<0.1%) of 1,4-dioxane. The results of this study indicate that Steol CA-330 is a non-toxic, mildly irritating, surfactant that is used extensively in the cosmetics industry for hair care and bath products. Inhalation or dermal exposure to this material in aqueous foam is not expected to produce significant irritation or systemic toxicity to exposed individuals, even after prolonged exposure. The amount of 1,4-dioxane in the surfactant, and subsequently in the foam, is negligible and therefore, the toxicity associated with dioxane exposure is not significant. In general, immersion in similar aqueous foams has not resulted in acute, immediately life-threatening effects, or chronic, long-term, non-reversible effects following exposure.

  19. Foam pad of appropriate thickness can improve diagnostic value of foam posturography in detecting postural instability.

    Science.gov (United States)

    Liu, Bo; Leng, Yangming; Zhou, Renhong; Liu, Jingjing; Liu, Dongdong; Liu, Jia; Zhang, Su-Lin; Kong, Wei-Jia

    2018-04-01

    The present study investigated the effect of foam thickness on postural stability in patients with unilateral vestibular hypofunction (UVH) during foam posturography. Static and foam posturography were performed in 33 patients (UVH group) and 30 healthy subjects (control group) with eyes open (EO) and closed (EC) on firm surface and on 1-5 foam pad(s). Sway velocity (SV) of center of pressure, standing time before falling (STBF) and falls reaction were recorded and analyzed. (1) SVs had an increasing tendency in both groups as the foam pads were added under EO and EC conditions. (2) STBFs, only in UVH group with EC, decreased with foam thickness increasing. (3) Significant differences in SV were found between the control and UVH group with EO (except for standing on firm surface, on 1 and 2 foam pad(s)) and with EC (all surface conditions). (4) Receiver operating characteristic curve analysis showed that the SV could better reflect the difference in postural stability between the two groups while standing on the 4 foam pads with EC. Our study showed that diagnostic value of foam posturography in detecting postural instability might be enhanced by using foam pad of right thickness.

  20. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    International Nuclear Information System (INIS)

    Yu, Pingping; Zhao, Xin; Li, Yingzhi; Zhang, Qinghua

    2017-01-01

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g"−"1 at 1 A g"−"1. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg"−"1 and 103.2 kW kg"−"1. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g"−"1. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg"−"1 and 103.2 kW kg"−"1, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  1. Controllable growth of polyaniline nanowire arrays on hierarchical macro/mesoporous graphene foams for high-performance flexible supercapacitors

    Energy Technology Data Exchange (ETDEWEB)

    Yu, Pingping [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Department of Materials Science, Fudan University, Shanghai 200433 (China); Zhao, Xin, E-mail: xzhao@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Li, Yingzhi [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China); Zhang, Qinghua, E-mail: qhzhang@dhu.edu.cn [State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620 (China)

    2017-01-30

    Highlights: • Hierarchical porous graphene foam prepared by templating and embossing method.. • Vertically PANI nanowires aligned on interconnected porous graphene sheets. • The fRGO-F/PANI device exhibited 939 F g{sup −1} at 1 A g{sup −1}. • ED and PD of fRGO-F/PANI device was 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}. - Abstract: Free-standing hierarchical macro/mesoporous flexible graphene foam have been constructed by rational intergration ofwell dispersed graphene oxide sheets and amino-modified polystyrene (PS) spheres through a facile “templating and embossing” technique. The three dimensional (3D) macro/mesoporous flexible graphene foam not only inherits the uniform porous structures of graphene foam, but also contains hierarchical macro/mesopores on the struts by sacrificing PS spheres and the activation of KOH, which could providing rapid pathways for ionic and electronic transport to high specific capacitance. Vertically polyaniline (PANI) nanowire arrays are then uniformly deposited onto the hierarchical macro/mesoporous graphene foam(fRGO-F/PANI) by a simple in situ polymerization, which show a high specific capacitance of 939 F g{sup −1}. Thanks to the synergistic function of 3D bicontinuous hierarchical porous structure of graphene foam and effective immobilization of PANI nanowires on the struts, the assembled symmetric supercapctior with fRGO-F/PANI as electrodes exhibits a maximum energy density and power density of 20.9 Wh kg{sup −1} and 103.2 kW kg{sup −1}, respectively. Moreover, it also displays an excellent cyclic stability with a 88.7% retention after 5000 cycles.

  2. Bi-liquid foams

    International Nuclear Information System (INIS)

    Sonneville, Odile

    1997-01-01

    Concentrated emulsions have structures similar to foams; for this reason they are also called 'bi-liquid foams'. For oil in water emulsions, they are made of polyhedral oil cells separated by aqueous surfactant films. The limited stability of these Systems is a major nuisance in their applications. In this work, we tried to understand and to control the mechanisms through which bi-liquid foams can loose their stability. In a first stage, we characterized the states of surfactant films in bi-liquid foams submitted to different pressures. We determined their hydration, the surfactant density at interfaces as well as their thicknesses. The bi-liquid foams were made by concentrating hexadecane-in-water emulsions through centrifugation. The initial emulsions contained submicron oil droplets that were completely covered with surfactant. We measured the resistance of the films to dehydration, and we represented it by pressure-film thickness curves or pressure-film hydration curves. We also obtained evidence that the interfacial surfactant density increases when the film thickness is decreased (SDS case). The Newton Black Film state is the most dehydrated metastable state that can be reached. In this state, the films can be described as surfactant bilayers that only contain the hydration water of the surfactant polar heads. Two different processes are involved the destabilization of bi-liquid foams: Ostwald ripening (oil transfer from small cells to large cells) and coalescence (films rupture). The first mechanism can be controlled by choosing oils that are very insoluble in water, avoiding ethoxylated nonionic surfactants of low molecular weight, and making emulsions that are not too fine. The second mechanism is responsible for the catastrophic destabilization of bi-liquid foams made of droplets above one micron or with a low coverage in surfactant. In these cases, destabilization occurs in the early stages of concentration, when the films are still thick. It is caused

  3. 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.

  4. 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.

  5. Foams theory, measurements, and applications

    CERN Document Server

    Khan, Saad A

    1996-01-01

    This volume discusses the physics and physical processes of foam and foaming. It delineates various measurement techniques for characterizing foams and foam properties as well as the chemistry and application of foams. The use of foams in the textile industry, personal care products, enhanced oil recovery, firefighting and mineral floatation are highlighted, and the connection between the microstructure and physical properties of foam are detailed. Coverage includes nonaqueous foams and silicone antifoams, and more.

  6. 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 ...

  7. H1259 Container Foams: Performance Data on Aged Materials

    International Nuclear Information System (INIS)

    Linda Domeier

    2002-01-01

    Samples of the three cushioning foams used in the H1259 weapon storage container were obtained in 1997, 1998, 2000 and 2001 and tested for density, compression set and compressive strength using the same procedures specified for acceptance testing. Foams from six containers, all about 30 years old and located at Pantex, were evaluated. The bottom cushioning foam is a General Plastics polyurethane foam and the two side pads are rebonded polyurethane foams. All the tests were carried out at room temperature. When compared to the original acceptance requirements the foams were generally in-spec for density and compressive strength at 10% strain and were generally out-of-spec for compression set and compressive strength at 50% strain. Significant variability was noted in the performance of each foam sample and even more in the container-to-container foam performance. The container-to-container variability remains the major unknown in predicting the long-term suitability of these containers for continued use. The performance of the critical bottom cushion foams was generally more uniform and closer to the specified performance than that of the rebonded foams. It was judged that all the foams were adequate for continued use as storage container foams (not shipping) under controlled conditions to mitigate temperature extremes or high impact. This archived information is important in evaluations of the continued suitability for weapon storage use of the H1259 containers and other containers using the same foam cushions

  8. 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.

  9. Determination of respirable-sized crystalline silica in different ambient environments in the United Kingdom with a mobile high flow rate sampler utilising porous foams to achieve the required particle size selection

    Science.gov (United States)

    Stacey, Peter; Thorpe, Andrew; Roberts, Paul; Butler, Owen

    2018-06-01

    Inhalation of respirable crystalline silica (RCS) can cause diseases including silicosis and cancer. Levels of RCS close to an emission source are measured but little is known about the wider ambient exposure from industry emissions or natural sources. The aim of this work is to report the RCS concentrations obtained from a variety of ambient environments using a new mobile respirable (PM4) sampler. A mobile battery powered high flow rate (52 L min-1) sampler was developed and evaluated for particulate aerosol sampling employing foams to select the respirable particle size fraction. Sampling was conducted in the United Kingdom at site boundaries surrounding seven urban construction and demolition and five sand quarry sites. These are compared with data from twelve urban aerosol samples and from repeat measurements from a base line study at a single rural site. The 50% particle size penetration (d50) through the foam was 4.3 μm. Over 85% of predict bias values were with ±10% of the respirable convention, which is based on a log normal curve. Results for RCS from all construction and quarry activities are generally low with a 95 th percentile of 11 μg m-3. Eighty percent of results were less than the health benchmark value of 3 μg m-3 used in some states in America for ambient concentrations. The power cutting of brick and the largest demolition activities gave the highest construction levels. Measured urban background RCS levels were typically below 0.3 μg m-3 and the median RCS level, at a rural background location, was 0.02 μg m-3. These reported ambient RCS concentrations may provide useful baseline values to assess the wider impact of fugitive, RCS containing, dust emissions into the wider environment.

  10. Foam generator and viscometer apparatus and process

    Science.gov (United States)

    Reed, Troy D.; Pickell, Mark B.; Volk, Leonard J.

    2004-10-26

    An apparatus and process to generate a liquid-gas-surfactant foam and to measure its viscosity and enable optical and or electronic measurements of physical properties. The process includes the steps of pumping selected and measured liquids and measured gases into a mixing cell. The mixing cell is pressurized to a desired pressure and maintained at a desired pressure. Liquids and gas are mixed in the mixing cell to produce a foam of desired consistency. The temperature of the foam in the mixing cell is controlled. Foam is delivered from the mixing cell through a viscometer under controlled pressure and temperature conditions where the viscous and physical properties of the foam are measured and observed.

  11. 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.

  12. Polyurethane-Foam Maskant

    Science.gov (United States)

    Bodemeijer, R.

    1985-01-01

    Brown wax previously used to mask hardware replaced with polyurethane foam in electroplating and electroforming operations. Foam easier to apply and remove than wax and does not contaminate electrolytes.

  13. Fire retardant polyisocyanurate foam

    Science.gov (United States)

    Riccitiello, S. R.; Parker, J. A.

    1972-01-01

    Fire retardant properties of low density polymer foam are increased. Foam has pendant nitrile groups which form thermally-stable heterocyclic structures at temperature below degradation temperature of urethane linkages.

  14. 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...

  15. Investigation of Chemical-Foam Design as a Novel Approach toward Immiscible Foam Flooding for Enhanced Oil Recovery.

    Science.gov (United States)

    Hosseini-Nasab, S M; Zitha, P L J

    2017-10-19

    Strong foam can be generated in porous media containing oil, resulting in incremental oil recovery; however, oil recovery factor is restricted. A large fraction of oil recovered by foam flooding forms an oil-in-water emulsion, so that costly methods may need to be used to separate the oil. Moreover, strong foam could create a large pressure gradient, which may cause fractures in the reservoir. This study presents a novel chemical-foam flooding process for enhanced oil recovery (EOR) from water-flooded reservoirs. The presented method involved the use of chemically designed foam to mobilize the remaining oil after water flooding and then to displace the mobilized oil to the production well. A blend of two anionic surfactant formulations was formulated for this method: (a) IOS, for achieving ultralow interfacial tension (IFT), and (b) AOS, for generating a strong foam. Experiments were performed using Bentheimer sandstone cores, where X-ray CT images were taken during foam generation to find the stability of the advancing front of foam propagation and to map the gas saturation for both the transient and the steady-state flow regimes. Then the proposed chemical-foam strategy for incremental oil recovery was tested through the coinjection of immiscible nitrogen gas and surfactant solutions with three different formulation properties in terms of IFT reduction and foaming strength capability. The discovered optimal formulation contains a foaming agent surfactant, a low IFT surfactant, and a cosolvent, which has a high foam stability and a considerably low IFT (1.6 × 10 -2 mN/m). Coinjection resulted in higher oil recovery and much less MRF than the same process with only using a foaming agent. The oil displacement experiment revealed that coinjection of gas with a blend of surfactants, containing a cosolvent, can recover a significant amount of oil (33% OIIP) over water flooding with a larger amount of clean oil and less emulsion.

  16. 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.

  17. 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

  18. 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.

  19. 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)

  20. 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)

  1. Foam engineering fundamentals and applications

    CERN Document Server

    2012-01-01

    Containing contributions from leading academic and industrial researchers, this book provides a much needed update of foam science research. The first section of the book presents an accessible summary of the theory and fundamentals of foams. This includes chapters on morphology, drainage, Ostwald ripening, coalescence, rheology, and pneumatic foams. The second section demonstrates how this theory is used in a wide range of industrial applications, including foam fractionation, froth flotation and foam mitigation. It includes chapters on suprafroths, flotation of oil sands, foams in enhancing petroleum recovery, Gas-liquid Mass Transfer in foam, foams in glass manufacturing, fire-fighting foam technology and consumer product foams.

  2. 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...

  3. Mobilities

    DEFF Research Database (Denmark)

    to social networks, personal identities, and our relationship to the built environment. The omnipresence of mobilities within everyday life, high politics, technology, and tourism (to mention but a few) all point to a key insight harnessed by the ‘mobilities turn’. Namely that mobilities is much more than......The world is on the move. This is a widespread understanding by many inhabitants of contemporary society across the Globe. But what does it actually mean? During over one decade the ‘mobilities turn’ within the social sciences have provided a new set of insights into the repercussions of mobilities...... and environmental degradation. The spaces and territories marked by mobilities as well as the sites marked by the bypassing of such are explored. Moreover, the architectural and technological dimensions to infrastructures and sites of mobilities will be included as well as the issues of power, social exclusion...

  4. Foamed emulsion drainage: flow and trapping of drops.

    Science.gov (United States)

    Schneider, Maxime; Zou, Ziqiang; Langevin, Dominique; Salonen, Anniina

    2017-06-07

    Foamed emulsions are ubiquitous in our daily life but the ageing of such systems is still poorly understood. In this study we investigate foam drainage and measure the evolution of the gas, liquid and oil volume fractions inside the foam. We evidence three regimes of ageing. During an initial period of fast drainage, both bubbles and drops are very mobile. As the foam stabilises drainage proceeds leading to a gradual decrease of the liquid fraction and slowing down of drainage. Clusters of oil drops are less sheared, their dynamic viscosity increases and drainage slows down even further, until the drops become blocked. At this point the oil fraction starts to increase in the continuous phase. The foam ageing leads to an increase of the capillary pressure until the oil acts as an antifoaming agent and the foam collapses.

  5. 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).

  6. 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...

  7. 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..

  8. 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.

  9. Anti-foam System design description

    International Nuclear Information System (INIS)

    White, M.A.

    1994-01-01

    The Anti-foam System is a sub-system of the 242-A Evaporator facility. The Anti-foam is used within the C-A-1 Vapor-Liquid Separator, to reduce the effect of foaming and reduce fluid bumping while the vapor and liquid are separated within the C-A-1 Vapor-Liquid Separator. Excessive foaming within the vessel may possibly cause the liquid slurry mixture in the evaporator vessel to foul the de-entrainment pads and cause plant shutdown. The Anti-foam System consists of the following primary elements: the Anti-foam Tank and the Metering Pump. The upgrades to Anti-foam System include the following: installation of a new pump, instruments, and valves; and connection of the instruments, pump and agitator associated with the Anti-foam System to the Monitoring and Control System (MCS). The 242-A Evaporator is a waste treatment facility designed to reduce liquid waste volumes currently stored in the Hanford Area double shell Waste Storage Tanks. The evaporator uses evaporative concentration to achieve this volume reduction, returning the concentrated slurry to the double-shell tanks for storage and, at the same time, releasing the process effluent to a retention facilities for eventual treatment and release to the environment

  10. Experimental study on foam coverage on simulated longwall roof

    Science.gov (United States)

    Reed, W.R.; Zheng, Y.; Klima, S.; Shahan, M.R.; Beck, T.W.

    2018-01-01

    Testing was conducted to determine the ability of foam to maintain roof coverage in a simulated longwall mining environment. Approximately 27 percent of respirable coal mine dust can be attributed to longwall shield movement, and developing controls for this dust source has been difficult. The application of foam is a possible dust control method for this source. Laboratory testing of two foam agents was conducted to determine the ability of the foam to adhere to a simulated longwall face roof surface. Two different foam generation methods were used: compressed air and blower air. Using a new imaging technology, image processing and analysis utilizing ImageJ software produced quantifiable results of foam roof coverage. For compressed air foam in 3.3 m/s (650 fpm) ventilation, 98 percent of agent A was intact while 95 percent of agent B was intact on the roof at three minutes after application. At 30 minutes after application, 94 percent of agent A was intact while only 20 percent of agent B remained. For blower air in 3.3 m/s (650 fpm) ventilation, the results were dependent upon nozzle type. Three different nozzles were tested. At 30 min after application, 74 to 92 percent of foam agent A remained, while 3 to 50 percent of foam agent B remained. Compressed air foam seems to remain intact for longer durations and is easier to apply than blower air foam. However, more water drained from the foam when using compressed air foam, which demonstrates that blower air foam retains more water at the roof surface. Agent A seemed to be the better performer as far as roof application is concerned. This testing demonstrates that roof application of foam is feasible and is able to withstand a typical face ventilation velocity, establishing this technique’s potential for longwall shield dust control. PMID:29563765

  11. "Grinding" cavities in polyurethane foam

    Science.gov (United States)

    Brower, J. R.; Davey, R. E.; Dixon, W. F.; Robb, P. H.; Zebus, P. P.

    1980-01-01

    Grinding tool installed on conventional milling machine cuts precise cavities in foam blocks. Method is well suited for prototype or midsize production runs and can be adapted to computer control for mass production. Method saves time and materials compared to bonding or hot wire techniques.

  12. Thermomechanical analyses of phenolic foam reinforced with glass fiber mat

    International Nuclear Information System (INIS)

    Zhou, Jintang; Yao, Zhengjun; Chen, Yongxin; Wei, Dongbo; Wu, Yibing

    2013-01-01

    Highlights: • Over 10% glass fiber was used to reinforce phenolic foam in the shape of glass fiber mat. • Nucleating agents were used together with glass fiber mat and improved tensile strength of phenolic foam by 215.6%. • Nucleating agents lead to a smaller bubble size of phenolic foam. • The glass transition temperature of phenolic foam remained unchanged during the reinforcement. - Abstract: In this paper, thermomechanical analysis (TMA) and dynamic mechanical analysis were employed to study the properties of phenolic foam reinforced with glass fiber mat. Unreinforced phenolic foam was taken as the control sample. Mechanical tests and scanning electron microscopy were performed to confirm the results of TMA. The results show that glass fiber mat reinforcement improves the mechanical performance of phenolic foam, and nucleating agents improve it further. Phenolic foam reinforced with glass fiber mat has a smaller thermal expansion coefficient compared with unreinforced foam. The storage modulus of the reinforced phenolic foam is also higher than that in unreinforced foam, whereas the loss modulus of the former is lower than that of the latter. The glass transition temperature of the phenolic foam matrix remains unchanged during the reinforcement

  13. 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.

  14. Alcohol Control: Mobile Sensor System and Numerical Signal Analysis

    Directory of Open Access Journals (Sweden)

    Rolf SEIFERT

    2016-10-01

    Full Text Available 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 also incorporated in the system. The applications demonstrate a good substance identification capability of the sensor system and a very good concentration determination of the components.

  15. 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.

  16. 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.

  17. 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.

  18. 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.

  19. 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)

  20. Hydraulic Properties of Porous Media Saturated with Nanoparticle-Stabilized Air-Water Foam

    Directory of Open Access Journals (Sweden)

    Xianglei Zheng

    2016-12-01

    Full Text Available The foam generated by the mixture of air and water has a much higher viscosity and lower mobility than those of pure water or gas that constitutes the air-water foam. The possibility of using the air-water foam as a flow barrier for the purpose of groundwater and soil remediation is explored in this paper. A nanoparticle-stabilized air-water foam was fabricated by vigorously stirring the nano-fluid in pressurized condition. The foam bubble size distribution was analyzed with a microscope. The viscosities of foams generated with the solutions with several nanoparticle concentrations were measured as a function of time. The breakthrough pressure of foam-saturated microfluidic chips and sand columns were obtained. The hydraulic conductivity of a foam-filled sand column was measured after foam breakthrough. The results show that: (1 bubble coalescence and the Ostwald ripening are believed to be the reason of bubble size distribution change; (2 the viscosity of nanoparticle-stabilized foam and the breakthrough pressures decreased with time once the foam was generated; (3 the hydraulic conductivity of the foam-filled sand column was almost two orders of magnitude lower than that of a water-saturated sand column even after the foam-breakthrough. Based on the results in this study, the nanoparticle-stabilized air-water foam could be injected into contaminated soils to generate vertical barriers for temporary hydraulic conductivity reduction.

  1. 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.

  2. Liquid foam templating - A route to tailor-made polymer foams.

    Science.gov (United States)

    Andrieux, Sébastien; Quell, Aggeliki; Stubenrauch, Cosima; Drenckhan, Wiebke

    2018-06-01

    Solid foams with pore sizes between a few micrometres and a few millimetres are heavily exploited in a wide range of established and emerging applications. While the optimisation of foam applications requires a fine control over their structural properties (pore size distribution, pore opening, foam density, …), the great complexity of most foaming processes still defies a sound scientific understanding and therefore explicit control and prediction of these parameters. We therefore need to improve our understanding of existing processes and also develop new fabrication routes which we understand and which we can exploit to tailor-make new porous materials. One of these new routes is liquid templating in general and liquid foam templating in particular, to which this review article is dedicated. While all solid foams are generated from an initially liquid(-like) state, the particular notion of liquid foam templating implies the specific condition that the liquid foam has time to find its "equilibrium structure" before it is solidified. In other words, the characteristic time scales of the liquid foam's stability and its solidification are well separated, allowing to build on the vast know-how on liquid foams established over the last 20 years. The dispersed phase of the liquid foam determines the final pore size and pore size distribution, while the continuous phase contains the precursors of the desired porous scaffold. We review here the three key challenges which need to be addressed by this approach: (1) the control of the structure of the liquid template, (2) the matching of the time scales between the stability of the liquid template and solidification, and (3) the preservation of the structure of the template throughout the process. Focusing on the field of polymer foams, this review gives an overview of recent research on the properties of liquid foam templates and summarises a key set of studies in the emerging field of liquid foam templating. It

  3. Operator spin foam models

    International Nuclear Information System (INIS)

    Bahr, Benjamin; Hellmann, Frank; Kaminski, Wojciech; Kisielowski, Marcin; Lewandowski, Jerzy

    2011-01-01

    The goal of this paper is to introduce a systematic approach to spin foams. We define operator spin foams, that is foams labelled by group representations and operators, as our main tool. A set of moves we define in the set of the operator spin foams (among other operations) allows us to split the faces and the edges of the foams. We assign to each operator spin foam a contracted operator, by using the contractions at the vertices and suitably adjusted face amplitudes. The emergence of the face amplitudes is the consequence of assuming the invariance of the contracted operator with respect to the moves. Next, we define spin foam models and consider the class of models assumed to be symmetric with respect to the moves we have introduced, and assuming their partition functions (state sums) are defined by the contracted operators. Briefly speaking, those operator spin foam models are invariant with respect to the cellular decomposition, and are sensitive only to the topology and colouring of the foam. Imposing an extra symmetry leads to a family we call natural operator spin foam models. This symmetry, combined with assumed invariance with respect to the edge splitting move, determines a complete characterization of a general natural model. It can be obtained by applying arbitrary (quantum) constraints on an arbitrary BF spin foam model. In particular, imposing suitable constraints on a spin(4) BF spin foam model is exactly the way we tend to view 4D quantum gravity, starting with the BC model and continuing with the Engle-Pereira-Rovelli-Livine (EPRL) or Freidel-Krasnov (FK) models. That makes our framework directly applicable to those models. Specifically, our operator spin foam framework can be translated into the language of spin foams and partition functions. Among our natural spin foam models there are the BF spin foam model, the BC model, and a model corresponding to the EPRL intertwiners. Our operator spin foam framework can also be used for more general spin

  4. The viscosity window of the silicate glass foam production

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund; König, Jakob; Yue, Yuanzheng

    2017-01-01

    which can offer a practical starting point for the optimisation procedure. The melt viscosity might be the most important parameter for controlling the foaming process and the glass foam density. In this work, we attempt to define a viscosity range in which foaming of different glasses results...... in a maximum of foam expansion. The expansion maximum is obtained for different glasses (labware, E-glass, CRT panel, soda-lime-silica) by foaming with CaCO3 at isokom temperature and from literature data. In general, the viscosity window was found to be within 104–106 Pa s when foaming with MnO2 or metal...... carbonates (CaCO3, Na2CO3, MgCO3, SrCO3, dolomite) whereas SiC requires higher temperatures and correspondingly lower viscosities (103.3–104.0 Pa s). These findings can help assessing the implementation of new resources in the glass foam production....

  5. Anaerobic Digestion Foaming Causes

    OpenAIRE

    Ganidi, Nafsika

    2008-01-01

    Anaerobic digestion foaming has been encountered in several sewage treatment plants in the UK. Foaming has raised major concerns for the water utilities due to significant impacts on process efficiency and operational costs. Several foaming causes have been suggested over the past few years by researchers. However, the supporting experimental information is limited and in some cases site specific. The present report aimed to provide a better understanding of the anaerobic di...

  6. High performance polymeric foams

    International Nuclear Information System (INIS)

    Gargiulo, M.; Sorrentino, L.; Iannace, S.

    2008-01-01

    The aim of this work was to investigate the foamability of high-performance polymers (polyethersulfone, polyphenylsulfone, polyetherimide and polyethylenenaphtalate). Two different methods have been used to prepare the foam samples: high temperature expansion and two-stage batch process. The effects of processing parameters (saturation time and pressure, foaming temperature) on the densities and microcellular structures of these foams were analyzed by using scanning electron microscopy

  7. Fire-retardant foams

    Science.gov (United States)

    Gagliani, J.

    1978-01-01

    Family of polyimide resins are being developed as foams with exceptional fire-retardant properties. Foams are potentially useful for seat cushions in aircraft and ground vehicles and for applications such as home furnishings and building-construction materials. Basic formulations can be modified with reinforcing fibers or fillers to produce celular materials for variety of applications. By selecting reactants, polymer structure can be modified to give foams with properties ranging from high resiliency and flexibility to brittleness and rigidity.

  8. Assisted heterogeneous multinucleation and bubble growth in semicrystalline ethylene-vinyl acetate copolymer/expanded graphite nanocomposite foams: Control of morphology and viscoelastic properties

    Directory of Open Access Journals (Sweden)

    O. Yousefzade

    2015-10-01

    Full Text Available Nanocomposite foams of ethylene-vinyl acetate copolymer (EVA reinforced by expanded graphite (EG were prepared using supercritical nitrogen in batch foaming process. Effects of EG particle size, crosslinking of EVA chains and foaming temperature on the cell morphology and foam viscoelastic properties were investigated. EG sheet surface interestingly provide multiple heterogeneous nucleation sites for bubbles. This role is considerably intensified by incorporating lower loadings of EG with higher aspect ratio. The amorphous and non-crosslinked domains of EVA matrix constitute denser bubble areas. Higher void fraction and more uniform cell structure is achieved for non-crosslinked EVA/EG nanocomposites foamed at higher temperatures. With regard to the structural variation, the void fraction of foam samples decreases with increasing the EG content. Storage and loss moduli were analyzed to study the viscoelastic properties of nanocomposite foams. Surprisingly, the foaming process of EVA results in a drastic reduction in loss and storage moduli regardless of whether the thermoplastic matrix contains EG nanofiller or not. For the EVA/EG foams with the same composition, the nanocomposite having higher void fraction shows relatively lower loss modulus and more restricted molecular movements. The study findings have verified that the dynamics of polymer chains varies after foaming EVA matrix in the presence of EG.

  9. Produção e caracterização de espumas de alumina pelo processo gelcasting sem controle atmosférico Production and characterization of alumina foams by the gelcasting process without atmospheric contro

    Directory of Open Access Journals (Sweden)

    E. de Sousa

    2009-06-01

    Full Text Available O processo de gelcasting, associado à aeração de suspensões cerâmicas, permite a produção de espumas cerâmicas com uma ampla faixa de porosidade (50-90vol.%. Uma das etapas críticas do processo é o enrijecimento da espuma, o qual se baseia na gelificação por meio da polimerização in situ de monômeros previamente adicionados à suspensão cerâmica. Sabidamente, tal reação é inibida pela presença de oxigênio, o que tornou usual o controle atmosférico durante a produção e gelificação da espuma. Neste trabalho, estudou-se a viabilidade de produzir espumas de alumina pelo processo de gelcasting sem controle atmosférico. Para a produção das espumas, dois diferentes agentes espumantes foram testados. As propriedades físicas e mecânicas das espumas cerâmicas, bem como a microestrutura, foram avaliadas e comparadas com resultados obtidos em condições idênticas, porém com controle atmosférico. Os resultados mostraram que ambos os processos proporcionam características semelhantes e com potencial de aplicação tecnológica.The gelcasting process with the aeration of ceramic suspensions allows the production of ceramic foams with a wide range of porosity (50-90vol.%.. One of the critical steps of the process is the setting of the foam, which is based on a gelling reaction by the in-situ polymerization of monomers previously added in the ceramic suspension. This reaction is inhibited by the presence of oxygen, which requires atmospheric control for the stabilization of the foam. In this work, the feasibility of producing alumina foams by the gelcasting process without atmospheric control was studied. For the foams production, two different foaming agents were tested. The physical and mechanical properties of ceramic foams, as well the microstructure, were evaluated and compared with those produced with the same foaming agents but with atmospheric control. The results obtained using the two procedures were similar and

  10. Flexible Foam Model.

    Energy Technology Data Exchange (ETDEWEB)

    Neilsen, Michael K.; Lu, Wei-Yang; Werner, Brian T.; Scherzinger, William M.; Lo, Chi S.

    2018-03-01

    Experiments were performed to characterize the mechanical response of a 15 pcf flexible polyurethane foam to large deformation at different strain rates and temperatures. Results from these experiments indicated that at room temperature, flexible polyurethane foams exhibit significant nonlinear elastic deformation and nearly return to their original undeformed shape when unloaded. However, when these foams are cooled to temperatures below their glass transition temperature of approximately -35 o C, they behave like rigid polyurethane foams and exhibit significant permanent deformation when compressed. Thus, a new model which captures this dramatic change in behavior with temperature was developed and implemented into SIERRA with the name Flex_Foam to describe the mechanical response of both flexible and rigid foams to large deformation at a variety of temperatures and strain rates. This report includes a description of recent experiments. Next, development of the Flex Foam model for flexible polyurethane and other flexible foams is described. Selection of material parameters are discussed and finite element simulations with the new Flex Foam model are compared with experimental results to show behavior that can be captured with this new model.

  11. 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

  12. 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

  13. Foam Glass for Construction Materials

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund

    2016-01-01

    Foaming is commonly achieved by adding foaming agents such as metal oxides or metal carbonates to glass powder. At elevated temperature, the glass melt becomes viscous and the foaming agents decompose or react to form gas, causing a foamy glass melt. Subsequent cooling to room temperature, result...... in a solid foam glass. The foam glass industry employs a range of different melt precursors and foaming agents. Recycle glass is key melt precursors. Many parameters influence the foaming process and optimising the foaming conditions is very time consuming. The most challenging and attractive goal is to make...... low density foam glass for thermal insulation applications. In this thesis, it is argued that the use of metal carbonates as foaming agents is not suitable for low density foam glass. A reaction mechanism is proposed to justify this result. Furthermore, an in situ method is developed to optimise...

  14. Beer foam physics

    NARCIS (Netherlands)

    Ronteltap, A.D.

    1989-01-01

    The physical aspects of beer foam behavior were studied in terms of the four physical processes, mainly involved in the formation and breakdown of foam. These processes are, bubble formation, drainage, disproportionation and coalescence. In detail, the processes disproportionation and

  15. Three omni-directional wheels control on a mobile robot

    OpenAIRE

    Ribeiro, António Fernando; Moutinho, Ivo; Silva, Pedro; Fraga, Carlos; Pereira, Nino

    2004-01-01

    Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advant...

  16. Impact of foamed matrix components on foamed concrete properties

    Science.gov (United States)

    Tarasenko, V. N.

    2018-03-01

    The improvement of the matrix foam structure by means of foam stabilizing additives is aimed at solving the technology-oriented problems as well as at the further improvement of physical and mechanical properties of cellular-concrete composites. The dry foam mineralization is the mainstream of this research. Adding the concrete densifiers, foam stabilizers and mineral powders reduces the drying shrinkage, which makes the foam concrete products technologically effective.

  17. Wastewater Treatment Anaerobic Digester Foaming Prevention and Control Methods - Literature Review and Survey - Full-Scale Studies (WERF Report INFR1SG10)

    Science.gov (United States)

    This project addresses the issue of anaerobic digester (AD) foaming in different water resource recovery facilities (WRRFs). This two-volume report is a compilation of an AD foaming literature review, a plant survey, and findings from full-scale studies. The literature review hel...

  18. 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...

  19. Effect of Pelletized Coconut Fibre on the Compressive Strength of Foamed Concrete

    OpenAIRE

    Mohd Jaini Zainorizuan; Mokhatar Shahrul Niza; Mohd Yusof Ammar Saifuddin; Zulkiply Syurafarina; Abd Rahman Mohd Hadi

    2016-01-01

    Foamed concrete is a controlled low density ranging from 400kg/m3 to 1800kg/m3, and hence suitable for the construction of buildings and infrastructures. The uniqueness of foamed concrete is does not use aggregates in order to retain low density. Foamed concrete contains only cement, sand, water and foam agent. Therefore, the consumption of cement is higher in producing a good quality and strength of foamed concrete. Without the present of aggregates, the compressive strength of foamed concre...

  20. Release of CFC-11 from disposal of polyurethane foam waste

    DEFF Research Database (Denmark)

    Kjeldsen, Peter; Jensen, M.H.

    2001-01-01

    The halocarbon CFC-11 has extensively been used as a blowing agent for polyurethane (PUR) insulation foams in home appliances and for residential and industrial construction. Release of CFCs is an important factor in the depletion of the ozone layer. For CFC-11 the future atmospheric concentrations...... will mainly depend on the continued release from PUR foams. Little is known about rates and time frames of the CFC release from foams especially after treatment and disposal of foam containing waste products. The CFC release is mainly controlled by slow diffusion out through the PUR. From the literature...... and by reevaluation of an old reported experiment, diffusion coefficients in the range of 0.05-1.7.10(-14) m(2) s(-1) were found reflecting differences in foam properties and experimental designs. Laboratory experiments studying the distribution of CFC in the foam and the short-term releases after shredding showed...

  1. 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.

  2. Migration control for mobile agents based on passport and visa

    OpenAIRE

    Guan, SU; Wang, T; Ong, SH

    2003-01-01

    Research on mobile agents has attracted much attention as this paradigm has demonstrated great potential for the next-generation e-commerce. Proper solutions to security-related problems become key factors in the successful deployment of mobile agents in e-commerce systems. We propose the use of passport and visa (P/V) for securing mobile agent migration across communities based on the SAFER e-commerce framework. P/V not only serves as up-to-date digital credentials for agent-host authentica...

  3. Foam-Delivery of Remedial Amendments for Enhanced Vadose Zone Metals and Radionuclides Remediation

    International Nuclear Information System (INIS)

    Zhong, L.; Szecsody, J.E.; Dresel, P.E.; Zhang, Z.F.; Qafoku, N.P.

    2009-01-01

    The remediation of metals and radionuclides contamination, such as Cr(VI), Tc-99, and Sr-90 in the U.S. DOE Hanford Site vadose zone is a critical need. Water-based remedial amendments delivery to the deep vadose zone is facing significant technical challenges. Water-based delivery will easily leach out the highly mobile pollutants therefore contaminate the underlying aquifer. Preferential flow of the amendment-laden solution in the vadose zone due to the formation heterogeneity is difficult to overcome, resulting in bypassing of the less permeable zones. Foam has unique transport properties in the vadose zone that enable mitigation on the mobilization of mobile contaminants and enhance the sweeping over heterogeneous systems. Calcium polysulfide (CPS) is a remedial amendment that can be used to reduce and immobilize hexavalent chromium [Cr(VI)] and other redox-sensitive radionuclides/metals in the vadose zone. The delivery of CPS to the vadose zone using foam and the immobilization of Cr(VI) via reduction by the foam-delivered CPS was investigated in this study. Batch tests were conducted to select the foam-generating CPS-surfactant solutions, to determine the solution foamability and the reducing potential of CPS-containing foams, and to study the influence of foam quality, surfactant concentration, and CPS concentration on foam stability. Column experiments were performed to test the foam delivery of CPS to sediments under conditions similar to field vadose zone, to study the foam transport and interaction with sediments, and to determine the extent of Cr(VI) immobilization using this novel delivery approach. CPS-containing foams with high reducing potential were prepared based on the batch tests. Sediment reduction by foam-delivered CPS was observed in the column studies. Significant mobilization of Cr(VI) from sediments occurred when CPS was delivered in aqueous solution. The Cr(VI) mobilization was minimized when CPS was delivered by foams, resulting in

  4. 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.

  5. 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.

  6. Foam - novel delivery technology for remediation of vadose zone environments - 59019

    International Nuclear Information System (INIS)

    Jansik, Danielle; Wellman, Dawn M.; Mattigod, Shas V.; Zhong, Lirong; Zhang, Fred; Foote, Martin; Wu, Yuxin; Hubbard, Susan

    2012-01-01

    Deep vadose zone environments can be a primary source and pathway for contaminant migration to groundwater. These environments present unique characterization and remediation challenges that necessitate scrutiny and research. The thickness, depth, and intricacies of the deep vadose zone, combined with a lack of understanding of the key subsurface processes (e.g., biogeochemical and hydrologic) affecting contaminant migration, make it difficult to create validated conceptual and predictive models of subsurface flow dynamics and contaminant behavior across multiple scales. These factors also make it difficult to design and deploy sustainable remedial approaches and monitor long-term contaminant behavior after remedial actions. Functionally, methods for addressing contamination must remove and/or reduce transport of contaminants. This problem is particularly challenging in the arid western United States where the vadose zone is hundreds of feet thick, rendering transitional excavation methods exceedingly costly and ineffective. Delivery of remedial amendments is one of the most challenging and critical aspects for all remedy-based approaches. The conventional approach for delivery is through injection of aqueous remedial solutions. However, heterogeneous deep vadose zone environments present hydrologic and geochemical challenges that limit the effectiveness. Because the flow of solution infiltration is dominantly controlled by gravity and suction, injected liquid preferentially percolates through highly permeable pathways, by-passing low-permeability zones that frequently contain the majority of contamination. Moreover, the wetting front can readily mobilize and enhance contaminant transport to the underlying aquifer prior to stabilization. Development of innovative in-situ technologies may be the only means to meet remedial action objectives and long-term stewardship goals. Surfactants can be used to lower the liquid surface tension and create stabile foams, which

  7. Auxetic Polyurethane Foam (Fabrication, Properties and Applications)

    International Nuclear Information System (INIS)

    Yousif, H.I.Y.

    2012-01-01

    Modern technology requires new materials of special properties. For the last two decades there has been a great interest in a class of materials known as auxetic materials. An auxetic material is a material that has a negative Poisson's ratio which means that this material expands laterally when they subjected to a tensile force unlike most of the other traditional materials. This material has superior properties over the traditional material such as high shear modulus and high impact resistance, which makes this material a good candidate for many engineering applications. In the present research work, auxetic flexible polyurethane polymeric foams having different densities were fabricated from conventional flexible polyurethane polymeric foam at different compression ratios. The microstructure of conventional and processed foams was examined by optical microscope to compare between the two structures. The microstructure of processed foam was compared with the one presented in the literature and it has shown the auxetic structure configuration. This is the first time to produce auxetic foam in Egypt. Conventional and auxetic foam samples having cylindrical and square cross-sections were produced from foams having different densities (25 kg/m 3 and 30 kg/m 3 ). The compression ratios used to produce the auxetic samples are (5.56, 6.94 and 9.26). Four mechanical tests were carried out to get the mechanical properties for both conventional and auxetic foams. Two quasi-static mechanical tests t ension and compression a nd two dynamic mechanical tests H ysteresis and resilience w ere carried out to compare between the conventional and auxetic foams. The quasi-static tensile test was carried out at speed was adjusted to be position control rate of 0.2 mm/s. The compression and hysteresis tests were carried out at strain control rate of 0.3 S -1 . The data recorded from the machine were stress and strain. The modulus of elasticity and Poisson's ratio of the test

  8. 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.

  9. 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.

  10. Gaming control using a wearable and wireless EEG-based brain-computer interface device with novel dry foam-based sensors

    Science.gov (United States)

    2012-01-01

    A brain-computer interface (BCI) is a communication system that can help users interact with the outside environment by translating brain signals into machine commands. The use of electroencephalographic (EEG) signals has become the most common approach for a BCI because of their usability and strong reliability. Many EEG-based BCI devices have been developed with traditional wet- or micro-electro-mechanical-system (MEMS)-type EEG sensors. However, those traditional sensors have uncomfortable disadvantage and require conductive gel and skin preparation on the part of the user. Therefore, acquiring the EEG signals in a comfortable and convenient manner is an important factor that should be incorporated into a novel BCI device. In the present study, a wearable, wireless and portable EEG-based BCI device with dry foam-based EEG sensors was developed and was demonstrated using a gaming control application. The dry EEG sensors operated without conductive gel; however, they were able to provide good conductivity and were able to acquire EEG signals effectively by adapting to irregular skin surfaces and by maintaining proper skin-sensor impedance on the forehead site. We have also demonstrated a real-time cognitive stage detection application of gaming control using the proposed portable device. The results of the present study indicate that using this portable EEG-based BCI device to conveniently and effectively control the outside world provides an approach for researching rehabilitation engineering. PMID:22284235

  11. Thermal Conductivity of Foam Glass

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund; König, Jakob; Yue, Yuanzheng

    Due to the increased focus on energy savings and waste recycling foam glass materials have gained increased attention. The production process of foam glass is a potential low-cost recycle option for challenging waste, e.g. CRT glass and industrial waste (fly ash and slags). Foam glass is used...... as thermal insulating material in building and chemical industry. The large volume of gas (porosity 90 – 95%) is the main reason of the low thermal conductivity of the foam glass. If gases with lower thermal conductivity compared to air are entrapped in the glass melt, the derived foam glass will contain...... only closed pores and its overall thermal conductivity will be much lower than that of the foam glass with open pores. In this work we have prepared foam glass using different types of recycled glasses and different kinds of foaming agents. This enabled the formation of foam glasses having gas cells...

  12. 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,…

  13. mdFoam+: Advanced molecular dynamics in OpenFOAM

    Science.gov (United States)

    Longshaw, S. M.; Borg, M. K.; Ramisetti, S. B.; Zhang, J.; Lockerby, D. A.; Emerson, D. R.; Reese, J. M.

    2018-03-01

    This paper introduces mdFoam+, which is an MPI parallelised molecular dynamics (MD) solver implemented entirely within the OpenFOAM software framework. It is open-source and released under the same GNU General Public License (GPL) as OpenFOAM. The source code is released as a publicly open software repository that includes detailed documentation and tutorial cases. Since mdFoam+ is designed entirely within the OpenFOAM C++ object-oriented framework, it inherits a number of key features. The code is designed for extensibility and flexibility, so it is aimed first and foremost as an MD research tool, in which new models and test cases can be developed and tested rapidly. Implementing mdFoam+ in OpenFOAM also enables easier development of hybrid methods that couple MD with continuum-based solvers. Setting up MD cases follows the standard OpenFOAM format, as mdFoam+ also relies upon the OpenFOAM dictionary-based directory structure. This ensures that useful pre- and post-processing capabilities provided by OpenFOAM remain available even though the fully Lagrangian nature of an MD simulation is not typical of most OpenFOAM applications. Results show that mdFoam+ compares well to another well-known MD code (e.g. LAMMPS) in terms of benchmark problems, although it also has additional functionality that does not exist in other open-source MD codes.

  14. Design and development of polyphenylene oxide foam as a reusable internal insulation for LH2 tanks

    Science.gov (United States)

    1975-01-01

    Material specification and fabrication process procedures for foam production are presented. The properties of mechanical strength, modulus of elasticity, density and thermal conductivity were measured and related to foam quality. Properties unique to the foam such as a gas layer insulation, density gradient parallel to the fiber direction, and gas flow conductance in both directions were correlated with foam quality. Inspection and quality control tests procedures are outlined and photographs of test equipment and test specimens are shown.

  15. Foam soap is not as effective as liquid soap in eliminating hand microbial flora.

    Science.gov (United States)

    Dixon, Nicolette; Morgan, Margie; Equils, Ozlem

    2017-07-01

    Foam soaps are aerosolized liquid soaps dispensed through a special pump mechanism. Currently there are no studies comparing liquid soap with foam soap in regard to efficacy of reducing hand microbial burden. In 3 separate experiments and with 2 different brands of foam soap, it was observed that nonantimicrobial foam soap was not as effective in reducing hand bacterial load as the liquid soap. Copyright © 2017 Association for Professionals in Infection Control and Epidemiology, Inc. Published by Elsevier Inc. All rights reserved.

  16. Managing burn wounds with SMARTPORE Technology polyurethane foam: two case reports.

    Science.gov (United States)

    Imran, Farrah-Hani; Karim, Rahamah; Maat, Noor Hidayah

    2016-05-12

    Successful wound healing depends on various factors, including exudate control, prevention of microbial contaminants, and moisture balance. We report two cases of managing burn wounds with SMARTPORE Technology polyurethane foam dressing. In Case 1, a 2-year-old Asian girl presented with a delayed (11 days) wound on her right leg. She sustained a thermal injury from a hot iron that was left idle on the floor. Clinical inspection revealed an infected wound with overlying eschar that traversed her knee joint. As her parents refused surgical debridement under general anesthesia, hydrotherapy and wound dressing using SMARTPORE Technology Polyurethane foam were used. Despite the delay in presentation of this linear thermal pediatric burn injury that crossed the knee joint, the patient's response to treatment and its outcome were highly encouraging. She was cooperative and tolerated each dressing change without the need of supplemental analgesia. Her wound was healed by 24 days post-admission. In Case 2, a 25-year-old Asian man presented with a mixed thickness thermal flame burn on his left leg. On examination, the injury was a mix of deep and superficial partial thickness burn, comprising approximately 3% of his total body surface area. SMARTPORE Technology polyurethane foam was used on his wound; his response to the treatment was very encouraging as the dressing facilitated physiotherapy and mobility. The patient rated the pain during dressing change as 2 on a scale of 10 and his pain score remained the same in every subsequent change. His wound showed evidence of epithelialization by day 7 post-burn. There were no adverse events reported. Managing burn wounds with SMARTPORE Technology polyurethane foam resulted in reduced pain during dressing changes and the successful healing of partial and mixed thickness wounds. The use of SMARTPORE Technology polyurethane foam dressings showed encouraging results and requires further research as a desirable management option in

  17. Liquid versus foam sclerotherapy.

    Science.gov (United States)

    Hamel-Desnos, C; Allaert, F-A

    2009-12-01

    A systematic review to compare efficacy and safety of foam (F) sclerotherapy versus liquid (L) sclerotherapy for primary varicose veins of the lower limbs. Systematic searches of electronic databases were conducted in April 2009 to identify relevant published studies. Database searches were augmented with abstracts from conference proceedings and electronic and hand searching of journals not consistently indexed in the major databases. For treatment of saphenous veins, six trials (four randomized controlled trials) were considered. Despite containing much less sclerosing agent, F was markedly more effective compared with L, the difference being put at between 20% and 50%. Four studies were included in a meta-analysis showing efficacy of F at 76.8% (95% confidence interval [CI] 71-82) versus L at 39.5% (95% CI 33-46), chi(2) = 60.9740; P reticular veins and telangiectases, only two comparative trials were found and do not at present provide any conclusive evidence to support the superiority of efficacy of one form over the other. Statistically, the side-effects reported in all the available comparative trials do not differ between F and L forms, even if visual disturbances seem to be more common with F. In the treatment of varices of the lower limbs, F shows much greater efficacy compared to L. Concerning the side effects, no statistical significant differences were found between L and F.

  18. Difficulties in Controlling Mobilization Pain Using a Standardized Patient-Controlled Analgesia Protocol in Burns

    OpenAIRE

    Nilsson, Andreas; Kalman, Sigga; 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 addi...

  19. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  20. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...

  1. Control design for a mobile robot Including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2008-01-01

    In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the

  2. Control design for a mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2008-01-01

    In order to support the development process of Advanced Driver Assistance systems for road vehicles, TNO is operating a hardware-in-the-loop test setup. In this facility, called VeHIL, vehicles in the direct neighborhood of the test vehicle are simulated using wheeled mobile robots. Due to the

  3. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin...

  4. Interface-controlled, high-mobility organic transistors

    NARCIS (Netherlands)

    Jurchescu, Oana D.; Popinciuc, Mihaita; van Wees, Bart J.; Palstra, Thomas T. M.

    2007-01-01

    The achievement of high mobilities in field-effect transistors (FETs) is one of the main challenges for the widespread application of organic conductors in devices. Good device performance of a single-crystal pentacene FET requires both removal of impurity molecules from the bulk and the

  5. 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...

  6. Path tracking control of mobile robots with techniques based on the use of curved abscissa

    International Nuclear Information System (INIS)

    Micaelli, A.

    1992-01-01

    The paper describes a particular method, developed by the CEA, for the control of mobile robot trajectories based on Cornu's spiral, i.e; sections of trajectories with constant curvature. New approaches are discussed for methods more convenient

  7. 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...

  8. 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.

  9. Visual Servo Tracking Control of a Wheeled Mobile Robot with a Monocular Fixed Camera

    National Research Council Canada - National Science Library

    Chen, J; Dixon, W. E; Dawson, D. M; Chitrakaran, V. K

    2004-01-01

    In this paper, a visual servo tracking controller for a wheeled mobile robot (WMR) is developed that utilizes feedback from a monocular camera system that is mounted with a fixed position and orientation...

  10. 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

  11. 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...

  12. 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.

  13. 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.

  14. Power control algorithms for mobile ad hoc networks

    Directory of Open Access Journals (Sweden)

    Nuraj L. Pradhan

    2011-07-01

    We will also focus on an adaptive distributed power management (DISPOW algorithm as an example of the multi-parameter optimization approach which manages the transmit power of nodes in a wireless ad hoc network to preserve network connectivity and cooperatively reduce interference. We will show that the algorithm in a distributed manner builds a unique stable network topology tailored to its surrounding node density and propagation environment over random topologies in a dynamic mobile wireless channel.

  15. Applications of Foamed Lightweight Concrete

    Directory of Open Access Journals (Sweden)

    Mohd Sari Kamarul Aini

    2017-01-01

    Full Text Available Application of foamed concrete is increasing at present due to high demand on foamed concrete structures with good mechanical and physical properties. This paper discusses on the use of basic raw materials, their characteristics, production process, and their application in foamed lightweight concrete with densities between 300 kg/m3 and 1800 kg/m3. It also discusses the factors that influence the strengths and weaknesses of foamed concrete based on studies that were conducted previously.

  16. Foams in porous media

    Energy Technology Data Exchange (ETDEWEB)

    Marsden, S.S.

    1986-07-01

    In 1978 a literature search on selective blocking of fluid flow in porous media was done by Professor S.S. Marsden and two of his graduate students, Tom Elson and Kern Huppy. This was presented as SUPRI Report No. TR-3 entitled ''Literature Preview of the Selected Blockage of Fluids in Thermal Recovery Projects.'' Since then a lot of research on foam in porous media has been done on the SUPRI project and a great deal of new information has appeared in the literature. Therefore we believed that a new, up-to-date search should be done on foam alone, one which would be helpful to our students and perhaps of interest to others. This is a chronological survey showing the development of foam flow, blockage and use in porous media, starting with laboratory studies and eventually getting into field tests and demonstrations. It is arbitrarily divided into five-year time periods. 81 refs.

  17. Development of an Advanced Simulator to Model Mobility Control and Geomechanics during CO{sub 2} Floods

    Energy Technology Data Exchange (ETDEWEB)

    Delshad, Mojdeh; Wheeler, Mary; Sepehrnoori, Kamy; Pope, Gary

    2013-12-31

    The simulator is an isothermal, three-dimensional, four-phase, compositional, equation-of– state (EOS) simulator. We have named the simulator UTDOE-CO2 capable of simulating various recovery processes (i.e., primary, secondary waterflooding, and miscible and immiscible gas flooding). We include both the Peng-Robinson EOS and the Redlich-Kwong EOS models. A Gibbs stability test is also included in the model to perform a phase identification test to consistently label each phase for subsequent property calculations such as relative permeability, viscosity, density, interfacial tension, and capillary pressure. Our time step strategy is based on an IMPEC-type method (implicit pressure and explicit concentration). The gridblock pressure is solved first using the explicit dating of saturation-dependent terms. Subsequently, the material balance equations are solved explicitly for the total concentration of each component. The physical dispersion term is also included in the governing equations. The simulator includes (1) several foam model(s) for gas mobility control, (2) compositional relative permeability models with the hysteresis option, (3) corner point grid and several efficient solvers, (4) geomechanics module to compute stress field as the result of CO{sub 2} injection/production, (5) the format of commercial visualization software, S3graf from Science-soft Ltd., was implemented for user friendly visualization of the simulation results. All tasks are completed and the simulator was fully tested and delivered to the DOE office including a user’s guide and several input files and the executable for Windows Pcs. We have published several SPE papers, presented several posters, and one MS thesis is completed (V. Pudugramam, 2013) resulting from this DOE funded project.

  18. 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...

  19. Carbon foams from coals. A preliminary study

    Energy Technology Data Exchange (ETDEWEB)

    Montserrat Calvo; Roberto Garcia; Ana Arenillas; Isabel Suarez; Sabino R. Moinelo [Instituto Nacional del Carbon (CSIC), Oviedo (Spain)

    2005-12-01

    Carbon foams were obtained from a bituminous coal with good plasticity properties by a two-stage thermal process under different pressure and temperature conditions. The first stage was a controlled carbonisation treatment under pressure at 450 and 500{sup o}C. In the second stage the carbonisation product was baked at 1100{sup o}C. The foams produced display a macroporous texture with pressure and temperature determining the mean pore size and the amount of pores. The pressure increase reduces the pore size, while the increasing temperature increases the pore volume. 10 refs., 6 figs., 3 tabs.

  20. Optimisation of multi-layer rotationally moulded foamed structures

    Science.gov (United States)

    Pritchard, A. J.; McCourt, M. P.; Kearns, M. P.; Martin, P. J.; Cunningham, E.

    2018-05-01

    Multi-layer skin-foam and skin-foam-skin sandwich constructions are of increasing interest in the rotational moulding process for two reasons. Firstly, multi-layer constructions can improve the thermal insulation properties of a part. Secondly, foamed polyethylene sandwiched between solid polyethylene skins can increase the mechanical properties of rotationally moulded structural components, in particular increasing flexural properties and impact strength (IS). The processing of multiple layers of polyethylene and polyethylene foam presents unique challenges such as the control of chemical blowing agent decomposition temperature, and the optimisation of cooling rates to prevent destruction of the foam core; therefore, precise temperature control is paramount to success. Long cooling cycle times are associated with the creation of multi-layer foam parts due to their insulative nature; consequently, often making the costs of production prohibitive. Devices such as Rotocooler®, a rapid internal mould water spray cooling system, have been shown to have the potential to significantly decrease cooling times in rotational moulding. It is essential to monitor and control such devices to minimise the warpage associated with the rapid cooling of a moulding from only one side. The work presented here demonstrates the use of threaded thermocouples to monitor the polymer melt in multi-layer sandwich constructions, in order to analyse the cooling cycle of multi-layer foamed structures. A series of polyethylene skin-foam test mouldings were produced, and the effect of cooling medium on foam characteristics, mechanical properties, and process cycle time were investigated. Cooling cycle time reductions of 45%, 26%, and 29% were found for increasing (1%, 2%, and 3%) chemical blowing agent (CBA) amount when using internal water cooling technology from ˜123°C compared with forced air cooling (FAC). Subsequently, a reduction of IS for the same skin-foam parts was found to be 1%, 4

  1. Long lasting decontamination foam

    Science.gov (United States)

    Demmer, Ricky L.; Peterman, Dean R.; Tripp, Julia L.; Cooper, David C.; Wright, Karen E.

    2010-12-07

    Compositions and methods for decontaminating surfaces are disclosed. More specifically, compositions and methods for decontamination using a composition capable of generating a long lasting foam are disclosed. Compositions may include a surfactant and gelatin and have a pH of less than about 6. Such compositions may further include affinity-shifting chemicals. Methods may include decontaminating a contaminated surface with a composition or a foam that may include a surfactant and gelatin and have a pH of less than about 6.

  2. Experimental Evaluation of Equivalent-Fluid Models for Melamine Foam

    Science.gov (United States)

    Allen, Albert R.; Schiller, Noah H.

    2016-01-01

    Melamine foam is a soft porous material commonly used in noise control applications. Many models exist to represent porous materials at various levels of fidelity. This work focuses on rigid frame equivalent fluid models, which represent the foam as a fluid with a complex speed of sound and density. There are several empirical models available to determine these frequency dependent parameters based on an estimate of the material flow resistivity. Alternatively, these properties can be experimentally educed using an impedance tube setup. Since vibroacoustic models are generally sensitive to these properties, this paper assesses the accuracy of several empirical models relative to impedance tube measurements collected with melamine foam samples. Diffuse field sound absorption measurements collected using large test articles in a laboratory are also compared with absorption predictions determined using model-based and measured foam properties. Melamine foam slabs of various thicknesses are considered.

  3. Redox control of arsenic mobilization in Bangladesh groundwater

    International Nuclear Information System (INIS)

    Zheng, Y.; Stute, M.; Geen, A. van; Gavrieli, I.; Dhar, R.; Simpson, H.J.; Schlosser, P.; Ahmed, K.M.

    2004-01-01

    Detailed hydrochemical measurements, δ 34 S SO4 and 3 H analyses were performed on 37 groundwater samples collected during February 1999, January and March 2000 from 6 locations in eastern and southeastern Bangladesh to examine redox processes that lead to As mobilization in groundwater. The study sites were chosen based on available nation-wide As surveys to span the entire spectrum of As concentrations in Bangladesh groundwater, and to represent 3 of 5 major geological units of the Ganges-Brahmaputra Delta: uplifted Pleistocene terrace, fluvial flood plain and delta plain. Arsenic was found to be mobilized under Fe-reducing conditions in shallow aquifers ( 4 -reducing conditions, suggesting that authigenic sulfide precipitation does not constitute a significant sink for As in these groundwaters. The redox state of the water was characterized by a variety of parameters including dissolved O 2 , NO 3 - , Mn 2+ , Fe 2+ concentrations, and SO 4 2- /Cl - ratios. High dissolved [As] (> 50 μg/l; or > 0.7 μM ) were always accompanied by high dissolved [HCO 3 - ] (> 4 mM), and were close to saturation with respect to calcite. Groundwater enriched in As (200-800 μg/l; or 2.7-10.7 μM) and phosphate (30-100 μM) but relatively low in dissolved Fe (5-40 μM) probably resulted from re-oxidation of reducing, As and Fe enriched water. This history was deduced from isotopic signatures of δ 34 S SO4 and 3 H 2 O ( 3 H) to delineate the nature of redox changes for some of the reducing groundwaters. In contrast, As is not mobilized in presumed Pleistocene aquifers, both shallow (30-60 m) and deep (150-270 m), because conditions were not reducing enough due to lack of sufficient O 2 demand

  4. Advanced nondestructive techniques applied for the detection of discontinuities in aluminum foams

    Science.gov (United States)

    Katchadjian, Pablo; García, Alejandro; Brizuela, Jose; Camacho, Jorge; Chiné, Bruno; Mussi, Valerio; Britto, Ivan

    2018-04-01

    Metal foams are finding an increasing range of applications by their lightweight structure and physical, chemical and mechanical properties. Foams can be used to fill closed moulds for manufacturing structural foam parts of complex shape [1]; foam filled structures are expected to provide good mechanical properties and energy absorption capabilities. The complexity of the foaming process and the number of parameters to simultaneously control, demand a preliminary and hugely wide experimental activity to manufacture foamed components with a good quality. That is why there are many efforts to improve the structure of foams, in order to obtain a product with good properties. The problem is that even for seemingly identical foaming conditions, the effective foaming can vary significantly from one foaming trial to another. The variation of the foams often is related by structural imperfections, joining region (foam-foam or foam-wall mold) or difficulties in achieving a complete filling of the mould. That is, in a closed mold, the result of the mold filling and its structure or defects are not known a priori and can eventually vary significantly. These defects can cause a drastic deterioration of the mechanical properties [2] and lead to a low performance in its application. This work proposes the use of advanced nondestructive techniques for evaluating the foam distribution after filling the mold to improve the manufacturing process. To achieved this purpose ultrasonic technique (UT) and cone beam computed tomography (CT) were applied on plate and structures of different thicknesses filled with foam of different porosity. UT was carried out on transmission mode with low frequency air-coupled transducers [3], in focused and unfocused configurations.

  5. Transport of particles in liquid foams: a multi-scale approach

    International Nuclear Information System (INIS)

    Louvet, N.

    2009-11-01

    Foam is used for the decontamination of radioactive tanks since foam is a system that has a large surface for a low amount of liquid and as a consequence requires less water to be decontaminated. We study experimentally different particle transport configurations in fluid micro-channels network (Plateau borders) of aqueous foam. At first, foam permeability is measured at the scale of a single channel and of the whole foam network for 2 soap solutions known for their significant different interface mobility. Experimental data are well described by a model that takes into account the real geometry of the foam and by considering a constant value of the Boussinesq number of each soap solutions. Secondly, the velocity of one particle convected in a single foam channel is measured for different particle/channel aspect ratio. For small aspect ratio, a counterflow that is taking place at the channel's corners slows down the particle. A recirculation model in the channel foam films is developed to describe this effect. To do this, the Gibbs elasticity is introduced. Then, the threshold between trapped and released of one particle in liquid foam are carried out. This threshold is deduced from hydrodynamic and capillary forces equilibrium. Finally, the case of a clog foam node is addressed. (author)

  6. Production of lightweight foam glass (invited talk)

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund; König, Jakob; Yue, Yuanzheng

    The foam glass production allows low cost recycling of postconsumer glass and industrial waste materials as foaming agent or as melt resource. Foam glass is commonly produced by utilising milled glass mixed with a foaming agent. The powder mixture is heat-treated to around 10^3.7 – 10^6 Pa s, which...... result in viscous sintering and subsequent foaming of the glass melt. The porous glass melt is cooled down to room temperature to freeze-in the foam structure. The resulting foam glass is applied in constructions as a light weight material to reduce load bearing capacity and as heat insulating material...... in buildings and industry. We foam panel glass from old televisions with different foaming agents. We discuss the foaming ability and the foaming mechanism of different foaming systems. We compare several studies to define a viscous window for preparing low density foam glass. However, preparing foam glass...

  7. 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.

  8. 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.

  9. THE REMOTE AND MOBILE AIR TRAFFIC CONTROL TOWER AND ITS POSSIBLE APPLICATION TO THE OPERATIONAL AREA

    Directory of Open Access Journals (Sweden)

    Tímea VAS

    2014-10-01

    Full Text Available The concept of remote and mobile Air Traffic Control Tower (ATC TWR and its development has started in Europe, Australia and also in the USA, in order to improve the efficiency of Air Traffic Management (ATM systems in terms of air transportation safety. These new technologies are applicable in many countries in peace time, but on mobility reasons these are promoted to achieve commitments in the operational area. This article describes the devices and range of equipment of mobile and remote tower, and their specifications, which can even serve a medium sized airport, furthermore examines, whether how can those provide the air traffic services at an operational airfield.

  10. Controlling Foam Morphology of Poly(methyl methacrylate via Surface Chemistry and Concentration of Silica Nanoparticles and Supercritical Carbon Dioxide Process Parameters

    Directory of Open Access Journals (Sweden)

    Deniz Rende

    2013-01-01

    Full Text Available Polymer nanocomposite foams have received considerable attention because of their potential use in advanced applications such as bone scaffolds, food packaging, and transportation materials due to their low density and enhanced mechanical, thermal, and electrical properties compared to traditional polymer foams. In this study, silica nanofillers were used as nucleating agents and supercritical carbon dioxide as the foaming agent. The use of nanofillers provides an interface upon which CO2 nucleates and leads to remarkably low average cell sizes while improving cell density (number of cells per unit volume. In this study, the effect of concentration, the extent of surface modification of silica nanofillers with CO2-philic chemical groups, and supercritical carbon dioxide process conditions on the foam morphology of poly(methyl methacrylate, PMMA, were systematically investigated to shed light on the relative importance of material and process parameters. The silica nanoparticles were chemically modified with tridecafluoro-1,1,2,2-tetrahydrooctyl triethoxysilane leading to three different surface chemistries. The silica concentration was varied from 0.85 to 3.2% (by weight. The supercritical CO2 foaming was performed at four different temperatures (40, 65, 75, and 85°C and between 8.97 and 17.93 MPa. By altering the surface chemistry of the silica nanofiller and manipulating the process conditions, the average cell diameter was decreased from 9.62±5.22 to 1.06±0.32 μm, whereas, the cell density was increased from 7.5±0.5×108 to 4.8±0.3×1011 cells/cm3. Our findings indicate that surface modification of silica nanoparticles with CO2-philic surfactants has the strongest effect on foam morphology.

  11. Flexible polyurethane foams

    NARCIS (Netherlands)

    2012-01-01

    Embodiments of the invention provide for a method of preparing a polyurethane foam, including reacting least one initiator comprising at least two hydroxyl groups with at least one 12-hydroxystearic acid to form at least one polyester polyol, reacting the at least one polyester polyol with at least

  12. 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.

  13. 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.

  14. Calibration and control for range imaging in mobile robot navigation

    Energy Technology Data Exchange (ETDEWEB)

    Dorum, O.H. [Norges Tekniske Hoegskole, Trondheim (Norway). Div. of Computer Systems and Telematics; Hoover, A. [University of South Florida, Tampa, FL (United States). Dept. of Computer Science and Engineering; Jones, J.P. [Oak Ridge National Lab., TN (United States)

    1994-06-01

    This paper addresses some issues in the development of sensor-based systems for mobile robot navigation which use range imaging sensors as the primary source for geometric information about the environment. In particular, we describe a model of scanning laser range cameras which takes into account the properties of the mechanical system responsible for image formation and a calibration procedure which yields improved accuracy over previous models. In addition, we describe an algorithm which takes the limitations of these sensors into account in path planning and path execution. In particular, range imaging sensors are characterized by a limited field of view and a standoff distance -- a minimum distance nearer than which surfaces cannot be sensed. These limitations can be addressed by enriching the concept of configuration space to include information about what can be sensed from a given configuration, and using this information to guide path planning and path following.

  15. Foam, Foam-resin composite and method of making a foam-resin composite

    Science.gov (United States)

    Cranston, John A. (Inventor); MacArthur, Doug E. (Inventor)

    1995-01-01

    This invention relates to a foam, a foam-resin composite and a method of making foam-resin composites. The foam set forth in this invention comprises a urethane modified polyisocyanurate derived from an aromatic amino polyol and a polyether polyol. In addition to the polyisocyanurate foam, the composite of this invention further contains a resin layer, wherein the resin may be epoxy, bismaleimide, or phenolic resin. Such resins generally require cure or post-cure temperatures of at least 350.degree. F.

  16. Mobile soak pits improve spray team mobility, productivity and safety of PMI malaria control programs.

    Science.gov (United States)

    Mitchell, David F; Brown, Annie S; Bouare, Sory Ibrahima; Belemvire, Allison; George, Kristen; Fornadel, Christen; Norris, Laura; Longhany, Rebecca; Chandonait, Peter J

    2016-09-15

    In the President's Malaria Initiative (PMI)-funded Africa Indoor Residual Spraying Project (AIRS), end-of-day clean-up operations require the safe disposal of wash water resulting from washing the exterior of spray tanks and spray operators' personal protective equipment. Indoor residual spraying (IRS) programs typically use soak pits - large, in-ground filters - to adsorb, filter and then safely degrade the traces of insecticide found in the wash water. Usually these soak pits are permanent installations serving 30 or more operators, located in a central area that is accessible to multiple spray teams at the end of their workday. However, in remote areas, it is often impractical for teams to return to a central soak pit location for cleanup. To increase operational efficiency and improve environmental compliance, the PMI AIRS Project developed and tested mobile soak pits (MSP) in the laboratory and in field applications in Madagascar, Mali, Senegal, and Ethiopia where the distance between villages can be substantial and the road conditions poor. Laboratory testing confirmed the ability of the easily-assembled MSP to reduce effluent concentrations of two insecticides (Actellic 300-CS and Ficam VC) used by the PMI AIRS Project, and to generate the minimal practicable environmental "footprint" in these remote areas. Field testing in the Mali 2014 IRS campaign demonstrated ease of installation and use, resulted in improved and more consistent standards of clean-up, decreased transportation requirements, improved spray team working conditions, and reduced potential for operator exposure to insecticide. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

  17. Foam-machining tool with eddy-current transducer

    Science.gov (United States)

    Copper, W. P.

    1975-01-01

    Three-cutter machining system for foam-covered tanks incorporates eddy-current sensor. Sensor feeds signal to numerical controller which programs rotational and vertical axes of sensor travel, enabling cutterhead to profile around tank protrusions.

  18. 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.

  19. Design and control of mobile traction energy storage system; Auslegung und Steuerung mobiler Traktionsenergiespeicher

    Energy Technology Data Exchange (ETDEWEB)

    Lehnert, Martin; Klausner, Sven [Fraunhofer-Institut fuer Verkehrs- und Infrastruktursysteme IVI, Dresden (Germany). Abt. fuer Fahrzeug- und Verkehrssystemtechnik

    2009-07-01

    Energy storage systems in trams may contribute to a noticeable reduction of energy consumption. Whether this or another operating purpose is to be pursued by the use of an energy store, major importance must in any case be attached to the type of storage technology to be selected, the design of the storage system and the kind of storage control strategy to be used. The latter has an influence on the efficiency of the store usage. It is especially predicative control strategies that offer a high potential to this effect. (orig.)

  20. 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

  1. 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

  2. G-CSF maintains controlled neutrophil mobilization during acute inflammation by negatively regulating CXCR2 signaling

    Science.gov (United States)

    Bajrami, Besnik; Zhu, Haiyan; Zhang, Yu C.

    2016-01-01

    Cytokine-induced neutrophil mobilization from the bone marrow to circulation is a critical event in acute inflammation, but how it is accurately controlled remains poorly understood. In this study, we report that CXCR2 ligands are responsible for rapid neutrophil mobilization during early-stage acute inflammation. Nevertheless, although serum CXCR2 ligand concentrations increased during inflammation, neutrophil mobilization slowed after an initial acute fast phase, suggesting a suppression of neutrophil response to CXCR2 ligands after the acute phase. We demonstrate that granulocyte colony-stimulating factor (G-CSF), usually considered a prototypical neutrophil-mobilizing cytokine, was expressed later in the acute inflammatory response and unexpectedly impeded CXCR2-induced neutrophil mobilization by negatively regulating CXCR2-mediated intracellular signaling. Blocking G-CSF in vivo paradoxically elevated peripheral blood neutrophil counts in mice injected intraperitoneally with Escherichia coli and sequestered large numbers of neutrophils in the lungs, leading to sterile pulmonary inflammation. In a lipopolysaccharide-induced acute lung injury model, the homeostatic imbalance caused by G-CSF blockade enhanced neutrophil accumulation, edema, and inflammation in the lungs and ultimately led to significant lung damage. Thus, physiologically produced G-CSF not only acts as a neutrophil mobilizer at the relatively late stage of acute inflammation, but also prevents exaggerated neutrophil mobilization and the associated inflammation-induced tissue damage during early-phase infection and inflammation. PMID:27551153

  3. Visually and force controlled opening and closing of doors by means of a mobile robot arm

    OpenAIRE

    Milighetti, G.; Hoffmann, E.; Fetzner, Angelika; Kuntze, Helge-Björn

    2012-01-01

    A multi-sensory discrete-continuous control concept has been developed to realize interactive basic skills for humanoid and mobile service robots. In the upper hierarchy level a discrete task control structure enables the flexible execution of primitive skill sequences. In the lower continuous level a suitable controller is chosen with control parameters adapted to the current primitive skill. The basic skill for the frequently occurring task of unlocking and opening a door by means of a mobi...

  4. Manufacture of polyethylene foam by electron beam cross-linking

    International Nuclear Information System (INIS)

    Tamai, Isamu

    1976-01-01

    The manufacturing process of polyethylene foam, comparison between electron beam cross-linking process and chemical cross-linking process, the electron beam irradiation technique for continuous sheets, the characteristics and uses of polyethylene foam are reviewed. The pore diameter can be controlled by selecting the dose rate, because there is strong relationship between the pore diameter and the dose rate. As the dose if higher, the foam becomes finer. The electron accelerators having large capacity show the lowest cost as the radiation source, and are applicable industrially. If the production capacity exceeds about 200 tons per month, the costs of electron beam irradiation process may be more advantageous than that of chemical process according to the circumstances. It is difficult to obtain the uniform distribution of absorption dose in the direction of thickness. General characteristics of cross-linked polyethylene foam are listed. The special feature of electron beam process is that the degree of cross-linking can be controlled arbitrarily before foaming. The products obtained by the electron beam cross-linking process have finer foams and smoother surfaces than those obtained by the chemical process, because the separation of the decomposition of foaming agents from that of cross-linking agents in the chemical cross-linking is difficult. (Iwakiri, K.)

  5. 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.

  6. Sensory feedback in artificial control of human mobility

    NARCIS (Netherlands)

    Veltink, Petrus H.

    1999-01-01

    Artificial motor control systems may reduce the handicap of motor impaired individuals. Sensors are essential components in feedback control of these systems and in the information exchange with the user. The objective of this paper is to give an overview of the applications of sensors in the

  7. Remotely controlled working equipment and mobile systems for damage assessment

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.

    1975-01-01

    All functions of the MF3 vehicle with its variable geometry chassis were verified in accordance with specifications. Fixed price bids have now been submitted by industries on the action control system and the EMSM II manipulators. Tests of the EMSM I manipulator with supplements especially the remotely controlled application of tools, have been started. (orig.) [de

  8. 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

  9. 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.

  10. Biodegradable polymeric foam with food waste; Shokumotsu zansa wo mochiita seibunkai kobunshi hahhotai

    Energy Technology Data Exchange (ETDEWEB)

    Mishima, Kenji; Matsuyama, Kiyoshi; Yamauchi, Satoru; Takarabe, Shin' ichi

    1999-09-01

    A huge amount of food waste such as tea and beer dregs becomes a serious problem because of the lack of industrial waste space in Japan. On the other hand, the new polymeric foam is expected to be developed since the dangerous pollution of endorphin disrupters from industrial polymer foam is pointed out. In this work, we try to develop the biodegradable polymeric foam using the tea and beer dregs as secondary resources. And we examined the degradability of biodegradable polymer in the hydrothermal water for fundamental knowledge of polymeric foam production. We used an extruder equipped with a high pressure device to make the polymeric foam. And we examined the effect of the component ratio on the foam properties, foaming rate, strength, shrinkage rate, water-resistant. As a result, it was found that the amount of polymer is effective of quality of form and the biodegradability can be controlled by the amount of water and temperature. (author)

  11. 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.

  12. Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

    Directory of Open Access Journals (Sweden)

    Zhaoxia Peng

    2014-01-01

    Full Text Available This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

  13. Electroencephalography (EEG) Based Control in Assistive Mobile Robots: A Review

    International Nuclear Information System (INIS)

    Krishnan, N Murali; Mariappan, Muralindran; Muthukaruppan, Karthigayan; Hijazi, Mohd Hanafi Ahmad; Kitt, Wong Wei

    2016-01-01

    Recently, EEG based control in assistive robot usage has been gradually increasing in the area of biomedical field for giving quality and stress free life for disabled and elderly people. This study reviews the deployment of EGG based control in assistive robots, especially for those who in need and neurologically disabled. The main objective of this paper is to describe the methods used for (i) EEG data acquisition and signal preprocessing, (ii) feature extraction and (iii) signal classification methods. Besides that, this study presents the specific research challenges in the designing of these control systems and future research directions. (paper)

  14. 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

  15. 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.

  16. 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.

  17. 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...

  18. 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.

  19. 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.

  20. Aerosol-foam interaction experiments

    International Nuclear Information System (INIS)

    Ball, M.H.E.; Luscombe, C.DeM.; Mitchell, J.P.

    1990-03-01

    Foam treatment offers the potential to clean gas streams containing radioactive particles. A large decontamination factor has been claimed for the removal of airborne plutonium dust when spraying a commercially available foam on the walls and horizontal surfaces of an alpha-active room. Experiments have been designed and undertaken to reproduce these conditions with a non-radioactive simulant aerosol. Careful measurements of aerosol concentrations with and without foam treatment failed to provide convincing evidence to support the earlier observation. The foam may not have been as well mixed with the aerosol in the present studies. Further work is required to explore more efficient mixing methods, including systems in which the aerosol steam is passed through the foam, rather than merely spraying foam into the path of the aerosol. (author)

  1. Chaotic bubbling and nonstagnant foams.

    Science.gov (United States)

    Tufaile, Alberto; Sartorelli, José Carlos; Jeandet, Philippe; Liger-Belair, Gerard

    2007-06-01

    We present an experimental investigation of the agglomeration of bubbles obtained from a nozzle working in different bubbling regimes. This experiment consists of a continuous production of bubbles from a nozzle at the bottom of a liquid column, and these bubbles create a two-dimensional (2D) foam (or a bubble raft) at the top of this column. The bubbles can assemble in various dynamically stable arrangement, forming different kinds of foams in a liquid mixture of water and glycerol, with the effect that the bubble formation regimes influence the foam obtained from this agglomeration of bubbles. The average number of bubbles in the foam is related to the bubble formation frequency and the bubble mean lifetime. The periodic bubbling can generate regular or irregular foam, while a chaotic bubbling only generates irregular foam.

  2. Synthesis of Various Silica Nanoparticles for Foam Stability

    International Nuclear Information System (INIS)

    Yoon, Suk Bon; Yoon, Inho; Jung, Chonghun; Kim, Chorong; Choi, Wangkyu; Moon, Jeikwon

    2013-01-01

    The synthesis of the non-porous silica nanoparticles with uniform sizes has been reported through the Sto ber method, the synthesis of meso porous silica nanoparticles with a specific morphology such as core-shell, rod-like, and hexagonal shapes is not so common. As a synthetic strategy for controlling the particle size, shape, and porosity, the synthesis of core-shell silicas with meso porous shells formed on silica particle cores through the self-assembly of silica precursor and organic templates or spherical meso porous silicas using modified Sto ber method was also reported. Recently, in an effort to reduce the amount of radioactive waste and enhance the decontamination efficiency during the decontamination process of nuclear facilities contaminated with radionuclides, a few research for the preparation of the decontamination foam containing solid nanoparticles has been reported. In this work, the silica nanoparticles with various sizes, shapes, and structures were synthesized based on the previous literatures. The resulting silica nanoparticles were used to investigate the effect of the nanoparticles on the foam stability. In a study on the foam stability using various silica nanoparticles, the results showed that the foam volume and liquid volume in foam was enhanced when using a smaller size and lower density of the silica nanoparticles. Silica nanoparticles with various sizes, shapes, and structures such as a non-porous, meso porous core-shell, and meso porous silica were synthesized to investigate the effect of the foam stability. The sizes and structural properties of the silica nanoparticles were easily controlled by varying the amount of silica precursor, surfactant, and ammonia solution as a basic catalyst. The foam prepared using various silica nanoparticles showed that foam the volume and liquid volume in the foam were enhanced when using a smaller size and lower density of the silica nanoparticles

  3. Foams structure and dynamics

    CERN Document Server

    Cantat, Isabelle; Graner, François; Pitois, Olivier; Höhler, Reinard; Elias, Florence; Saint-Jalmes, Arnaud; Rouyer, Florence

    2013-01-01

    This book is the first to provide a thorough description of all aspects of the physico-chemical properties of foams. It sets out what is known about their structure, their stability, and their rheology. Engineers, researchers and students will find descriptions of all the key concepts, illustrated by numerous applications, as well as experiments and exercises for the reader. A solutions manual for lecturers is available via the publisher's web site.

  4. Pourable Foam Insulation

    Science.gov (United States)

    Harvey, James A.; Butler, John M.; Chartoff, Richard P.

    1989-01-01

    Report describes search for polyisocyanurate/polyurethane foam insulation with superior characteristics. Discusses chemistry of current formulations. Tests of formulations, of individual ingredients and or alternative new formulations described. Search revealed commercially available formulations exhibiting increased thermal stability at temperatures up to 600 degree C, pours readily before curing, presents good appearance after curing, and remains securely bonded to aluminum at cryogenic temperatures. Total of 42 different formulations investigated, 10 found to meet requirements.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 40 CFR 63.1297 - Standards for slabstock flexible polyurethane foam production-HAP ABA emissions from the...

    Science.gov (United States)

    2010-07-01

    ... polyurethane foam production-HAP ABA emissions from the production line. 63.1297 Section 63.1297 Protection of... foam production—HAP ABA emissions from the production line. (a) Each owner or operator of a new or... § 63.1293(a)(1) shall control HAP ABA emissions from the slabstock polyurethane foam production line in...

  10. Polyimide Foams Offer Superior Insulation

    Science.gov (United States)

    2012-01-01

    At Langley Research Center, Erik Weiser and his colleagues in the Advanced Materials and Processing Branch were working with a new substance for fabricating composites for use in supersonic aircraft. The team, however, was experiencing some frustration. Every time they tried to create a solid composite from the polyimide (an advanced polymer) material, it bubbled and foamed. It seemed like the team had reached a dead end in their research - until they had another idea. "We said, This isn t going to work for composites, but maybe we could make a foam out of it," Weiser says. "That was kind of our eureka moment, to see if we could go in a whole other direction. And it worked." Weiser and his colleagues invented a new kind of polyimide foam insulation they named TEEK. The innovation displayed a host of advantages over existing insulation options. Compared to other commercial foams, Weiser explains, polyimide foams perform well across a broad range of temperatures, noting that the NASA TEEK foams provide effective structural insulation up to 600 F and down to cryogenic temperatures. The foam does not burn or off-gas toxic fumes, and even at -423 F - the temperature of liquid hydrogen - the material stays flexible. The inventors could produce the TEEK foam at a range of densities, from 0.5 pounds per cubic foot up to 20 pounds per cubic foot, making the foam ideal for a range of applications, including as insulation for reusable launch vehicles and for cryogenic tanks and lines. They also developed a unique, friable balloon format for manufacturing the foam, producing it as hollow microspheres that allowed the foam to be molded and then cured into any desired shape - perfect for insulating pipes of different sizes and configurations. The team s originally unplanned invention won an "R&D 100" award, and a later form of the foam, called LaRC FPF-44 (Spinoff 2009), was named "NASA Invention of the Year" in 2007.

  11. Cryogenic foam insulation: Abstracted publications

    Science.gov (United States)

    Williamson, F. R.

    1977-01-01

    A group of documents were chosen and abstracted which contain information on the properties of foam materials and on the use of foams as thermal insulation at cryogenic temperatures. The properties include thermal properties, mechanical properties, and compatibility properties with oxygen and other cryogenic fluids. Uses of foams include applications as thermal insulation for spacecraft propellant tanks, and for liquefied natural gas storage tanks and pipelines.

  12. Control of group of mobile autonomous agents via local strategies

    Institute of Scientific and Technical Information of China (English)

    Lixin GAO; Daizhan CHENG; Yiguang HONG

    2008-01-01

    This paper considers the formation control problem of multi-agent systems in a distributed fashion.Two cases of the information propagating topologies among multiple agents,characterized by graphics model,are considered.One is fixed topology.The other is switching topology which represents the limited and less reliable information exchange.The local formation control strategies established in this paper are based on a simple modification of the existing consensus control strategies.Moreover,some existing convergence conditions ale shown to be a special case of our model even in the continuous-time consensus case.Therefore.the results of this paper extend the existing results about the consensus problem.

  13. Real-Time Inverse Optimal Neural Control for Image Based Visual Servoing with Nonholonomic Mobile Robots

    Directory of Open Access Journals (Sweden)

    Carlos López-Franco

    2015-01-01

    Full Text Available We present an inverse optimal neural controller for a nonholonomic mobile robot with parameter uncertainties and unknown external disturbances. The neural controller is based on a discrete-time recurrent high order neural network (RHONN trained with an extended Kalman filter. The reference velocities for the neural controller are obtained with a visual sensor. The effectiveness of the proposed approach is tested by simulations and real-time experiments.

  14. High Temperature Epoxy Foam: Optimization of Process Parameters

    Directory of Open Access Journals (Sweden)

    Samira El Gazzani

    2016-06-01

    Full Text Available For many years, reduction of fuel consumption has been a major aim in terms of both costs and environmental concerns. One option is to reduce the weight of fuel consumers. For this purpose, the use of a lightweight material based on rigid foams is a relevant choice. This paper deals with a new high temperature epoxy expanded material as substitution of phenolic resin, classified as potentially mutagenic by European directive Reach. The optimization of thermoset foam depends on two major parameters, the reticulation process and the expansion of the foaming agent. Controlling these two phenomena can lead to a fully expanded and cured material. The rheological behavior of epoxy resin is studied and gel time is determined at various temperatures. The expansion of foaming agent is investigated by thermomechanical analysis. Results are correlated and compared with samples foamed in the same temperature conditions. The ideal foaming/gelation temperature is then determined. The second part of this research concerns the optimization of curing cycle of a high temperature trifunctional epoxy resin. A two-step curing cycle was defined by considering the influence of different curing schedules on the glass transition temperature of the material. The final foamed material has a glass transition temperature of 270 °C.

  15. Remotely controlled working gear and mobile systems for damage assessment

    International Nuclear Information System (INIS)

    Koehler, G.W.; Salaske, M.; Selig, M.

    1975-01-01

    The chassis of the light MF3 manipulator vehicle and the necessary electric control system have reached and advanced stage of construction. Bids will soon be invited for the mission control system with multiplexers of whole MF3 unit and for simple equipment for damage assessment. All major problems have been clarified in the course of the design phase of the light electric EMSM II Master-Slave manipulators intended for this service. The prototype of the electric EMSM I Master-Slave manipulator has been equipped with some of the supplementary tools required for test missions. (orig.) [de

  16. Foam injection method and system

    Energy Technology Data Exchange (ETDEWEB)

    Hardy, W C; Parmley, J B; Shepard, J C

    1977-05-10

    A method is described for more efficiently practicing in situ combustion techniques by generating a gas-water mist or foam adjacent to the combustion formation within the injection well. The mist or foam is forced out of the well into the formation to transport heat away from the burned region of the formation toward the periphery of the combustion region to conserve fuel. Also taught are a method and system for fluid treating a formation while maintaining enhanced conformance of the fluid injection profile by generating a mist or foam down-hole adjacent to the formation and then forcing the mist or foam out into the formation. (19 claims)

  17. Polyurethane Foams with Pyrimidine Rings

    Directory of Open Access Journals (Sweden)

    Kania Ewelina

    2014-09-01

    Full Text Available Oligoetherols based on pyrimidine ring were obtained upon reaction of barbituric acid with glycidol and alkylene carbonates. These oligoetherols were then used to obtain polyurethane foams in the reaction of oligoetherols with isocyanates and water. The protocol of foam synthesis was optimized by the choice of proper kind of oligoetherol and synthetic composition. The thermal resistance was studied by dynamic and static methods with concomitant monitoring of compressive strength. The polyurethane foams have similar physical properties as the classic ones except their enhanced thermal resistance. They stand long-time heating even at 200°C. Moreover thermal exposition of foams results generally in increase of their compressive strength.

  18. Optimizing a mobile robot control system using GPU acceleration

    Science.gov (United States)

    Tuck, Nat; McGuinness, Michael; Martin, Fred

    2012-01-01

    This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not run comfortably on the multicore CPU on our custom robot platform. The process of profiling the ROS control program and selecting appropriate modules for porting to run on a GPU is described. A GPU-targeting compiler, Bacon, is used to speed up development and help optimize the ported modules. The impact of the ported modules on overall performance is discussed. We conclude that GPU optimization can free a significant amount of CPU resources with minimal effort for expensive user-written code, but that replacing heavily-optimized library functions is more difficult, and a much less efficient use of time.

  19. Position control of a wheeled mobile robot including tire behavior

    NARCIS (Netherlands)

    Ploeg, J.; Schouten, H.E.; Nijmeijer, H.

    2009-01-01

    Advanced driver assistance systems are increasingly available on road vehicles. These systems require a thorough development procedure, an important part of which consists of hardware-in-the-loop experiments in a controlled environment. To this end, a facility called Vehicle Hardware-In-the-Loop

  20. Remote control and motion coordination of mobile robots

    NARCIS (Netherlands)

    Alvarez Aguirre, A.

    2011-01-01

    As robots destined for personal and professional applications advance towards becoming part of our daily lives, the importance and complexity of the control algorithms which regulate them should not be underestimated. This thesis is related to two fields within robotics which are of major importance

  1. APPLICATION OF POLYURETHANE FOAM FOR IMPACT ABSORPTION AND THERMAL INSULATION FOR RADIOACTIVE MATERIALS PACKAGINGS

    International Nuclear Information System (INIS)

    Smith, A; Glenn Abramczyk, G; Paul Blanton, P; Steve Bellamy, S; William Daugherty, W; Sharon Williamson, S

    2007-01-01

    Polyurethane foam has been widely used as an impact absorbing and thermal insulating material for large radioactive materials packages, since the 1980's. With the adoption of the regulatory crush test requirement, for smaller packages, polyurethane foam has been adopted as a replacement for cane fiberboard, because of its ability to withstand the crush test. Polyurethane foam is an engineered material whose composition is much more closely controlled than that of cane fiberboard. In addition, the properties of the foam can be controlled by controlling the density of the foam. The conditions under which the foam is formed, whether confined or unconfined have an affect on foam properties. The study reported here reviewed the application of polyurethane foam in RAM packagings and compared property values reported in the literature with published property values and test results for foam specimens taken from a prototype 9977 packaging. The study confirmed that, polyurethane foam behaves in a predictable and consistent manner and fully satisfies the functional requirements for impact absorption and thermal insulation

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    International Nuclear Information System (INIS)

    Fukushima, Edwardo F.; Hirose, Shigeo

    2000-01-01

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  7. Studies on Foam Decay Trend and Influence of Temperature Jump on Foam Stability in Sclerotherapy.

    Science.gov (United States)

    Bai, Taoping; Chen, Yu; Jiang, Wentao; Yan, Fei; Fan, Yubo

    2018-02-01

    This study investigated the influence of temperature jump and liquid-gas ratio on foam stability to derive the foam-decay law. The experimental group conditions were as follows: mutation temperatures (10°C, 16°C, 20°C, 23°C, 25°C, and 27°C to >37°C) and liquid-gas ratios (1:1, 1:2, 1:3, and 1:4). The control group conditions were as follows: temperatures (10°C, 16°C, 20°C, 23°C, 25°C and 27°C) and liquid-gas ratios (1:1, 1:2, 1:3, and 1:4). A homemade device manufactured using the Tessari DSS method was used to prepare the foam. The decay process was videotape recorded. In the drainage rate curve, the temperature rose, and the liquid-gas ratio varied from 1:1 to 1:4, causing faster decay. In the entire process, the foam volume decreased with increasing drainage rate. The relationships were almost linear. Comparison of the experimental and control groups shows that the temperature jump results in a drainage time range of 1 to 15 seconds. The half-life ranges from 10 to 30 seconds. The maximum rate is 18.85%. Changes in the preparation temperature yields a drainage time range of 3 to 30 seconds. The half-life varies from 20 to 60 seconds. Decreasing the temperature jump range and liquid-gas ratio gradually enhances the foam stability. The foam decay time and drainage rate exhibit an exponential function distribution.

  8. Mobile monitoring and embedded control system for factory environment.

    Science.gov (United States)

    Lian, Kuang-Yow; Hsiao, Sung-Jung; Sung, Wen-Tsai

    2013-12-17

    This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine) core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT) approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC) technology is used to carry out the actual electricity load experiments using smart phones.

  9. Lower limb control and mobility following exercise training

    Directory of Open Access Journals (Sweden)

    Kim Sukwon

    2012-02-01

    Full Text Available Abstract The objective of the present study was to evaluate the effects of 8-week balance or weight training on ankle joint stiffness and limb stability for older adults, furthermore, on outcomes of slips while walking. Eighteen older adults volunteered for the study and randomly were assigned to the three groups, such as, weight, balance, or control group. While walking on a walking track, three-dimensional posture data were sampled and ankle joint stiffness and limb stability were computed to evaluate the effects of training. 2 (pre and post × 3 (weight, balance, and control × 2 (dominant and non-dominant legs mixed factor repeated ANOVA was performed. The results indicated that only balance training group showed an improvement in joint stiffness and both the training groups showed improvements in limb stability. Also, fall frequency results suggested that joint stiffness and limb stability had an effect on the likelihood of slip-induced falls. In conclusion, training can facilitate improvements in joint and limb control mechanism for older adults contributing to an improvement in the likelihood of slip-induced falls.

  10. Controlling Oxygen Mobility in Ruddlesden–Popper Oxides

    Directory of Open Access Journals (Sweden)

    Dongkyu Lee

    2017-03-01

    Full Text Available Discovering new energy materials is a key step toward satisfying the needs for next-generation energy conversion and storage devices. Among the various types of oxides, Ruddlesden–Popper (RP oxides (A2BO4 are promising candidates for electrochemical energy devices, such as solid oxide fuel cells, owing to their attractive physicochemical properties, including the anisotropic nature of oxygen migration and controllable stoichiometry from oxygen excess to oxygen deficiency. Thus, understanding and controlling the kinetics of oxygen transport are essential for designing optimized materials to use in electrochemical energy devices. In this review, we first discuss the basic mechanisms of oxygen migration in RP oxides depending on oxygen nonstoichiometry. We then focus on the effect of changes in the defect concentration, crystallographic orientation, and strain on the oxygen migration in RP oxides. We also briefly review their thermal and chemical stability. Finally, we conclude with a perspective on potential research directions for future investigation to facilitate controlling oxygen ion migration in RP oxides.

  11. Mobile Monitoring and Embedded Control System for Factory Environment

    Science.gov (United States)

    Lian, Kuang-Yow; Hsiao, Sung-Jung; Sung, Wen-Tsai

    2013-01-01

    This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine) core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT) approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC) technology is used to carry out the actual electricity load experiments using smart phones. PMID:24351642

  12. Mobile Monitoring and Embedded Control System for Factory Environment

    Directory of Open Access Journals (Sweden)

    Kuang-Yow Lian

    2013-12-01

    Full Text Available This paper proposes a real-time method to carry out the monitoring of factory zone temperatures, humidity and air quality using smart phones. At the same time, the system detects possible flames, and analyzes and monitors electrical load. The monitoring also includes detecting the vibrations of operating machinery in the factory area. The research proposes using ZigBee and Wi-Fi protocol intelligent monitoring system integration within the entire plant framework. The sensors on the factory site deliver messages and real-time sensing data to an integrated embedded systems via the ZigBee protocol. The integrated embedded system is built by the open-source 32-bit ARM (Advanced RISC Machine core Arduino Due module, where the network control codes are built in for the ARM chipset integrated controller. The intelligent integrated controller is able to instantly provide numerical analysis results according to the received data from the ZigBee sensors. The Android APP and web-based platform are used to show measurement results. The built-up system will transfer these results to a specified cloud device using the TCP/IP protocol. Finally, the Fast Fourier Transform (FFT approach is used to analyze the power loads in the factory zones. Moreover, Near Field Communication (NFC technology is used to carry out the actual electricity load experiments using smart phones.

  13. 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.

  14. 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.

  15. Aspiration tests in aqueous foam using a breathing simulator

    Energy Technology Data Exchange (ETDEWEB)

    Archuleta, M.M.

    1995-12-01

    Non-toxic aqueous foams are being developed by Sandia National Laboratories (SNL) for the National Institute of Justice (NIJ) for use in crowd control, cell extractions, and group disturbances in the criminal justice prison systems. The potential for aspiration of aqueous foam during its use and the resulting adverse effects associated with complete immersion in aqueous foam is of major concern to the NIJ when examining the effectiveness and safety of using this technology as a Less-Than-Lethal weapon. This preliminary study was designed to evaluate the maximum quantity of foam that might be aspirated by an individual following total immersion in an SNL-developed aqueous foam. A.T.W. Reed Breathing simulator equipped with a 622 Silverman cam was used to simulate the aspiration of an ammonium laureth sulfate aqueous foam developed by SNL and generated at expansion ratios in the range of 500:1 to 1000:1. Although the natural instinct of an individual immersed in foam is to cover their nose and mouth with a hand or cloth, thus breaking the bubbles and decreasing the potential for aspiration, this study was performed to examine a worst case scenario where mouth breathing only was examined, and no attempt was made to block foam entry into the breathing port. Two breathing rates were examined: one that simulated a sedentary individual with a mean breathing rate of 6.27 breaths/minute, and one that simulated an agitated or heavily breathing individual with a mean breathing rate of 23.7 breaths/minute. The results of this study indicate that, if breathing in aqueous foam without movement, an air pocket forms around the nose and mouth within one minute of immersion.

  16. Dip TIPS as a facile and versatile method for fabrication of polymer foams with controlled shape, size and pore architecture for bioengineering applications

    Czech Academy of Sciences Publication Activity Database

    Kasoju, Naresh; Kubies, Dana; Kumorek, Marta M.; Kříž, J.; Fabryová, E.; Machová, Luďka; Kovářová, Jana; Rypáček, František

    2014-01-01

    Roč. 9, č. 10 (2014), e108792_1-e108792_16 E-ISSN 1932-6203 R&D Projects: GA MŠk(CZ) EE2.3.30.0029; GA MŠk(CZ) ED1.1.00/02.0109 Institutional support: RVO:61389013 Keywords : polymer foams * anisotropy * Dip TIPS Subject RIV: CE - Biochemistry Impact factor: 3.234, year: 2014

  17. THIRD-GENERATION FOAM BLOWING AGENTS FOR FOAM INSULATION

    Science.gov (United States)

    The report gives results of a study of third-generation blowing agents for foam insulation. (NOTE: the search for third-generation foam blowing agents has led to the realization that, as the number of potential substitutes increases, new concerns, such as their potential to act a...

  18. 30 CFR 75.1101-5 - Installation of foam generator systems.

    Science.gov (United States)

    2010-07-01

    ... discharge foam to the belt drive, belt takeup, electrical controls, gear reducing unit and the conveyor belt..., electrical controls, gear reducing unit, and the conveyor belt over a distance of 50 feet; and, (2) At... electrical controls, gear reducing unit, and the conveyor belt over a distance of 150 feet. (c) The foam...

  19. 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...

  20. Performance of high-level and low-level control for coordination of mobile robots

    NARCIS (Netherlands)

    Adinandra, S.; Caarls, J.; Kostic, D.; Nijmeijer, H.

    2010-01-01

    We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two

  1. Mobile Phone-Delivered Cognitive Behavioral Therapy for Insomnia : A Randomized Waitlist Controlled Trial

    NARCIS (Netherlands)

    Horsch, C.H.G.; Lancee, J.; Griffioen-Both, F.; Spruit, S.; Fitrianie, S.; Neerincx, M.A.; Beun, R.J.; Brinkman, W.-P.

    Background: This study is one of the first randomized controlled trials investigating cognitive behavioral therapy for insomnia (CBT-I) delivered by a fully automated mobile phone app. Such an app can potentially increase the accessibility of insomnia treatment for the 10% of people who have

  2. Mobile Phone-Delivered Cognitive Behavioral Therapy for Insomnia : A Randomized Waitlist Controlled Trial

    NARCIS (Netherlands)

    Horsch, C.H.G.; Lancee, J; Griffioen-Both, Fiemke; Spruit, Sandor; Fitrianie, S.; Neerincx, M.A.; Beun, RJ; Brinkman, W.P.

    2017-01-01

    Background: This study is one of the first randomized controlled trials investigating cognitive behavioral therapy for insomnia (CBT-I) delivered by a fully automated mobile phone app. Such an app can potentially increase the accessibility of insomnia treatment for the 10% of people who have

  3. Nonlinear smith-predictor based control strategy for a unicycle mobile robot subject to transport delay

    NARCIS (Netherlands)

    Alvarez Aguirre, A.; Velasco-Villa, M.; Del Muro Cuellar, B.

    2008-01-01

    This paper consider the remote control of an unicycle mobile robot subject to transport delay. The communication delay effects are considered by means of a discrete time approach that allows to solve the path tracking problem in terms of the delayed input. The causality problem involved in the

  4. 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....

  5. Mass transfer measurements in foams

    International Nuclear Information System (INIS)

    Leblond, J.G.; Fournel, B.

    2004-01-01

    Full text of publication follows:This study participates to the elaboration of a method for decontamination of the inside surfaces of steel structures (pipes, tanks,...). The solution which has been chosen is to attack the surface of the structure by a dipping solution. In order to reduce the quantity of product to be recovered and treated at the end of the cleaning process, the active solution will be introduced as a foam. During its free or forced drainage the foam supplies an active liquid film along the structure surfaces. It was important to know if the transfers of the dipping liquid inside the foam and between foam and wall film are sufficient to allow a correct supplying of the active liquid at the wall and a correct dragging of the dipped products. The objective of this work is to develop a numerical model which simulates the various transfers. However such a modeling cannot be performed without a thorough knowledge of the different transfer parameters in the foam and in the film. The following study has been performed on a model foam (foaming water + air) held in a smooth vertical glass pipe and submitted to a forced drainage by the foaming water (water + surfactants). The liquid transfer involves the dispersion of the drainage liquid inside the foam and the transfer between the foam and the liquid film flowing down at the wall. The different transfers has been analyzed by NMR using a PFGSE-NMR sequence, which allows to determine the propagator, i.e., the probability density of the liquid particle displacements during a given time interval Δt, along a selected direction. This study allowed to measure, firstly, the mean liquid and the liquid dispersion in the foam along the vertical and horizontal direction, and secondly, the vertical mean velocity in the parietal liquid film. (authors)

  6. Effect of Pelletized Coconut Fibre on the Compressive Strength of Foamed Concrete

    Directory of Open Access Journals (Sweden)

    Mohd Jaini Zainorizuan

    2016-01-01

    Full Text Available Foamed concrete is a controlled low density ranging from 400kg/m3 to 1800kg/m3, and hence suitable for the construction of buildings and infrastructures. The uniqueness of foamed concrete is does not use aggregates in order to retain low density. Foamed concrete contains only cement, sand, water and foam agent. Therefore, the consumption of cement is higher in producing a good quality and strength of foamed concrete. Without the present of aggregates, the compressive strength of foamed concrete can only achieve as high as 15MPa. Therefore, this study aims to introduce the pelletized coconut fibre aggregate to reduce the consumption of cement but able to enhance the compressive strength. In the experimental study, forty-five (45 cube samples of foamed concrete with density 1600kg/m3 were prepared with different volume fractions of pelletized coconut fibre aggregate. All cube samples were tested using the compression test to obtain compressive strength. The results showed that the compressive strength of foamed concrete containing 5%, 10%, 15% and 20% of pelletized coconut fibre aggregate are 9.6MPa, 11.4MPa, 14.6MPa and 13.4MPa respectively. It is in fact higher than the controlled foamed concrete that only achieves 9MPa. It is found that the pelletized coconut fibre aggregate indicates a good potential to enhance the compressive strength of foamed concrete.

  7. 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.

  8. 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.

  9. 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.

  10. 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

  11. 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.

  12. 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

  13. Promise of a low power mobile CPU based embedded system in artificial leg control.

    Science.gov (United States)

    Hernandez, Robert; Zhang, Fan; Zhang, Xiaorong; Huang, He; Yang, Qing

    2012-01-01

    This paper presents the design and implementation of a low power embedded system using mobile processor technology (Intel Atom™ Z530 Processor) specifically tailored for a neural-machine interface (NMI) for artificial limbs. This embedded system effectively performs our previously developed NMI algorithm based on neuromuscular-mechanical fusion and phase-dependent pattern classification. The analysis shows that NMI embedded system can meet real-time constraints with high accuracies for recognizing the user's locomotion mode. Our implementation utilizes the mobile processor efficiently to allow a power consumption of 2.2 watts and low CPU utilization (less than 4.3%) while executing the complex NMI algorithm. Our experiments have shown that the highly optimized C program implementation on the embedded system has superb advantages over existing PC implementations on MATLAB. The study results suggest that mobile-CPU-based embedded system is promising for implementing advanced control for powered lower limb prostheses.

  14. 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....

  15. Reducing wall plasma expansion with gold foam irradiated by laser

    International Nuclear Information System (INIS)

    Zhang, Lu; Ding, Yongkun; Jiang, Shaoen; Yang, Jiamin; Li, Hang; Kuang, Longyu; Lin, Zhiwei; Jing, Longfei; Li, Liling; Deng, Bo; Yuan, Zheng; Chen, Tao; Yuan, Guanghui; Tan, Xiulan; Li, Ping

    2015-01-01

    The experimental study on the expanding plasma movement of low-density gold foam (∼1% solid density) irradiated by a high power laser is reported in this paper. Experiments were conducted using the SG-III prototype laser. Compared to solid gold with 19.3 g/cc density, the velocities of X-ray emission fronts moving off the wall are much smaller for gold foam with 0.3 g/cc density. Theoretical analysis and MULTI 1D simulation results also show less plasma blow-off, and that the density contour movement velocities of gold foam are smaller than those of solid gold, agreeing with experimental results. These results indicate that foam walls have advantages in symmetry control and lowering plasma fill when used in ignition hohlraum

  16. Reducing wall plasma expansion with gold foam irradiated by laser

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Lu; Ding, Yongkun, E-mail: ding-yk@vip.sina.com; Jiang, Shaoen, E-mail: jiangshn@vip.sina.com; Yang, Jiamin; Li, Hang; Kuang, Longyu; Lin, Zhiwei; Jing, Longfei; Li, Liling; Deng, Bo; Yuan, Zheng; Chen, Tao; Yuan, Guanghui; Tan, Xiulan; Li, Ping [Research Center of Laser Fusion, China Academy of Engineering Physics, P.O. Box 919-986, Mianyang 621900 (China)

    2015-11-15

    The experimental study on the expanding plasma movement of low-density gold foam (∼1% solid density) irradiated by a high power laser is reported in this paper. Experiments were conducted using the SG-III prototype laser. Compared to solid gold with 19.3 g/cc density, the velocities of X-ray emission fronts moving off the wall are much smaller for gold foam with 0.3 g/cc density. Theoretical analysis and MULTI 1D simulation results also show less plasma blow-off, and that the density contour movement velocities of gold foam are smaller than those of solid gold, agreeing with experimental results. These results indicate that foam walls have advantages in symmetry control and lowering plasma fill when used in ignition hohlraum.

  17. 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.

  18. 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.

  19. Foam rheology at large deformation

    Science.gov (United States)

    Géminard, J.-C.; Pastenes, J. C.; Melo, F.

    2018-04-01

    Large deformations are prone to cause irreversible changes in materials structure, generally leading to either material hardening or softening. Aqueous foam is a metastable disordered structure of densely packed gas bubbles. We report on the mechanical response of a foam layer subjected to quasistatic periodic shear at large amplitude. We observe that, upon increasing shear, the shear stress follows a universal curve that is nearly exponential and tends to an asymptotic stress value interpreted as the critical yield stress at which the foam structure is completely remodeled. Relevant trends of the foam mechanical response to cycling are mathematically reproduced through a simple law accounting for the amount of plastic deformation upon increasing stress. This view provides a natural interpretation to stress hardening in foams, demonstrating that plastic effects are present in this material even for minute deformation.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. Determining the Compressive, Flexural and Splitting Tensile Strength of Silica Fume Reinforced Lightweight Foamed Concrete

    OpenAIRE

    Mydin M.A.O.; Sani N. Md.; Mohd Yusoff M.A.; Ganesan S.

    2014-01-01

    This study investigated the performance of the properties of foamed concrete in replacing volumes of cement of 10%, 15% and 20% by weight. A control unit of foamed concrete mixture made with ordinary Portland cement (OPC) and 10%, 15% and 20% silica fume was prepared. Three mechanical property parameters were studied such as compressive strength, flexural strength and splitting tensile of foamed concrete with different percentages of silica fume. Silica fume is commonly used to increase the m...

  5. Foam dressings for treating pressure ulcers.

    Science.gov (United States)

    Walker, Rachel M; Gillespie, Brigid M; Thalib, Lukman; Higgins, Niall S; Whitty, Jennifer A

    2017-10-12

    Pressure ulcers, also known as pressure injuries and bed sores, are localised areas of injury to the skin or underlying tissues, or both. Dressings made from a variety of materials, including foam, are used to treat pressure ulcers. An evidence-based overview of dressings for pressure ulcers is needed to enable informed decision-making on dressing use. This review is part of a suite of Cochrane Reviews investigating the use of dressings in the treatment of pressure ulcers. Each review will focus on a particular dressing type. To assess the clinical and cost effectiveness of foam wound dressings for healing pressure ulcers in people with an existing pressure ulcer in any care setting. In February 2017 we searched: the Cochrane Wounds Specialised Register; the Cochrane Central Register of Controlled Trials (CENTRAL); Ovid MEDLINE (including In-Process & Other Non-Indexed Citations); Ovid Embase; EBSCO CINAHL Plus and the NHS Economic Evaluation Database (NHS EED). We also searched clinical trials registries for ongoing and unpublished studies, and scanned reference lists of relevant included studies as well as reviews, meta-analyses and health technology reports to identify additional studies. There were no restrictions with respect to language, date of publication or study setting. Published or unpublished randomised controlled trials (RCTs) and cluster-RCTs, that compared the clinical and cost effectiveness of foam wound dressings for healing pressure ulcers (Category/Stage II or above). Two review authors independently performed study selection, risk of bias and data extraction. A third reviewer resolved discrepancies between the review authors. We included nine trials with a total of 483 participants, all of whom were adults (59 years or older) with an existing pressure ulcer Category/Stage II or above. All trials had two arms, which compared foam dressings with other dressings for treating pressure ulcers.The certainty of evidence ranged from low to very low due

  6. Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

    Directory of Open Access Journals (Sweden)

    José Rafael García-Sánchez

    2017-01-01

    Full Text Available The trajectory tracking task in a wheeled mobile robot (WMR is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR, actuators (DC motors, and power stage (DC/DC Buck power converters. The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a Σ–Δ-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

  7. End-Point Contact Force Control with Quantitative Feedback Theory for Mobile Robots

    Directory of Open Access Journals (Sweden)

    Shuhuan Wen

    2012-12-01

    Full Text Available Robot force control is an important issue for intelligent mobile robotics. The end-point stiffness of a robot is a key and open problem in the research community. The control strategies are mostly dependent on both the specifications of the task and the environment of the robot. Due to the limited stiffness of the end-effector, we may adopt inherent torque to feedback the oscillations of the controlled force. This paper proposes an effective control strategy which contains a controller using quantitative feedback theory. The nested loop controllers take into account the physical limitation of the system's inner variables and harmful interference. The biggest advantage of the method is its simplicity in both the design process and the implementation of the control algorithm in engineering practice. Taking the one-link manipulator as an example, numerical experiments are carried out to verify the proposed control method. The results show the satisfactory performance.

  8. Mechanical Characterization of Rigid Polyurethane Foams

    Energy Technology Data Exchange (ETDEWEB)

    Lu, Wei-Yang [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Mechanics of Materials

    2014-12-01

    Foam materials are used to protect sensitive components from impact loading. In order to predict and simulate the foam performance under various loading conditions, a validated foam model is needed and the mechanical properties of foams need to be characterized. Uniaxial compression and tension tests were conducted for different densities of foams under various temperatures and loading rates. Crush stress, tensile strength, and elastic modulus were obtained. A newly developed confined compression experiment provided data for investigating the foam flow direction. A biaxial tension experiment was also developed to explore the damage surface of a rigid polyurethane foam.

  9. 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

  10. 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.

  11. Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

    Science.gov (United States)

    Zheng, Li; Yi, Ruan

    2009-11-01

    Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  12. 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.

  13. Prediction based active ramp metering control strategy with mobility and safety assessment

    Science.gov (United States)

    Fang, Jie; Tu, Lili

    2018-04-01

    Ramp metering is one of the most direct and efficient motorway traffic flow management measures so as to improve traffic conditions. However, owing to short of traffic conditions prediction, in earlier studies, the impact on traffic flow dynamics of the applied RM control was not quantitatively evaluated. In this study, a RM control algorithm adopting Model Predictive Control (MPC) framework to predict and assess future traffic conditions, which taking both the current traffic conditions and the RM-controlled future traffic states into consideration, was presented. The designed RM control algorithm targets at optimizing the network mobility and safety performance. The designed algorithm is evaluated in a field-data-based simulation. Through comparing the presented algorithm controlled scenario with the uncontrolled scenario, it was proved that the proposed RM control algorithm can effectively relieve the congestion of traffic network with no significant compromises in safety aspect.

  14. Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints

    Directory of Open Access Journals (Sweden)

    Ollin Peñaloza-Mejía

    2015-01-01

    Full Text Available A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined with a tracking controller in a negative feedback connection structure. By using Lyapunov theory and passivity tools, global asymptotic tracking with desired bounded velocities is proved. Simulations and experimental results are provided to show the effectiveness of the proposal.

  15. New Control Paradigms for Resources Saving: An Approach for Mobile Robots Navigation

    Directory of Open Access Journals (Sweden)

    Rafael Socas

    2018-01-01

    Full Text Available In this work, an event-based control scheme is presented. The proposed system has been developed to solve control problems appearing in the field of Networked Control Systems (NCS. Several models and methodologies have been proposed to measure different resources consumptions. The use of bandwidth, computational load and energy resources have been investigated. This analysis shows how the parameters of the system impacts on the resources efficiency. Moreover, the proposed system has been compared with its equivalent discrete-time solution. In the experiments, an application of NCS for mobile robots navigation has been set up and its resource usage efficiency has been analysed.

  16. New Control Paradigms for Resources Saving: An Approach for Mobile Robots Navigation.

    Science.gov (United States)

    Socas, Rafael; Dormido, Raquel; Dormido, Sebastián

    2018-01-18

    In this work, an event-based control scheme is presented. The proposed system has been developed to solve control problems appearing in the field of Networked Control Systems (NCS). Several models and methodologies have been proposed to measure different resources consumptions. The use of bandwidth, computational load and energy resources have been investigated. This analysis shows how the parameters of the system impacts on the resources efficiency. Moreover, the proposed system has been compared with its equivalent discrete-time solution. In the experiments, an application of NCS for mobile robots navigation has been set up and its resource usage efficiency has been analysed.

  17. Model fire tests on polyphosphazene rubber and polyvinyl chloride (PVC)/nitrile rubber foams

    Science.gov (United States)

    Widenor, W. M.

    1978-01-01

    A video tape record of model room fire tests was shown, comparing polyphosphazene (P-N) rubber and polyvinyl chloride (PVC)/nitrile rubber closed-cell foams as interior finish thermal insulation under conditions directly translatable to an actual fire situation. Flashover did not occur with the P-N foam and only moderate amounts of low density smoke were formed, whereas with the PVC/nitrile foam, flashover occurred quickly and large volumes of high density smoke were emitted. The P-N foam was produced in a pilot plant under carefully controlled conditions. The PVC/nitrile foam was a commercial product. A major phase of the overall program involved fire tests on P-N open-cell foam cushioning.

  18. 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.

  19. Superplastically foaming method to make closed pores inclusive porous ceramics

    International Nuclear Information System (INIS)

    Kishimoto, Akira; Hayashi, Hidetaka

    2011-01-01

    Porous ceramics incorporates pores to improve several properties including thermal insulation maintaining inherenet ceramic properties such as corrosion resistance and large mechanical strength. Conventional porous ceramics is usually fabricated through an insufficient sintering. Since the sintering accompanies the exclusion of pores, it must be terminated at the early stage to maintain the high porosity, leading to degraded strength and durability. Contrary to this, we have innovated superplastically foaming method to make ceramic foams only in the solid state. In this method, the previously inserted foam agent evaporates after the full densification of matrix at around the sintering temperature. Closed pores expand utilizing the superplastic deformation driven by the evolved gas pressure. The typical features of this superplastically foaming method are listed as follows, 1. The pores are introduced after sintering the solid polycrystal. 2. Only closed pores are introduced, improving the insulation of gas and sound in addition to heat. 3. The pore walls are fully densified expecting a large mechanical strength. 4. Compared with the melt foaming method, this method is practical because the fabrication temperature is far below the melting point and it does not need molds. 5. The size and the location pores can be controlled by the amount and position of the foam agent.

  20. Using egg albumin foam to extinguish fires

    Directory of Open Access Journals (Sweden)

    Hytham A. Alsaati

    2003-12-01

    Full Text Available Oil, coal and chemical fires are often difficult to put out using water. In certain hydrocarbon fires, protein foam can extinguish fires better than water by keeping air (oxygen away from the flames and by ''blowing'' the flame away from its fuel source. Egg albumin is a relatively inexpensive protein and is representative of foaming proteins, which are candidates for use as fire suppression agents. This paper begins to deal with the effect of the foam bulk pH, foam protein concentration and generating air flow rate into the foam on the fire extinguishing time in laboratory experiments. A Bunsen burner was used to generate a small, controlled laboratory fire within a plastic container, which represented a point source in a partially open room in the experiments. The Bunsen burner represents a gaseous hydrocarbon fire, which can be difficult to extinguish. Both a low pH foam and one made with a high air flow rate favor a reduction in time required to put out the Bunsen burner flame.Chamas produzidas por óleo, carvão e produtos químicos (incêndios provocados são difíceis de ser extinguidos com água. Algumas chamas de hidrocarbonetos podem ser extinguidas por espumas protéicas melhor do que a manutenção de ar (oxigênio fora do alcance das chamas ou pelo sopramento da chama para longe da sua fonte. Albumina de ovo é uma proteína relativamente barata e é representativa dentre as proteínas usadas como espuma para a (supressão extinção de agentes causadores de incêndio. Este artigo trata do estudo do efeito do pH e concentração da espuma protéica, além da geração de ar no interior da espuma, sobre o tempo de extinção de incêndio em experimentos laboratoriais. Nos experimentos um bico de Bunsen foi usado para gerar uma pequena chama, controlada em um container de plástico, representando uma fonte pontual em um ambiente parcialmente aberto. A chama do bico de Bunsen representa uma chama gasosa de hidrocarbonetos, que são dif

  1. 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

  2. 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.

  3. Web-Based and Mobile Stress Management Intervention for Employees: A Randomized Controlled Trial

    OpenAIRE

    Heber, Elena; Lehr, Dirk; Ebert, David Daniel; Berking, Matthias; Riper, Heleen

    2016-01-01

    Background: Work-related stress is highly prevalent among employees and is associated with adverse mental health consequences. Web-based interventions offer the opportunity to deliver effective solutions on a large scale; however, the evidence is limited and the results conflicting. Objective: This randomized controlled trial evaluated the efficacy of guided Web-and mobile-based stress management training for employees. Methods: A total of 264 employees with elevated symptoms of stress (Perce...

  4. Investigation of humidity control via membrane separation for advanced Extravehicular Mobility Unit (EMU) application

    Science.gov (United States)

    Newbold, D. D.; Ray, R. J.; Pledger, W. A.; Mccray, S. B.; Brown, M. F.

    1989-01-01

    This paper describes the development of a membrane-based process for dehumidifying the Extravehicular Mobility Unit (EMU). The membrane process promises to be smaller, lighter, and more energy efficient than the other technologies for dehumidification. The dehydration membranes were tested for 90 days at conditions expected to be present in the EMU. The results of these tests indicate that membrane-based technology can effectively control humidity in the EMU.

  5. PUR-PIR foam produced based on poly(hydroxybutyl citrate foamed founded with different factories

    Directory of Open Access Journals (Sweden)

    Liszkowska Joanna

    2018-03-01

    Full Text Available A poly(hydroxybutyl citrate p(HBC was obtained. The product compound produced in the solution during esterification, was added to rigid polyurethane-polyisocyanurate foams (PUR-PIR. The amount of petrochemical polyol in the foams was decreased in favor of the p(HBC from 0.1 to 0.5 equivalent. The foams were foamed in two ways: with distilled water (W foams and with Solkane 365/227 (S foams. The examination results of both foam series were compared. They showed that the foams foamed with water have higher softening temperature than the foams foamed with solkane. The retention values for both foam series are around 91–95%, and water absorption in the range of 0.7–3.2%. The anisotropy coefficient did not exceed 1.08 (the lowest value being 1.01.

  6. 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.

  7. 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.

  8. 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.

  9. Composite carbon foam electrode

    Science.gov (United States)

    Mayer, Steven T.; Pekala, Richard W.; Kaschmitter, James L.

    1997-01-01

    Carbon aerogels used as a binder for granularized materials, including other forms of carbon and metal additives, are cast onto carbon or metal fiber substrates to form composite carbon thin film sheets. The thin film sheets are utilized in electrochemical energy storage applications, such as electrochemical double layer capacitors (aerocapacitors), lithium based battery insertion electrodes, fuel cell electrodes, and electrocapacitive deionization electrodes. The composite carbon foam may be formed by prior known processes, but with the solid particles being added during the liquid phase of the process, i.e. prior to gelation. The other forms of carbon may include carbon microspheres, carbon powder, carbon aerogel powder or particles, graphite carbons. Metal and/or carbon fibers may be added for increased conductivity. The choice of materials and fibers will depend on the electrolyte used and the relative trade off of system resistivty and power to system energy.

  10. Mobilities Mobilities

    Directory of Open Access Journals (Sweden)

    César Pompeyo

    2011-12-01

    Full Text Available Urry, John (2007 Mobilities.Oxford: Polity Press.Urry, John (2007 Mobilities.Oxford: Polity Press.John Urry (1946-, profesor en la Universidad de Lancaster, es un sociólogo de sobra conocido y altamente reputado en el panorama internacional de las ciencias sociales. Su dilatada carrera, aparentemente dispersa y diversificada, ha seguido senderos bastante bien definidos dejando tras de sí un catálogo extenso de obras sociológicas de primer nivel. Sus primeros trabajos se centraban en el campo de la teoría social y la filosofía de las ciencias sociales o de la sociología del poder [...

  11. Near-Optimal Tracking Control of Mobile Robots Via Receding-Horizon Dual Heuristic Programming.

    Science.gov (United States)

    Lian, Chuanqiang; Xu, Xin; Chen, Hong; He, Haibo

    2016-11-01

    Trajectory tracking control of wheeled mobile robots (WMRs) has been an important research topic in control theory and robotics. Although various tracking control methods with stability have been developed for WMRs, it is still difficult to design optimal or near-optimal tracking controller under uncertainties and disturbances. In this paper, a near-optimal tracking control method is presented for WMRs based on receding-horizon dual heuristic programming (RHDHP). In the proposed method, a backstepping kinematic controller is designed to generate desired velocity profiles and the receding horizon strategy is used to decompose the infinite-horizon optimal control problem into a series of finite-horizon optimal control problems. In each horizon, a closed-loop tracking control policy is successively updated using a class of approximate dynamic programming algorithms called finite-horizon dual heuristic programming (DHP). The convergence property of the proposed method is analyzed and it is shown that the tracking control system based on RHDHP is asymptotically stable by using the Lyapunov approach. Simulation results on three tracking control problems demonstrate that the proposed method has improved control performance when compared with conventional model predictive control (MPC) and DHP. It is also illustrated that the proposed method has lower computational burden than conventional MPC, which is very beneficial for real-time tracking control.

  12. 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

  13. Mobile phone intervention reduces perinatal mortality in zanzibar: secondary outcomes of a cluster randomized controlled trial.

    Science.gov (United States)

    Lund, Stine; Rasch, Vibeke; Hemed, Maryam; Boas, Ida Marie; Said, Azzah; Said, Khadija; Makundu, Mkoko Hassan; Nielsen, Birgitte Bruun

    2014-03-26

    Mobile phones are increasingly used in health systems in developing countries and innovative technical solutions have great potential to overcome barriers of access to reproductive and child health care. However, despite widespread support for the use of mobile health technologies, evidence for its role in health care is sparse. We aimed to evaluate the association between a mobile phone intervention and perinatal mortality in a resource-limited setting. This study was a pragmatic, cluster-randomized, controlled trial with primary health care facilities in Zanzibar as the unit of randomization. At their first antenatal care visit, 2550 pregnant women (1311 interventions and 1239 controls) who attended antenatal care at selected primary health care facilities were included in this study and followed until 42 days after delivery. Twenty-four 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. Secondary outcome measures included stillbirth, perinatal mortality, and death of a child within 42 days after birth as a proxy of neonatal mortality. Within the first 42 days of life, 2482 children were born alive, 54 were stillborn, and 36 died. The overall perinatal mortality rate in the study was 27 per 1000 total births. The rate was lower in the intervention clusters, 19 per 1000 births, than in the control clusters, 36 per 1000 births. The intervention was associated with a significant reduction in perinatal mortality with an odds ratio (OR) of 0.50 (95% CI 0.27-0.93). Other secondary outcomes showed an insignificant reduction in stillbirth (OR 0.65, 95% CI 0.34-1.24) and an insignificant reduction in death within the first 42 days of life (OR 0.79, 95% CI 0.36-1.74). Mobile phone applications may contribute to improved health of the newborn and should be considered by policy makers in resource-limited settings. Clinical

  14. Amorphous microcellular polytetrafluoroethylene foam film

    Science.gov (United States)

    Tang, Chongzheng

    1991-11-01

    We report herein the preparation of novel low-density ultramicrocellular fluorocarbon foams and their application. These fluorocarbon foams are of interest for the biochemistry arena in numerous applications including foodstuff, pharmacy, wine making, beer brewery, fermentation medical laboratory, and other processing factories. All of those require good quality processing programs in which, after eliminating bacterium and virus, compressed air is needed. Ordinarily, compressed air contains bacterium and virus, its size is 0.01 - 2 micrometers fluorocarbon foam films. Having average porous diameter 0.04 - 0.1 micrometers , these are stable to high temperature (280 degree(s)C) and chemical environments, and generally have good engineering and mechanical properties (e.g., low coefficient of thermal expansion, high modulus, and good dimensional stability). Our new process for preparing low density fluorocarbon foams provides materials with unique properties. As such, they offer the possibility for being superior to earlier materials for a number of the filter applications mentioned.

  15. Fluoride Rinses, Gels and Foams

    DEFF Research Database (Denmark)

    Twetman, Svante; Keller, Mette K

    2016-01-01

    AIM: The aim of this conference paper was to systematically review the quality of evidence and summarize the findings of clinical trials published after 2002 using fluoride mouth rinses, fluoride gels or foams for the prevention of dental caries. METHODS: Relevant papers were selected after...... (6 on fluoride mouth rinse, 10 on fluoride gel and 3 on fluoride foam); 6 had a low risk of bias while 2 had a moderate risk. All fluoride measures appeared to be beneficial in preventing crown caries and reversing root caries, but the quality of evidence was graded as low for fluoride mouth rinse......, moderate for fluoride gel and very low for acidulated fluoride foam. No conclusions could be drawn on the cost-effectiveness. CONCLUSIONS: This review, covering the recent decade, has further substantiated the evidence for a caries-preventive effect of fluoride mouth rinse, fluoride gel and foam...

  16. Foaming in manure based digesters

    DEFF Research Database (Denmark)

    Kougias, Panagiotis; Boe, Kanokwan; Angelidaki, Irini

    2012-01-01

    Anaerobic digestion foaming is one of the major problems that occasionally occurred in the Danish full-scale biogas plants, affecting negatively the overall digestion process. The foam is typically formatted in the main biogas reactor or in the pre-storage tank and the entrapped solids in the foam...... cause severe operational problems, such as blockage of mixing devices, and collapse of pumps. Furthermore, the foaming problem is linked with economic consequences for biogas plants, due to income losses derived from the reduced biogas production, extra labour work and additional maintenance costs...... was increased by the addition of glucose in the feeding substrate. During the 2nd and 4th period the organic loading rate was maintained constant, but instead of glucose, higher concentration of Na-oleate or gelatine was added in the feeding substrate. The results obtained from the above experiment showed...

  17. Photoactivity of Titanium Dioxide Foams

    Directory of Open Access Journals (Sweden)

    Maryam Jami

    2018-01-01

    Full Text Available TiO2 foams have been prepared by a simple mechanical stirring method. Short-chain amphiphilic molecules have been used to stabilize colloidal suspensions of TiO2 nanoparticles. TiO2 foams were characterized by X-ray diffraction (XRD, X-ray photoelectron spectroscopy (XPS, UV-vis absorption spectroscopy, and scanning electron microscopy (SEM. The photoassisted oxidation of NO in the gas phase according to ISO 22197-1 has been used to compare the photoactivity of the newly prepared TiO2 foams to that of the original powders. The results showed that the photoactivity is increased up to about 135%. Foam structures seem to be a good means of improving the photoactivity of semiconductor materials and can readily be used for applications such as air purification devices.

  18. 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.

  19. 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.

  20. Supercapacitors based on carbon foams

    Science.gov (United States)

    Kaschmitter, James L.; Mayer, Steven T.; Pekala, Richard W.

    1993-01-01

    A high energy density capacitor incorporating a variety of carbon foam electrodes is described. The foams, derived from the pyrolysis of resorcinol-formaldehyde and related polymers, are high density (0.1 g/cc-1.0 g/cc) electrically conductive and have high surface areas (400 m.sup.2 /g-1000 m.sup.2 /g). Capacitances on the order of several tens of farad per gram of electrode are achieved.

  1. 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.

  2. Foam shell project: Progress report

    International Nuclear Information System (INIS)

    Overturf, G.; Reibold, B.; Cook, B.; Schroen-Carey, D.

    1994-01-01

    The authors report on their work to produce a foam shell target for two possible applications: (1) as liquid-layered cryogenic target on Omega Upgrade, and (2) as a back-up design for the NIF. This target consists of a roughly 1 mm diameter and 100 μm thick spherical low-density foam shell surrounding a central void. The foam will be slightly overfilled with liquid D 2 or DT, the overfilled excess being symmetrically distributed on the inside of the shell and supported by thermal gradient techniques. The outside of the foam is overcoated with full density polymer which must be topologically smooth. The technology for manufacturing this style of foam shell involves microencapsulation techniques and has been developed by the Japanese at ILE. Their goal is to determine whether this technology can be successfully adapted to meet US ICF objectives. To this end a program of foam shell development has been initiated at LLNL in collaboration with both the General Atomics DOE Target Fabrication Contract Corporation and the Target Fabrication Group at LLE

  3. Stability of metallic foams studied under microgravity

    CERN Document Server

    Wuebben, T; Banhart, J; Odenbach, S

    2003-01-01

    Metal foams are prepared by mixing a metal powder and a gas-releasing blowing agent, by densifying the mix to a dense precursor and finally foaming by melting the powder compact. The foaming process of aluminium foams is monitored in situ by x-ray radioscopy. One observes that foam evolution is accompanied by film rupture processes which lead to foam coalescence. In order to elucidate the importance of oxides for foam stability, lead foams were manufactured from lead powders having two different oxide contents. The two foam types were generated on Earth and under weightlessness during parabolic flights. The measurements show that the main function of oxide particles is to prevent coalescence, while their influence on bulk viscosity of the melt is of secondary importance.

  4. Study of two-phase foam flow

    Energy Technology Data Exchange (ETDEWEB)

    Gurbanov, R S; Guliev, B B; Mekhtiev, K G; Kerimov, R G

    1970-01-01

    The objectives of this study were to determine characteristics of aqueous foam flow through porous media and to estimate the depth of foam penetration into a formation. Foam was generated by mixing air and 1% solution of surfactant PO-1. Foam density was maintained at 0.14 g/cc in all experiments. The foam was passed through sand columns (800 mm long x 30 mm diam) of permeabilities 26, 39, 80, 111, and 133 darcys. Flow rates were measured at various pressure drops and the relationship between system parameters was expressed analytically and graphically. From the data, distance of foam penetration into a formation as a function of pressure drop and permeability was calculated. The data indicate that under most conditions, foam will penetrate the formation to a negligible distance. This study indicates that when foam is used to remove sand from a well, a negligible loss of foam to the formation occurs.

  5. Impact of Interfacial Characteristics on Foam Structure: Study on Model Fluids and at Pilot Scale

    Directory of Open Access Journals (Sweden)

    Mezdour Samir

    2017-03-01

    Full Text Available Foams represent an important area of research because of their relevance to many industrial processes. In continuous foaming operations, foaming ability depends on the process parameters and the characteristics of the raw materials used for foamed products. The effects of fluid viscosity and equilibrium surface tension on foam structure have been studied extensively. Furthermore, as surface active agents diffuse to the interface, they can modify other interface properties through their adsorption, such as interfacial rheology and surface tension kinetics. In order to better understand how these two interfacial properties influence foam structuring, we formulated model foaming solutions with different interface viscoelasticity levels and adsorption rates, but all with the same equilibrium surface tension and viscosity. The solutions were made up of a surface active agent and glucose syrup, so as to maintain a Newtonian behaviour. Five surface active agents were used: Whey Protein Isolate (WPI, sodium caseinate, saponin, cetyl phosphate and Sodium Dodecyl Sulphate (SDS, at concentrations ranging from 0.1% to 1%. Their molecular characteristics, and their interaction with the glucose syrup, made it possible to obtain a range of interface viscoelasticities and surface tension kinetics for these model solutions. The solutions were whipped in a continuously-operating industrial foaming device in order to control process parameters such as shearing and overrun, and to ensure that the experiment was representative of industrial production. The structure of the foams thus obtained foams was then determined by characterising bubble size using image analysis. For all the model solutions, both the viscoelastic moduli and apparent diffusion coefficient were linked to foam structure. The results showed that both high interface viscoelasticity and rapid diffusion kinetics induced a foam structure containing small bubbles. Both effects, as well as the impact of

  6. 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

  7. 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.

  8. Cross-Layer Design Approach for Power Control in Mobile Ad Hoc Networks

    Directory of Open Access Journals (Sweden)

    A. Sarfaraz Ahmed

    2015-03-01

    Full Text Available In mobile ad hoc networks, communication among mobile nodes occurs through wireless medium The design of ad hoc network protocol, generally based on a traditional “layered approach”, has been found ineffective to deal with receiving signal strength (RSS-related problems, affecting the physical layer, the network layer and transport layer. This paper proposes a design approach, deviating from the traditional network design, toward enhancing the cross-layer interaction among different layers, namely physical, MAC and network. The Cross-Layer design approach for Power control (CLPC would help to enhance the transmission power by averaging the RSS values and to find an effective route between the source and the destination. This cross-layer design approach was tested by simulation (NS2 simulator and its performance over AODV was found to be better.

  9. Application Of Electronic Nose And Ion Mobility Spectrometer To Quality Control Of Spice Mixtures

    International Nuclear Information System (INIS)

    Banach, U.; Tiebe, C.; Huebert, Th.

    2009-01-01

    The aim of the paper is to demonstrate the application of electronic nose (e-nose) and ion mobility spectrometry (IMS) to quality control and to find out product adulteration of spice mixtures. Therefore the gaseous head space phase of four different spice mixtures (spices for sausages and saveloy) was differed from original composition and product adulteration. In this set of experiments metal-oxide type e-nose (KAMINA-type) has been used, and characteristic patterns of data corresponding to various complex odors of the four different spice mixtures were generated. Simultaneously an ion mobility spectrometer was coupled also to an emission chamber for the detection of gaseous components of spice mixtures. The two main methods that have been used show a clear discrimination between the original spice mixtures and product adulteration could be distinguished from original spice mixtures.

  10. 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.

  11. A systematic review of randomised control trials of sexual health interventions delivered by mobile technologies.

    Science.gov (United States)

    Burns, Kara; Keating, Patrick; Free, Caroline

    2016-08-12

    Sexually transmitted infections (STIs) pose a serious public health problem globally. The rapid spread of mobile technology creates an opportunity to use innovative methods to reduce the burden of STIs. This systematic review identified recent randomised controlled trials that employed mobile technology to improve sexual health outcomes. The following databases were searched for randomised controlled trials of mobile technology based sexual health interventions with any outcome measures and all patient populations: MEDLINE, EMBASE, PsycINFO, Global Health, The Cochrane Library (Cochrane Database of Systematic Reviews, Cochrane Central Register of Controlled Trials, Cochrane Methodology Register, NHS Health Technology Assessment Database, and Web of Science (science and social science citation index) (Jan 1999-July 2014). Interventions designed to increase adherence to HIV medication were not included. Two authors independently extracted data on the following elements: interventions, allocation concealment, allocation sequence, blinding, completeness of follow-up, and measures of effect. Trials were assessed for methodological quality using the Cochrane risk of bias tool. We calculated effect estimates using intention to treat analysis. A total of ten randomised trials were identified with nine separate study groups. No trials had a low risk of bias. The trials targeted: 1) promotion of uptake of sexual health services, 2) reduction of risky sexual behaviours and 3) reduction of recall bias in reporting sexual activity. Interventions employed up to five behaviour change techniques. Meta-analysis was not possible due to heterogeneity in trial assessment and reporting. Two trials reported statistically significant improvements in the uptake of sexual health services using SMS reminders compared to controls. One trial increased knowledge. One trial reported promising results in increasing condom use but no trial reported statistically significant increases in condom

  12. 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.

  13. Production of Polystyrene Open-celled Microcellular Foam in Batch Process by Super Critical CO2

    Directory of Open Access Journals (Sweden)

    M.S. Enayati

    2010-12-01

    Full Text Available Open-celled foams are capable to allow the passage of fluids through their structure, because of interconnections between the open cells or bubbles and therefore these structures can be used as a membrane and filter. In thiswork, we have studied the production of polystyrene open-celled microcellular foam by using CO2 as blowing agent. To achieve such structures, it is necessary to control the stages of growth in such a way that the cells would connect to each other through the pores without any coalescence. The required processing condition to achieve open-celled structures is predictable by a model theory of opened-cell. This model suggests that at least a 130 bar saturation pressure and foaming time between 9 and 58 s are required for this system. The temperature range has been selected for to be both higher than polymer glass transition temperature and facilitating the foaming process. Experimental results in the batch foaming process has verified the model quite well. The SEM and mercury porousimetry tests show the presence of pores between the cells with open-celled structure. Experimental results show that by increasing the saturation pressure and the foaming temperature, there is a drop in the time required for open-celled structure formation. A 130 bar saturation pressure, 150o C foaming temperature and 60 s foaming time, suggest the attainment of open-celled microcellular foam based on polystyrene/CO2 system in the batch process.

  14. 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.

  15. Development of drilling foams for geothermal applications

    Energy Technology Data Exchange (ETDEWEB)

    McDonald, W.J.; Remont, L.J.; Rehm, W.A.; Chenevert, M.E.

    1980-01-01

    The use of foam drilling fluids in geothermal applications is addressed. A description of foams - what they are, how they are used, their properties, equipment required to use them, the advantages and disadvantages of foams, etc. - is presented. Geothermal applications are discussed. Results of industry interviews presented indicate significant potential for foams, but also indicate significant technical problems to be solved to achieve this potential. Testing procedures and results of tests on representative foams provide a basis for work to develop high-temperature foams.

  16. The role of cassiterite controlling arsenic mobility in an abandoned stanniferous tailings impoundment at Llallagua, Bolivia.

    Science.gov (United States)

    Romero, Francisco Martín; Canet, Carles; Alfonso, Pura; Zambrana, Rubén N; Soto, Nayelli

    2014-05-15

    The surface water contamination by potentially toxic elements (PTE) leached from mine tailings is a major environmental concern. However, the formation of insoluble solid phases can control the mobility of PTE, with subsequent decrease of the risk that tailings suppose to the environment. We characterized the tailings from a tin inactive mine in Llallagua, Bolivia in order to assess the risk for surface water quality. These tailings contain high concentrations of PTE, with up to 94,344 mg/kg Fe, 9,135 mg/kg Sn, 4,606 mg/kg As, 1,362 mg/kg Cu, 1,220 mg/kg Zn, 955 mg/kg Pb and 151 mg/kg Cd. Oxidation of sulfide minerals in these tailings generates acid leachates (pH=2.5-3.5), rich in SO4(2-) and dissolved PTE, thereby releasing contaminants to the surface waters. Nevertheless, the concentrations of dissolved Sn, As and Pb in acid leachates are low (Sntailing deposits; it should be the main solid phase controlling Sn and As mobility in the impoundment. Additionally, jarosite and plumbojarosite, identified among the secondary minerals, could also play an important role controlling the mobility of As and Pb. Taking into account (a) the low solubility constants of cassiterite (Ksp=10(-64.2)), jarosite (Ksp=10(-11)) and plumbojarosite (Ksp=10(-28.66)), and (b) the stability of these minerals under acidic conditions, we can conclude that they control the long-term fate of Sn, As and Pb in the studied tailings. Copyright © 2014 Elsevier B.V. All rights reserved.

  17. Biopolymer foams - Relationship between material characteristics and foaming behavior of cellulose based foams

    International Nuclear Information System (INIS)

    Rapp, F.; Schneider, A.; Elsner, P.

    2014-01-01

    Biopolymers are becoming increasingly important to both industry and consumers. With regard to waste management, CO 2 balance and the conservation of petrochemical resources, increasing efforts are being made to replace standard plastics with bio-based polymers. Nowadays biopolymers can be built for example of cellulose, lactic acid, starch, lignin or bio mass. The paper will present material properties of selected cellulose based polymers (cellulose propionate [CP], cellulose acetate butyrate [CAB]) and corresponding processing conditions for particle foams as well as characterization of produced parts. Special focus is given to the raw material properties by analyzing thermal behavior (differential scanning calorimetry), melt strength (Rheotens test) and molecular weight distribution (gel-permeation chromatography). These results will be correlated with the foaming behavior in a continuous extrusion process with physical blowing agents and underwater pelletizer. Process set-up regarding particle foam technology, including extrusion foaming and pre-foaming, will be shown. The characteristics of the resulting foam beads will be analyzed regarding part density, cell morphology and geometry. The molded parts will be tested on thermal conductivity as well as compression behavior (E-modulus, compression strength)

  18. Biopolymer foams - Relationship between material characteristics and foaming behavior of cellulose based foams

    Science.gov (United States)

    Rapp, F.; Schneider, A.; Elsner, P.

    2014-05-01

    Biopolymers are becoming increasingly important to both industry and consumers. With regard to waste management, CO2 balance and the conservation of petrochemical resources, increasing efforts are being made to replace standard plastics with bio-based polymers. Nowadays biopolymers can be built for example of cellulose, lactic acid, starch, lignin or bio mass. The paper will present material properties of selected cellulose based polymers (cellulose propionate [CP], cellulose acetate butyrate [CAB]) and corresponding processing conditions for particle foams as well as characterization of produced parts. Special focus is given to the raw material properties by analyzing thermal behavior (differential scanning calorimetry), melt strength (Rheotens test) and molecular weight distribution (gel-permeation chromatography). These results will be correlated with the foaming behavior in a continuous extrusion process with physical blowing agents and underwater pelletizer. Process set-up regarding particle foam technology, including extrusion foaming and pre-foaming, will be shown. The characteristics of the resulting foam beads will be analyzed regarding part density, cell morphology and geometry. The molded parts will be tested on thermal conductivity as well as compression behavior (E-modulus, compression strength).

  19. 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.

  20. Evaluation of a mobile phone telemonitoring system for glycaemic control in patients with diabetes.

    Science.gov (United States)

    Istepanian, Robert S H; Zitouni, Karima; Harry, Diane; Moutosammy, Niva; Sungoor, Ala; Tang, Bee; Earle, Kenneth A

    2009-01-01

    We conducted a randomized controlled trial using mobile health technology in an ethnically diverse sample of 137 patients with complicated diabetes. Patients in the intervention group (n = 72) were trained to measure their blood glucose with a sensor which transmitted the readings to a mobile phone via a Bluetooth wireless link. Clinicians were then able to examine and respond to the readings which were viewed with a web-based application. Patients in the control arm of the study (n = 65) did not transmit their readings and received care with their usual doctor in the outpatient and/or primary care setting. The mean follow-up period was 9 months in each group. The default rate was higher in the patients in the intervention arm due to technical problems. In an intention-to-treat analysis there were no differences in HbA(1c) between the intervention and control groups. In a sub-group analysis of the patients who completed the study, the telemonitoring group had a lower HbA(1c) than those in the control group: 7.76% and 8.40%, respectively (P = 0.06).

  1. Development of foams from linear polypropylene (PP) and high melt strength polypropylene (HMSPP) polymeric blends

    International Nuclear Information System (INIS)

    Cardoso, Elisabeth Carvalho Leite

    2009-01-01

    Foamed polymers are future materials, with a comprehensive application field. They can be used in order to improve appearance of insulation structures, for example, or to reduce costs involving materials. This work address to Isotactic Polypropylene / High Melt Strength Polypropylene blends, for foams production. Rheological behavior of polymer melt, especially referring to viscosity in processing temperature, plays a decisive role in applications where dominates extensional flow, as in case of foaming. If the viscosity is very low, it will correspond to a low melt strength, as in case of linear homopolymer (Isotact PP), and the foam will be prejudiced, due to the impossibility of expansion. Otherwise, if the viscosity is very high, with a high melt strength, the foam will collapse immediately after its formation. In order to get foams with an homogeneous and defined cellular structure, there were accomplished blends, 50% in weight, between linear homopolymer (isotactic PP) and HMSPP, from PP modified as per gamma radiation, in acetylene environment and at a 12.5 kGy doses. Extrusion process used a soluble foaming methodology, according to a processing/dissolution principle, which involves the dissolution of a Physical Blowing Agent (PBA), under 30 bar pressure, homogeneously mixed with polymeric melt. Extrusion conditions, that generally involve temperature, pressure and viscoelastic material flow control were experimentally investigated to define prevalent characteristics for producing foams. Nitrogen was the used PBA and process extrusion parameters were adapted to PP, HMSPP and their 50% in weight mixtures thereof. Major PP and HMSPP characteristics were obtained via melt Index and melt strength and thermal analyses (DSC/TGA), in order to make viable and to reproduce foaming as per extrusion process. Foams cellular morphology of PP, HMSPP and their 50% in weight mixtures thereof was investigated, with and without talc addition, as nucleating agent, by using

  2. 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)

  3. Transport control of forest fuels by fleet manager, mobile terminals and GPS

    International Nuclear Information System (INIS)

    Sikanen, Lauri; Asikainen, Antti; Lehikoinen, Mikko

    2005-01-01

    Chip transportation is undertaken by private transportation enterprises that are contracted by a larger wood fuel trader. Compared with industrial roundwood supply the volumes and value of wood fuel supply are markedly lower. As a result, the possibilities to invest in information systems for transport management are limited. New portable, wireless communication techniques and internet-based systems for fleet management enable more cost-efficient control systems with low investment costs in hard and software and also low operating costs. Mobile handsets with GPS, digital road map display and global positioning systems (GPS) or general purpose radio service data transfer protocol can be used as mobile terminals in chippers and trucks. In addition, transport management personnel can use them to locate in-forest wood fuel storage piles into the map database as well as point suitable routing to the storage piles. In a pilot study, conducted in Central Finland, an internet based management tool, Arbonaut Fleet ManagerTM, was tailored for forest fuel supply chain management and trailed for three months. It was found that use of mobile handsets with GPS and map display assisted especially in exact location of in-forest wood fuel storage piles by managers. They assisted also trucks and chippers in navigation to storages and landings, but the screen was too small for reading during driving. The management system was found helpful in stock accounting and GPS-based vehicle tracking gave transportation distances directly for invoicing

  4. 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.

  5. Application of a model of instrumental conditioning to mobile robot control

    Science.gov (United States)

    Saksida, Lisa M.; Touretzky, D. S.

    1997-09-01

    Instrumental conditioning is a psychological process whereby an animal learns to associate its actions with their consequences. This type of learning is exploited in animal training techniques such as 'shaping by successive approximations,' which enables trainers to gradually adjust the animal's behavior by giving strategically timed reinforcements. While this is similar in principle to reinforcement learning, the real phenomenon includes many subtle effects not considered in the machine learning literature. In addition, a good deal of domain information is utilized by an animal learning a new task; it does not start from scratch every time it learns a new behavior. For these reasons, it is not surprising that mobile robot learning algorithms have yet to approach the sophistication and robustness of animal learning. A serious attempt to model instrumental learning could prove fruitful for improving machine learning techniques. In the present paper, we develop a computational theory of shaping at a level appropriate for controlling mobile robots. The theory is based on a series of mechanisms for 'behavior editing,' in which pre-existing behaviors, either innate or previously learned, can be dramatically changed in magnitude, shifted in direction, or otherwise manipulated so as to produce new behavioral routines. We have implemented our theory on Amelia, an RWI B21 mobile robot equipped with a gripper and color video camera. We provide results from training Amelia on several tasks, all of which were constructed as variations of one innate behavior, object-pursuit.

  6. 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

  7. 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.

  8. Foam-mat drying technology: A review.

    Science.gov (United States)

    Hardy, Z; Jideani, V A

    2017-08-13

    This article reviews various aspects of foam-mat drying such as foam-mat drying processing technique, main additives used for foam-mat drying, foam-mat drying of liquid and solid foods, quality characteristics of foam-mat dried foods, and economic and technical benefits for employing foam-mat drying. Foam-mat drying process is an alternative method that allows the removal of water from liquid materials and pureed materials. In this drying process, a liquid material is converted into foam that is stable by being whipped after adding an edible foaming agent. The stable foam is then spread out in sheet or mat and dried by using hot air (40-90°C) at atmospheric pressure. Methyl cellulose (0.25-2%), egg white (3-20%), maltodextrin (0.5-05%), and gum Arabic (2-9%) are the commonly utilized additives for the foam-mat drying process at the given range, either combined together for their effectiveness or individual effect. The foam-mat drying process is suitable for heat sensitive, viscous, and sticky products that cannot be dried using other forms of drying methods such as spray drying because of the state of product. More interest has developed for foam-mat drying because of the simplicity, cost effectiveness, high speed drying, and improved product quality it provides.

  9. 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.

  10. Novel developments in foam sclerotherapy: Focus on Varithena® (polidocanol endovenous microfoam) in the management of varicose veins.

    Science.gov (United States)

    Star, Phoebe; Connor, David E; Parsi, Kurosh

    2018-04-01

    Scope Varithena® is a recently approved commercially available drug/delivery unit that produces foam using 1% polidocanol for the management of varicose veins. The purpose of this review is to examine the benefits of foam sclerotherapy, features of the ideal foam sclerosant and the strengths and limitations of Varithena® in the context of current foam sclerotherapy practices. Method Electronic databases including PubMed, Medline (Ovid) SP as well as trial registries and product information sheets were searched using the keywords, 'Varithena', 'Varisolve', 'polidocanol endovenous microfoam', 'polidocanol' and/or 'foam sclerotherapy/sclerosant'. Articles published prior to 20 September 2016 were identified. Results Foam sclerosants have effectively replaced liquid agents due to their physiochemical properties resulting in better clinical outcomes. Medical practitioners commonly prepare sclerosant foam at the bedside by agitating liquid sclerosant with a gas such as room air, using techniques as described by Tessari or the double syringe method. Such physician-compounded foams are highly operator dependent producing inconsistent foams of different gas/liquid compositions, bubble size, foam behaviour and varied safety profiles. Varithena® overcomes the variability and inconsistencies of physician-compounded foam. However, Varithena® has limited applications due to its fixed sclerosant type and concentration, cost and lack of worldwide availability. Clinical trials of Varithena® have demonstrated efficacy and safety outcomes equivalent or better than physician-compounded foam but only in comparison to placebo alone. Conclusion Varithena® is a promising step towards the creation of an ideal sclerosant foam. Further assessment in independent randomised controlled clinical trials is required to establish the advantages of Varithena® over and above the current best practice physician-compounded foam.

  11. 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.

  12. Validating Mobile Electroencephalographic Systems for Integration into the PhyCORE and Application in Clinical Settings

    Science.gov (United States)

    2016-09-26

    Systems for PhyCORE 5 Table 1. Technical Features of the Mobile EEG Systems WS ABM ANT Sensor Type Active dry sensors Gel on absorbent foam Gel on...unique methods for achieving mobility and synchronizing external events with the EEG signals. As depicted in Figure 5, for the ABM system , EEG signals...This method effectively eliminated the Tblue found with the ABM system . D-Flow commands WS ANT PhyCORE PhyCORE Control Center ABM t2 Amplifier

  13. Data Collection Method for Mobile Control Sink Node in Wireless Sensor Network Based on Compressive Sensing

    Directory of Open Access Journals (Sweden)

    Ling Yongfa

    2016-01-01

    Full Text Available The paper proposes a mobile control sink node data collection method in the wireless sensor network based on compressive sensing. This method, with regular track, selects the optimal data collection points in the monitoring area via the disc method, calcu-lates the shortest path by using the quantum genetic algorithm, and hence determines the data collection route. Simulation results show that this method has higher network throughput and better energy efficiency, capable of collecting a huge amount of data with balanced energy consumption in the network.

  14. An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

    Science.gov (United States)

    Kyriakopoulos, K. J.; Saridis, G. N.

    1991-01-01

    An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

  15. 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.

  16. 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.

  17. Design of tracking mount and controller for mobile satellite laser ranging system

    Science.gov (United States)

    Park, Cheol Hoon; Son, Young Su; Kim, Byung In; Ham, Sang Young; Lee, Sung Whee; Lim, Hyung Chul

    2012-01-01

    In this study, we have proposed and implemented a design for the tracking mount and controller of the ARGO-M (Accurate Ranging system for Geodetic Observation - Mobile) which is a mobile satellite laser ranging (SLR) system developed by the Korea Astronomy and Space Science Institute (KASI) and Korea Institute of Machinery and Materials (KIMM). The tracking mount comprises a few core components such as bearings, driving motors and encoders. These components were selected as per the technical specifications for the tracking mount of the ARGO-M. A three-dimensional model of the tracking mount was designed. The frequency analysis of the model predicted that the first natural frequency of the designed tracking mount was high enough. The tracking controller is simulated using MATLAB/xPC Target to achieve the required pointing and tracking accuracy. In order to evaluate the system repeatability and tracking accuracy of the tracking mount, a prototype of the ARGO-M was fabricated, and repeatability tests were carried out using a laser interferometer. Tracking tests were conducted using the trajectories of low earth orbit (LEO) and high earth orbit (HEO) satellites. Based on the test results, it was confirmed that the prototype of the tracking mount and controller of the ARGO-M could achieve the required repeatability along with a tracking accuracy of less than 1 arcsec.

  18. 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.

  19. Wheeled mobility skills of wheelchair basketball players: a randomized controlled study.

    Science.gov (United States)

    Saltan, Asuman; Bakar, Yeşim; Ankarali, Handan

    2017-05-01

    The aim of this study was to assess the influence of wheelchair basketball sport on the functional abilities of wheelchair users. This is a randomized controlled study. Wheelchair basketball players (n = 111) and non-player (n = 85) were included in this study. We administered the questionnaire version of the wheelchair skills test questionnaire (WST_Q), recording the participants' capacity and performance scores on each of 32 skills. Player group have the baseline values of WST_Q higher than control group. The mean total percentage score of player group was significantly greater than control group (p skills-sports relationship is reciprocal. With increased wheelchair skills, people may be more inclined to engage in sports; subsequently, with greater sports, wheelchair skills could improve. Wheelchair mobility skills during clinical rehabilitation should reflect the daily activities and needs of each wheelchair user. WST-Q provides advantages in terms of requiring less time and material in using of clinical.

  20. Control system and method for payload control in mobile platform cranes

    Science.gov (United States)

    Robinett, III, Rush D.; Groom, Kenneth N.; Feddema, John T.; Parker, Gordon G.

    2002-01-01

    A crane control system and method provides a way to generate crane commands responsive to a desired payload motion to achieve substantially pendulation-free actual payload motion. The control system and method apply a motion compensator to maintain a payload in a defined payload configuration relative to an inertial coordinate frame. The control system and method can further comprise a pendulation damper controller to reduce an amount of pendulation between a sensed payload configuration and the defined payload configuration. The control system and method can further comprise a command shaping filter to filter out a residual payload pendulation frequency from the desired payload motion.

  1. Foam for combating mine fires

    Energy Technology Data Exchange (ETDEWEB)

    1989-09-01

    The application of foam in dealing with underground fire is well known due to its smothering action by cutting off air feed to burning fuel as well as acting as coolant. Besides plugging air feed to fire, water could be virtually reached to the fire affected areas much beyond the jet range as underground galleries with low roof restrict jet range of water. This method also enables a closer approach of a fire fighting team by isolating the toxic gases and smoke with a foam plug. The paper describes the development of high expansion foam composition and its application technology in order that foam plug method can be suitably utilized for combating mine fires in India. Three compositions were recommended for generation of high expansion foam: (a) 0.5% sodium/ammonium lauryl sulphate, 0.15 to 0.2% sodium carboxy methyl cellulose, 0.1% booster; (b) 0.5% sodium/ammonium lauryl sulfate, 0.12 to 0.15% alkaline solution of gum arabic, 0.1 to 0.2% ferrous gluconate; and (c) 0.35% sodium/ammonium lauryl sulfate, 0.20% booster, 0.2% xylene sulfonate.

  2. Numerical modeling of foam flows

    International Nuclear Information System (INIS)

    Cheddadi, Ibrahim

    2010-01-01

    Liquid foam flows are involved in numerous applications, e.g. food and cosmetics industries, oil extraction, nuclear decontamination. Moreover, their study leads to fundamental knowledge: as it is easier to manipulate and analyse, foam is used as a model material to understand the flow of emulsions, polymers, pastes, or cell aggregates, all of which display both solid and liquid behaviour. Systematic experiments performed by Francois Graner et al. provide precise data that emphasize the non Newtonian properties of the foam. Meanwhile, Pierre Saramito proposed a visco-elasto-plastic continuous tensorial model, akin to predict the behaviour of the foam. The goal of this thesis is to understand this complex behaviour, using these two elements. We have built and validated a resolution algorithm based on a bidimensional finite elements methods. The numerical solutions are in excellent agreement with the spatial distribution of all measured quantities, and confirm the predictive capabilities of the model. The dominant parameters have been identified and we evidenced the fact that the viscous, elastic, and plastic contributions to the flow have to be treated simultaneously in a tensorial formalism. We provide a substantial contribution to the understanding of foams and open the path to realistic simulations of complex VEP flows for industrial applications. (author)

  3. A graphite foam reinforced by graphite particles

    Energy Technology Data Exchange (ETDEWEB)

    Zhu, J.J.; Wang, X.Y.; Guo, L.F.; Wang, Y.M.; Wang, Y.P.; Yu, M.F.; Lau, K.T.T. [DongHua University, Shanghai (China). College of Material Science and Engineering

    2007-11-15

    Graphite foam was obtained after carbonization and graphitization of a pitch foam formed by the pyrolysis of coal tar based mesophase pitch mixed with graphite particles in a high pressure and temperature chamber. The graphite foam possessed high mechanical strength and exceptional thermal conductivity after adding the graphite particles. Experimental results showed that the thermal conductivity of modified graphite foam reached 110W/m K, and its compressive strength increased from 3.7 MPa to 12.5 MPa with the addition of 5 wt% graphite particles. Through the microscopic observation, it was also found that fewer micro-cracks were formed in the cell wall of the modified foam as compared with pure graphite foam. The graphitization degree of modified foam reached 84.9% and the ligament of graphite foam exhibited high alignment after carbonization at 1200{sup o}C for 3 h and graphitization at 3000{sup o}C for 10 min.

  4. Some aspects of image processing using foams

    International Nuclear Information System (INIS)

    Tufaile, A.; Freire, M.V.; Tufaile, A.P.B.

    2014-01-01

    We have explored some concepts of chaotic dynamics and wave light transport in foams. Using some experiments, we have obtained the main features of light intensity distribution through foams. We are proposing a model for this phenomenon, based on the combination of two processes: a diffusive process and another one derived from chaotic dynamics. We have presented a short outline of the chaotic dynamics involving light scattering in foams. We also have studied the existence of caustics from scattering of light from foams, with typical patterns observed in the light diffraction in transparent films. The nonlinear geometry of the foam structure was explored in order to create optical elements, such as hyperbolic prisms and filters. - Highlights: • We have obtained the light scattering in foams using experiments. • We model the light transport in foams using a chaotic dynamics and a diffusive process. • An optical filter based on foam is proposed

  5. Supercritical Carbon Dioxide Assisted Processing of Silica/PMMA Nanocomposite Foams

    Science.gov (United States)

    Rende, Deniz; Schadler, Linda S.; Ozisik, Rahmi

    2012-02-01

    Polymer nanocomposite foams receive considerable attention in both scientific and industrial communities. These structures are defined as closed or open cells (pores) surrounded by bulk material and are widely observed in nature in the form of bone structure, sponge, corals and natural cork. Inspired by these materials, polymer nanocomposite foams are widely used in advanced applications, such as bone scaffolds, food packaging and transportation materials due to their lightweight and enhanced mechanical, thermal, and electrical properties compared to bulk polymer foams. The presence of the nanosized fillers facilitates heterogeneous bubble nucleation as a result, the number of bubbles increases while the average bubble size decreases. Therefore, the foam morphology can be controlled by the size, concentration, and surface chemistry of the nanofiller. In the current study, we used supercritical carbon dioxide as a foaming agent for silica/poly(methyl methacrylate), PMMA, foams. The silica nanoparticles were chemically modified by fluoroalkane chains to make them CO2-philic. The surface coverage was controlled via tethering density, and the effect of silica surface coverage and concentration on foam morphology was investigated through scanning electron microscopy and image processing. Results indicated that nanofiller concentration and filler surface chemistry (CO2-philicity) had tremendous effect on foam morphology but surface coverage did not have any effect.

  6. Redox reaction and foaming in nuclear waste glass melting

    Energy Technology Data Exchange (ETDEWEB)

    Ryan, J.L.

    1995-08-01

    This document was prepared by Pacific Northwest Laboratory (PNL) and is an attempt to analyze and estimate the effects of feed composition variables and reducing agent variables on the expected chemistry of reactions occurring in the cold cap and in the glass melt in the nuclear waste glass Slurry-fed, joule-heated melters as they might affect foaming during the glass-making process. Numerous redox reactions of waste glass components and potential feed additives, and the effects of other feed variables on these reactions are reviewed with regard to their potential effect on glass foaming. A major emphasis of this report is to examine the potential positive or negative aspects of adjusting feed with formic acid as opposed to other feed modification techniques including but not limited to use of other reducing agents. Feed modification techniques other than the use of reductants that should influence foaming behavior include control of glass melter feed pH through use of nitric acid. They also include partial replacement of sodium salts by lithium salts. This latter action (b) apparently lowers glass viscosity and raises surface tension. This replacement should decrease foaming by decreasing foam stability.

  7. A theory-based video messaging mobile phone intervention for smoking cessation: randomized controlled trial.

    Science.gov (United States)

    Whittaker, Robyn; Dorey, Enid; Bramley, Dale; Bullen, Chris; Denny, Simon; Elley, C Raina; Maddison, Ralph; McRobbie, Hayden; Parag, Varsha; Rodgers, Anthony; Salmon, Penny

    2011-01-21

    Advances in technology allowed the development of a novel smoking cessation program delivered by video messages sent to mobile phones. This social cognitive theory-based intervention (called "STUB IT") used observational learning via short video diary messages from role models going through the quitting process to teach behavioral change techniques. The objective of our study was to assess the effectiveness of a multimedia mobile phone intervention for smoking cessation. A randomized controlled trial was conducted with 6-month follow-up. Participants had to be 16 years of age or over, be current daily smokers, be ready to quit, and have a video message-capable phone. Recruitment targeted younger adults predominantly through radio and online advertising. Registration and data collection were completed online, prompted by text messages. The intervention group received an automated package of video and text messages over 6 months that was tailored to self-selected quit date, role model, and timing of messages. Extra messages were available on demand to beat cravings and address lapses. The control group also set a quit date and received a general health video message sent to their phone every 2 weeks. The target sample size was not achieved due to difficulty recruiting young adult quitters. Of the 226 randomized participants, 47% (107/226) were female and 24% (54/226) were Maori (indigenous population of New Zealand). Their mean age was 27 years (SD 8.7), and there was a high level of nicotine addiction. Continuous abstinence at 6 months was 26.4% (29/110) in the intervention group and 27.6% (32/116) in the control group (P = .8). Feedback from participants indicated that the support provided by the video role models was important and appreciated. This study was not able to demonstrate a statistically significant effect of the complex video messaging mobile phone intervention compared with simple general health video messages via mobile phone. However, there was

  8. Morphologies, Processing and Properties of Ceramic Foams and Their Potential as TPS Materials

    Science.gov (United States)

    Stackpoole, Mairead; Simoes, Conan R.; Johnson, Sylvia M.

    2002-01-01

    The current research is focused on processing ceramic foams with compositions that have potential as a thermal protection material. The use of pre-ceramic polymers with the addition of sacrificial blowing agents or sacrificial fillers offers a viable approach to form either open or closed cell insulation. Our work demonstrates that this is a feasible method to form refractory ceramic foams at relatively low processing temperatures. It is possible to foam complex shapes then pyrolize the system to form a ceramic while retaining the shape of the unfired foam. Initial work focused on identifying suitable pre-ceramic polymers with desired properties such as ceramic yield and chemical make up of the pyrolysis product after firing. We focused on making foams in the Si system (Sic, Si02, Si-0-C), which is in use in current acreage TPS systems. Ceramic foams with different architectures were formed from the pyrolysis of pre-ceramic polymers at 1200 C in different atmospheres. In some systems a sacrificial polyurethane was used as the blowing agent. We have also processed foams using sacrificial fillers to introduce controlled cell sizes. Each sacrificial filler or blowing agent leads to a unique morphology. The effect of different fillers on foam morphologies and the characterization of these foams in terms of mechanical and thermal properties are presented. We have conducted preliminary arc jet testing on selected foams with the materials being exposed to typical re-entry conditions for acreage TPS and these results will be discussed. Foams processed using these approaches have bulk densities ranging from 0.15 to 0.9 g/cm3 and cell sizes ranging from 5 to 500 pm. Compression strengths ranged from 2 to 7 MPa for these systems. Finally, preliminary oxidation studies have been conducted on selected systems and will be discussed.

  9. PERIPHERAL APPLICATION OF REPETITIVE PULSE MAGNETIC STIMULATION ON JOINT CONTRACTURE FOR MOBILITY RESTORATION: CONTROLLED RANDOMIZED STUDY

    Directory of Open Access Journals (Sweden)

    Efthimios J. Kouloulas

    2016-10-01

    Full Text Available Background: Joint contracture is a limitation in the passive or active range of motion (ROM of a joint, where in addition to the mobility limiting factor the pain is also present. Repetitive pulsed Magnetic Stimulation (rPMS appears to be an effective, non-invasive and safety solution for treating this condition. Therefore aim of this study was to evaluate the effect of rPMS in treating joint contracture. Methods: 30 subjects with joint contracture in the knee were enrolled in this study and divided respectively into Treatment and Control group. The treatment group were delivered with rPMS therapy. The control group was delivered with conventional physiotherapy method (ultrasound. The primary outcome measurements were: 1. Mobility evaluation by goniometry (ROM in degrees while performing flexion and Patient Functional Assessment Questionnaire (PFAQ for ability to perform Activities of Daily Living (ADL and 2. Pain evaluation by 10-point Visual Analog Scale (VAS for pain perception. Absence of adverse events was set as a secondary measure. Results: The results of the study show statistical difference (p<0.05 between the levels of improvement of all studied parameters while comparing between both groups. The results suggest greater immobility restoration and pain relieving effect of the rPMS in comparison to conventional physiotherapy method. Conclusion: rPMS an effective and safe non-invasive method for mobility restoration and pain relief in case of joint contractures. This study suggests the method as beneficial and quality of life ameliorating among patients suffering from immobilized joints accompanied by pain.

  10. Multiband Planar Inverted-F Antenna with Independent Operating Bands Control for Mobile Handset Applications

    Directory of Open Access Journals (Sweden)

    Mustapha El Halaoui

    2017-01-01

    Full Text Available A new compact multiband PIFA (Planar Inverted-F Antenna for mobile handset is proposed in this article. The proposed PIFA has a simple geometry with four slots integrated in the radiating patch and ground plane. The PIFA occupies a small volume of 51 × 14 × 7.2 mm3 and is placed on the top portion of mobile phone. The optimized PIFA is worked in the 790 MHz band (737–831 MHz, the 1870 MHz band (1794–1977 MHz, the 2550 MHz band (2507–2615 MHz, and the 3400 MHz band (3341–3545 MHz, to cover LTE700, LTE800, DCS1800, PCS1900, LTE1800, LTE1900, LTE2500, and WIMAX3400 bands. Each of the four operating bands can be controlled independently by the variation of a single parameter of the proposed design, with a wide control range. An omnidirectional radiation pattern to each resonant frequency is obtained with a maximum gain of 2.15 dBi at 790 MHz, 3.99 dBi at 1870 MHz, 4.57 dBi at 2550 MHz, and 6.43 dBi at 3400 MHz. The proposed PIFA is studied in the free space and in the presence of other mobile phone components such as the battery, LCD (liquid crystal display, camera, microphone, speaker, buttons, and a plastic housing. The distribution of specific absorption rate for both European and American standards for each operating band and at various distances between the antenna and the human head is also studied.

  11. Differential-drive mobile robot control using a cloud of particles approach

    Directory of Open Access Journals (Sweden)

    Walter Fetter Lages

    2016-12-01

    Full Text Available Common control systems for mobile robots include the use of some deterministic control law coupled with some pose estimation method, such as the extended Kalman filter, by considering the certainty equivalence principle. Recent approaches consider the use of partially observable Markov decision process strategies together with Bayesian estimators. These methods are well suited to handle the uncertainty in pose estimation but demand significant processing power. In order to reduce the required processing power and still allow for multimodal or non-Gaussian uncertain distributions, we propose a scheme based on a particle filter and a corresponding cloud of control signals. The approach avoids the use of the certainty equivalence principle by postponing the decision on the optimal estimate to the control stage. As the mapping between the pose space and the control action space is nonlinear and the best estimation of robot pose is uncertain, postponing the decision to the control space makes it possible to select a better control action in the presence of multimodal and non-Gaussian uncertainty models. Simulation results are presented.

  12. Sound Velocity in Soap Foams

    International Nuclear Information System (INIS)

    Wu Gong-Tao; Lü Yong-Jun; Liu Peng-Fei; Li Yi-Ning; Shi Qing-Fan

    2012-01-01

    The velocity of sound in soap foams at high gas volume fractions is experimentally studied by using the time difference method. It is found that the sound velocities increase with increasing bubble diameter, and asymptotically approach to the value in air when the diameter is larger than 12.5 mm. We propose a simple theoretical model for the sound propagation in a disordered foam. In this model, the attenuation of a sound wave due to the scattering of the bubble wall is equivalently described as the effect of an additional length. This simplicity reasonably reproduces the sound velocity in foams and the predicted results are in good agreement with the experiments. Further measurements indicate that the increase of frequency markedly slows down the sound velocity, whereas the latter does not display a strong dependence on the solution concentration

  13. Influence of the glass particle size on the foaming process and physical characteristics of foam glasses

    DEFF Research Database (Denmark)

    König, Jakob; Petersen, Rasmus Rosenlund; Yue, Yuanzheng

    2016-01-01

    We have prepared low-density foam glasses from cathode-ray-tube panel glass using carbon and MnO2 as the foaming agents. The effect of the glass particle size on the foaming process, the apparent density and the pore morphology is revealed. The results show that the foaming is mainly caused...... by the reduction of manganese. Foam glasses with a density of

  14. Modelling of Churn-Annular foam flows

    NARCIS (Netherlands)

    Westende, J.M.C. van 't; Shoeibi Omrani, P.; Vercauteren, F.F.; Nennie, E.D.

    2016-01-01

    Foam assisted lift is a deliquification method in the oil and gas industry, which aims to prevent or postpone countercurrent gas-liquid flow in maturing gas wells or to assist in removing downhole accumulated liquids. According to Nimwegen, who performed experiments with foam flows, foam

  15. Recycle Glass in Foam Glass Production

    DEFF Research Database (Denmark)

    Petersen, Rasmus Rosenlund; König, Jakob; Yue, Yuanzheng

    The foam glass industry turn recycle glass into heat insulating building materials. The foaming process is relative insensitive to impurities in the recycle glass. It is therefore considered to play an important role in future glass recycling. We show and discuss trends of use of recycled glasses...... in foam glass industry and the supply sources and capacity of recycle glass....

  16. Effectiveness of a mobile cooperation intervention during the clinical practicum of nursing students: a parallel group randomized controlled trial protocol.

    Science.gov (United States)

    Strandell-Laine, Camilla; Saarikoski, Mikko; Löyttyniemi, Eliisa; Salminen, Leena; Suomi, Reima; Leino-Kilpi, Helena

    2017-06-01

    The aim of this study was to describe a study protocol for a study evaluating the effectiveness of a mobile cooperation intervention to improve students' competence level, self-efficacy in clinical performance and satisfaction with the clinical learning environment. Nursing student-nurse teacher cooperation during the clinical practicum has a vital role in promoting the learning of students. Despite an increasing interest in using mobile technologies to improve the clinical practicum of students, there is limited robust evidence regarding their effectiveness. A multicentre, parallel group, randomized, controlled, pragmatic, superiority trial. Second-year pre-registration nursing students who are beginning a clinical practicum will be recruited from one university of applied sciences. Eligible students will be randomly allocated to either a control group (engaging in standard cooperation) or an intervention group (engaging in mobile cooperation) for the 5-week the clinical practicum. The complex mobile cooperation intervention comprises of a mobile application-assisted, nursing student-nurse teacher cooperation and a training in the functions of the mobile application. The primary outcome is competence. The secondary outcomes include self-efficacy in clinical performance and satisfaction with the clinical learning environment. Moreover, a process evaluation will be undertaken. The ethical approval for this study was obtained in December 2014 and the study received funding in 2015. The results of this study will provide robust evidence on mobile cooperation during the clinical practicum, a research topic that has not been consistently studied to date. © 2016 John Wiley & Sons Ltd.

  17. 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...

  18. Using unconstrained tongue motion as an alternative control mechanism for wheeled mobility.

    Science.gov (United States)

    Huo, Xueliang; Ghovanloo, Maysam

    2009-06-01

    Tongue drive system (TDS) is a tongue-operated, minimally invasive, unobtrusive, noncontact, and wireless assistive technology that infers users' intentions by detecting and classifying their voluntary tongue motions, and translating them to user-defined commands. We have developed customized interface circuitry between an external TDS (eTDS) prototype and a commercial powered wheelchair (PWC) as well as three control strategies to evaluate the tongue motion as an alternative control input for wheeled mobility. We tested the eTDS performance in driving PWCs on 12 able-bodied human subjects, of which 11 were novice. The results showed that all subjects could complete navigation tasks by operating the PWC using their tongue motions. Despite little prior experience, the average time using the eTDS and the tongue was only approximately three times longer than using a joystick and the fingers. Navigation time was strongly dependant on the number of issued commands, which reduced by gaining experience. Particularly, the unintended issued commands (the Midas touch problem) were rare, demonstrating the effectiveness of the tongue tracking and external magnetic field cancellation algorithms as well as the safety of the TDS for wheeled mobility.

  19. ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots

    Energy Technology Data Exchange (ETDEWEB)

    Parker, L.E.

    1995-02-01

    This research addresses the problem of achieving fault tolerant cooperation within small- to medium-sized teams of heterogeneous mobile robots. The author describes a novel behavior-based, fully distributed architecture, called ALLIANCE, that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks. The robots in this architecture possess a variety of high-level functions that they can perform during a mission, and must at all times select an appropriate action based on the requirements of the mission, the activities of other robots, the current environmental conditions, and their own internal states. Since such cooperative teams often work in dynamic and unpredictable environments, the software architecture allows the team members to respond robustly and reliably to unexpected environmental changes and modifications in the robot team that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention. After presenting ALLIANCE, the author describes in detail experimental results of an implementation of this architecture on a team of physical mobile robots performing a cooperative box pushing demonstration. These experiments illustrate the ability of ALLIANCE to achieve adaptive, fault-tolerant cooperative control amidst dynamic changes in the capabilities of the robot team.

  20. Multiple-Nozzle Spray Head Applies Foam Insulation

    Science.gov (United States)

    Walls, Joe T.

    1993-01-01

    Spray head equipped with four-nozzle turret mixes two reactive components of polyurethane and polyisocyanurate foam insulating material and sprays reacting mixture onto surface to be insulated. If nozzle in use becomes clogged, fresh one automatically rotated into position, with minimal interruption of spraying process. Incorporates features recirculating and controlling pressures of reactive components to maintain quality of foam by ensuring proper blend at outset. Also used to spray protective coats on or in ships, aircraft, and pipelines. Sprays such reactive adhesives as epoxy/polyurethane mixtures. Components of spray contain solid-particle fillers for strength, fire retardance, toughness, resistance to abrasion, or radar absorption.

  1. Increasing Physical Activity in Mothers Using Video Exercise Groups and Exercise Mobile Apps: Randomized Controlled Trial.

    Science.gov (United States)

    Mascarenhas, Maya Nina; Chan, June Maylin; Vittinghoff, Eric; Van Blarigan, Erin Lynn; Hecht, Frederick

    2018-05-18

    Women significantly decrease their activity levels in the transition to motherhood. Digital health technologies are low cost, scalable, and can provide an effective delivery mechanism for behavior change. This is the first study that examines the use of videoconferencing and mobile apps to create exercise groups for mothers. The aim of the study was to test the feasibility, acceptability, and effectiveness of an individually adaptive and socially supportive physical activity intervention incorporating videoconferencing and mobile apps for mothers. The Moms Online Video Exercise Study was an 8-week, 2-armed, Web-based randomized trial comparing the effectiveness of a group exercise intervention with a waitlist control. Healthy mothers with at least 1 child under the age of 12 years were recruited through Facebook and email listservs. Intervention participants joined exercise groups using videoconferencing (Google Hangouts) every morning on weekdays and exercised together in real time, guided by exercise mobile apps (eg, Nike+, Sworkit) of their choice. Waitlist control participants had access to recommended mobile apps and an invitation to join an exercise group after the 8-week study period. Main outcomes assessed included changes in self-reported moderate, vigorous, and moderate to vigorous physical activity (MVPA) minutes per week in aggregate and stratified by whether women met Centers for Disease Control and Prevention guidelines for sufficient aerobic activity at baseline. Outcomes were measured through self-assessed Web-based questionnaires at baseline and 8 weeks. The intervention was effective at increasing exercise for inactive women and proved to be feasible and acceptable to all participants. A total of 64 women were randomized, 30 to intervention and 34 to control. Women attended 2.8 sessions per week. There was a strong, but not statistically significant, trend toward increasing moderate, vigorous, and MVPA minutes for all women. As hypothesized, in

  2. Silicone foam for penetration seal

    International Nuclear Information System (INIS)

    Hoshino, Yoshikazu

    1986-01-01

    In nuclear power plants or general buildings, it is very important to form a fire-resistant seal around cables, cable trays and conduits passing through a wall or a floor. Rockwool, asbestos, glasswool and flame-retarded urethane foam have so far been used for these purposes. However, they were not satisfactory in sealing property, workability and safety. The silicone foam newly developed, ''TOSSEAL'' 300, has cleared these defects. It has now come to be used for fire resistant seal in nuclear power plants. (author)

  3. Heat exchanger using graphite foam

    Science.gov (United States)

    Campagna, Michael Joseph; Callas, James John

    2012-09-25

    A heat exchanger is disclosed. The heat exchanger may have an inlet configured to receive a first fluid and an outlet configured to discharge the first fluid. The heat exchanger may further have at least one passageway configured to conduct the first fluid from the inlet to the outlet. The at least one passageway may be composed of a graphite foam and a layer of graphite material on the exterior of the graphite foam. The layer of graphite material may form at least a partial barrier between the first fluid and a second fluid external to the at least one passageway.

  4. Design and control strategy for a hybrid green energy system for mobile telecommunication sites

    Science.gov (United States)

    Okundamiya, Michael S.; Emagbetere, Joy O.; Ogujor, Emmanuel A.

    2014-07-01

    The rising energy costs and carbon footprint of operating mobile telecommunication sites in the emerging world have increased research interests in green technology. The intermittent nature of most green energy sources creates the problem of designing the optimum configuration for a given location. This study presents the design analysis and control strategy for a cost effective and reliable operation of the hybrid green energy system (HGES) for GSM base transceiver station (BTS) sites in isolated regions. The design constrains the generation and distribution of power to reliably satisfy the energy demand while ensuring safe operation of the system. The overall process control applies the genetic algorithm-based technique for optimal techno-economic sizing of system's components. The process simulation utilized meteorological data for 3 locations (Abuja, Benin City and Sokoto) with varying climatic conditions in Nigeria. Simulation results presented for green GSM BTS sites are discussed and compared with existing approaches.

  5. Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots

    Directory of Open Access Journals (Sweden)

    Caihong Zhang

    2014-01-01

    Full Text Available This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.

  6. Reduction of external noise of mobile energy facilities by using active noise control system in muffler

    Science.gov (United States)

    Polivaev, O. I.; Kuznetsov, A. N.; Larionov, A. N.; Beliansky, R. G.

    2018-03-01

    The paper describes a method for the reducing emission of low-frequency noise of modern automotive vehicles into the environment. The importance of reducing the external noise of modern mobile energy facilities made in Russia is substantiated. Standard methods for controlling external noise in technology are of low efficiency when low-frequency sound waves are reduced. In this case, it is in the low-frequency zone of the sound range that the main power of the noise emitted by the machinery lies. The most effective way to reduce such sound waves is to use active noise control systems. A design of a muffler using a similar system is presented. This muffler allowed one to reduce the emission of increased noise levels into the environment by 7-11 dB and to increase acoustic comfort at the operator's workplace by 3-5 dB.

  7. Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

    Directory of Open Access Journals (Sweden)

    Jianghao Li

    2008-06-01

    Full Text Available This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA was employed to optimize the dual-wheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.

  8. Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

    Directory of Open Access Journals (Sweden)

    Jianghao Li

    2008-11-01

    Full Text Available This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA was employed to optimize the dualwheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.

  9. Flocking Control of Multiple Mobile Agents with the Rules of Avoiding Collision

    Directory of Open Access Journals (Sweden)

    Hongtao Zhou

    2015-01-01

    Full Text Available This paper investigates the flocking and the coordinative control problems of multiple mobile agents with the rules of avoiding collision. We propose a set of control laws using hysteresis in adding new links and applying new potential function to guarantee that the fragmentation of the network can be avoided, under which all agents approach a common velocity vector, and asymptotically converge to a fixed value of interagent distances and collisions between agents can be avoided throughout the motion. Furthermore, we extend the flocking algorithm to solve the flocking situation of the group with a virtual leader agent. The laws can make all agents asymptotically approach the virtual leader and collisions can be avoided between agents in the motion evolution. Finally, some numerical simulations are showed to illustrate the theoretical results.

  10. Image-based Fuzzy Parking Control of a Car-like Mobile Robot

    Directory of Open Access Journals (Sweden)

    Yin Yin Aye

    2017-03-01

    Full Text Available This paper develops a novel automatic parking system using an image-based fuzzy controller, where in the reasoning the slope and intercept of the desired target line are used for the inputs, and the steering angle of the robot is generated for the output. The objective of this study is that a robot equipped with a camera detects a rectangular parking frame, which is drawn on the floor, based on image processing. The desired target line to be followed by the robot is generated by using Hough transform from a captured image. The fuzzy controller is designed according to experiments of skilled driver, and the fuzzy rules are tuned and the fuzzy membership functions are optimized by experimentally for output. The effectiveness of the proposed method is demonstrated through some experimental results with an actual mobile robot

  11. Event-Based Control Strategy for Mobile Robots in Wireless Environments.

    Science.gov (United States)

    Socas, Rafael; Dormido, Sebastián; Dormido, Raquel; Fabregas, Ernesto

    2015-12-02

    In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.

  12. Mobile Phones as a Citizen-Controlled Anti-corruption Tool in East Africa - A Literature Review

    OpenAIRE

    Strand , Cecilia; Hatakka , Mathias

    2017-01-01

    Part 14: Current Issues; International audience; Despite agreement amongst donors, business and political leaders concerning the negative effects of corruption, levels have not fallen in East Africa. The continued high levels of corruption, reassert the need for a better understanding if mobile phones, if prolific enough, can be an effective tool against corruption. Through a literature review of ten years M4D and ICT4D research on mobiles as a citizens-controlled tool for (a) accessing gover...

  13. A randomised controlled trial of an SMS-based mobile epilepsy education system.

    Science.gov (United States)

    Lua, Pei Lin; Neni, Widiasmoro Selamat

    2013-01-01

    We evaluated an epilepsy education programme based on text messaging (SMS). Epilepsy outpatients from three hospitals in Malaysia were randomised into two groups: intervention and control. Patients in the control group were supplied with printed epilepsy educational material while those in the intervention group also received text messages from the Mobile Epilepsy Educational System (MEES). A total of 136 patients completed the study (mean age 31 years; 91% Malay; 51% with an illness duration of more than 5 years). A between-group analysis showed that the awareness, knowledge and attitudes (AKA) about epilepsy did not significantly differ between the groups at baseline (P > 0.05). The intervention patients reported better AKA levels during follow-up compared to the control patients (P < 0.05). A within-group analysis showed that in intervention patients, there were significant improvements in all AKA domains with larger effect sizes (P < 0.01) while control patients also exhibited significant improvement in most domains except for Awareness but with smaller effect sizes. After controlling for possible confounding variables (age, gender, educational qualification, monthly income and baseline mean for each domain), the intervention group still reported significantly higher AKA than the control group particularly in Awareness (P < 0.001) and Total AKA (P = 0.003). There was also significantly better medication adherence and clinic attendance in the intervention group (P < 0.05). The results suggest that the addition of the MEES to conventional epilepsy education is effective in improving AKA.

  14. Effect of melter feed foaming on heat flux to the cold cap

    Energy Technology Data Exchange (ETDEWEB)

    Lee, SeungMin; Hrma, Pavel; Pokorny, Richard; Klouzek, Jaroslav; VanderVeer, Bradley J.; Dixon, Derek R.; Luksic, Steven A.; Rodriguez, Carmen P.; Chun, Jaehun; Schweiger, Michael J.; Kruger, Albert A.

    2017-12-01

    The glass production rate, which is crucial for the nuclear waste cleanup lifecycle, is influenced by the chemical and mineralogical nature of melter feed constituents. The choice of feed materials affects both the conversion heat and the thickness of the foam layer that forms at the bottom of the cold cap and controls the heat flow from molten glass. We demonstrate this by varying the alumina source, namely, substituting boehmite or corundum for gibbsite, in a high-alumina high-level-waste melter feed. The extent of foaming was determined using the volume expansion test and the conversion heat with differential scanning calorimetry. Evolved gas analysis was used to identify gases responsible for the formation of primary and secondary foam. The foam thickness, a critical factor in the rate of melting, was estimated using known values of heat conductivities and melting rates. The result was in reasonable agreement with the foam thickness experimentally observed in the laboratory-scale melter.

  15. Foam suppression in overloaded manure-based biogas reactors using antifoaming agents

    DEFF Research Database (Denmark)

    Kougias, Panagiotis; Boe, Kanokwan; Tsapekos, Panagiotis

    2014-01-01

    Foam control is an imperative need in biogas plants, as foaming is a major operational problem. In the present study, the effect of oils (rapeseed oil, oleic acid, and octanoic acid) and tributylphosphate on foam reduction and process performance in batch and continuous manure-based biogas reactors...... was investigated. The compounds were tested in dosages of 0.05%, 0.1% and 0.5% v/vfeed. The results showed that rapeseed oil was most efficient to suppress foam at the dosage of 0.05% and 0.1% v/vfeed, while octanoic acid was most efficient to suppress foam at dosage of 0.5% v/vfeed. Moreover, the addition...... of rapeseed oil also increased methane yield. In contrast, tributylphosphate, which was very efficient antifoam, was found to be inhibitory to the biogas process. © 2013 Elsevier Ltd....

  16. Effect of Coversheet Materials on the Acoustic Performance of Melamine Foam

    Science.gov (United States)

    McNelis, Anne M.; Hughes, William O.

    2015-01-01

    Melamine foam is a highly absorptive material that is often used inside the payload fairing walls of a launch vehicle. This foam reduces the acoustic excitation environment that the spacecraft experiences during launch. Often, the melamine foam is enclosed by thin coversheet materials for contamination protection, thermal protection, and electrostatic discharge control. Previous limited acoustic testing by NASA Glenn Research Center has shown that the presence of a coversheet material on the melamine foam can have a significant impact on the absorption coefficient and the transmission loss. As a result of this preliminary finding a more extensive acoustic test program using several different coversheet materials on melamine foam was performed. Those test results are summarized in this paper. Additionally, a method is provided to use the acoustic absorption and transmission loss data obtained from panel level testing to predict their combined effect for the noise reduction of a launch vehicle payload fairing.

  17. The role of colloidal particles in the stability of decontamination foams

    International Nuclear Information System (INIS)

    Guignot, S.

    2008-12-01

    Illustrating an effort in the design of more controllable foams, therefore better adapted to decontamination, this research aims at highlighting the reciprocal interaction mechanisms between foam and a population of hydrophilic of hydrophobic particles. This study aims at identifying the particle system model for these both cases, hydrophilic and hydrophobic. Then, in the case of partially hydrophobic particles, the author tries to identify the viscoelastic properties of a water-air interface bearing the particles, and then to characterize the corresponding foams. In the case of hydrophilic particles, he investigated the influence of confinement on flow properties of suspensions, using a stack of spherical balls as a foam model. The obtained results are compared to those obtained in a free drainage configuration which is more representative of the use of a decontamination foam

  18. Emissivity Measurements of Foam-Covered Water Surface at L-Band for Low Water Temperatures

    Directory of Open Access Journals (Sweden)

    En-Bo Wei

    2014-11-01

    Full Text Available For a foam-covered sea surface, it is difficult to retrieve sea surface salinity (SSS with L-band brightness temperature (1.4 GHz because of the effect of a foam layer with wind speeds stronger than 7 m/s, especially at low sea surface temperature (SST. With foam-controlled experiments, emissivities of a foam-covered water surface at low SST (−1.4 °C to 1.7 °C are measured for varying SSS, foam thickness, incidence angle, and polarization. Furthermore, a theoretical model of emissivity is introduced by combining wave approach theory with the effective medium approximation method. Good agreement is obtained upon comparing theoretical emissivities with those of experiments. The results indicate that foam parameters have a strong influence on increasing emissivity of a foam-covered water surface. Increments of experimental emissivities caused by foam thickness of 1 cm increase from about 0.014 to 0.131 for horizontal polarization and 0.022 to 0.150 for vertical polarization with SSS increase and SST decrease. Contributions of the interface between the foam layer and water surface to the foam layer emissivity increments are discussed for frequencies between 1 and 37 GHz.

  19. Nanoreinforced xylan–cellulose composite foams by freeze-casting

    Science.gov (United States)

    Tobias Köhnke; Angela Lin; Thomas Elder; Hans Theliander; Arthur J. Ragauskas

    2012-01-01

    Structured biofoams have been prepared from the readily available renewable biopolymer xylan by employing an ice-templating technique, where the pore morphology of the material can be controlled by the solidification conditions and the molecular structure of the polysaccharide. Furthermore, reinforcement of these biodegradable foams using cellulose nanocrystals shows...

  20. Transport of particles in liquid foams: a multi-scale approach; Etude multi-echelles du transport de particules dans les mousses liquides

    Energy Technology Data Exchange (ETDEWEB)

    Louvet, N.

    2009-11-15

    Foam is used for the decontamination of radioactive tanks since foam is a system that has a large surface for a low amount of liquid and as a consequence requires less water to be decontaminated. We study experimentally different particle transport configurations in fluid micro-channels network (Plateau borders) of aqueous foam. At first, foam permeability is measured at the scale of a single channel and of the whole foam network for 2 soap solutions known for their significant different interface mobility. Experimental data are well described by a model that takes into account the real geometry of the foam and by considering a constant value of the Boussinesq number of each soap solutions. Secondly, the velocity of one particle convected in a single foam channel is measured for different particle/channel aspect ratio. For small aspect ratio, a counterflow that is taking place at the channel's corners slows down the particle. A recirculation model in the channel foam films is developed to describe this effect. To do this, the Gibbs elasticity is introduced. Then, the threshold between trapped and released of one particle in liquid foam are carried out. This threshold is deduced from hydrodynamic and capillary forces equilibrium. Finally, the case of a clog foam node is addressed. (author)

  1. 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)

  2. Mobile Phone Multilevel and Multimedia Messaging Intervention for Breast Cancer Screening: Pilot Randomized Controlled Trial.

    Science.gov (United States)

    Lee, Hee; Ghebre, Rahel; Le, Chap; Jang, Yoo Jeong; Sharratt, Monica; Yee, Douglas

    2017-11-07

    Despite the increasing breast cancer incidence and mortality rates, Korean American immigrant women have one of the lowest rates of breast cancer screening across racial groups in the United States. Mobile health (mHealth), defined as the delivery of health care information or services through mobile communication devices, has been utilized to successfully improve a variety of health outcomes. This study adapted the principles of mHealth to advance breast cancer prevention efforts among Korean American immigrant women, an underserved community. Using a randomized controlled trial design, 120 Korean American women aged 40 to 77 years were recruited and randomly assigned to either the mMammogram intervention group (n=60) to receive culturally and personally tailored multilevel and multimedia messages through a mobile phone app along with health navigator services or the usual care control group (n=60) to receive a printed brochure. Outcome measures included knowledge, attitudes, and beliefs about breast cancer screening, readiness for mammography, and mammogram receipt. The feasibility and acceptability of the mMammogram intervention was also assessed. The intervention group showed significantly greater change on scores of knowledge of breast cancer and screening guidelines (P=.01). The intervention group also showed significantly greater readiness for mammography use after the intervention compared with the control group. A significantly higher proportion of women who received the mMammogram intervention (75%, 45/60) completed mammograms by the 6-month follow-up compared with the control group (30%, 18/60; Pservice was a feasible, acceptable, and effective intervention mechanism to promote breast cancer screening in Korean American immigrant women. A flexible, easily tailored approach that relies on recent technological advancements can reach underserved and hard-to-recruit populations that bear disproportionate cancer burdens. Clinicaltrials.gov NCT01972048;

  3. Arsenic mobilization in the Brahmaputra plains of Assam: groundwater and sedimentary controls.

    Science.gov (United States)

    Sailo, Lalsangzela; Mahanta, Chandan

    2014-10-01

    Arsenic (As) mobilization to the groundwater of Brahmaputra floodplains was investigated in Titabor, Jorhat District, located in the North Eastern part of India. The groundwater and the aquifer geochemistry were characterized in the study area. The range of As concentration in the groundwater varies from 10 to 440 μg/l with mean concentration 210 μg/l. The groundwaters are characterized by high dissolved Fe, Mn, and HCO₃(-) and low concentrations of NO₃(-) and SO₄(2-) indicating the reduced conditions prevailing in the groundwater. In order to understand the actual mobilization processes in the area, six core drilling surrounding the two target tube wells (T1 and T2) with high As concentration (three drill-cores surrounds each tube well closely) was done. The sediment was analyzed its chemical, mineralogical, and elemental compositions. A selective sequential extraction suggested that most of the As in the sediment is bound to Fe oxides fractions (32 to 50%) and the competition for adsorption site by anions (PO₄(3-)) also accounts to significant fractions of the total arsenic extracted. High variability in the extraction as well as properties of the sediment was observed due to the heterogeneity of the sediment samples with different chemical properties. The SEM and EDX results indicate the presence of Fe, Mn coating along with As for most of the sample, and the presence of As associated minerals were calculated using PHREEQC. The mobilization of As into the groundwater was anticipated to be largely controlled by the reductive dissolution of Fe oxides and partly by the competitive anions viz. PO₄(3-).

  4. Controls on the Mobility of Antimony in Mine Waste from Three Deposit Types

    Science.gov (United States)

    Jamieson, H.; Radková, A. B.; Fawcett, S.

    2017-12-01

    Antimony can be considered both a critical metal and an environmental hazard, with a toxicity similar to arsenic. It is concentrated in stibnite deposits, but also present in polymetallic and precious metal ores, frequently accompanied by arsenic. We have studied the mineralogical controls on the mobility of antimony in three types of mine waste: stibnite tailings from an antimony mine, tetrahedrite-bearing waste rock from copper mining, and gold mine tailings and ore roaster waste. Our results demonstrate that the tendency of antimony to leach into the aqueous environment or remain sequestered in solid phases depends on the primary host minerals and conditions governing the precipitation of secondary antimony-hosting phases. In tailings at the Beaver Brook antimony mine in Newfoundland, Canada, stibnite oxidizes rapidly, and secondary minerals such as the relatively insoluble Sb-Fe tripuhyite-like phase and Sb-bearing goethite. However, under dry conditions, the most important secondary Sb host is the Mg-Sb hydroxide brandholzite, but this easily soluble mineral disappears when it rains. Antimony that was originally hosted in tetrahedrite, a complex multi-element sulfosalt, in the historic waste rock piles at Špania Dolina-Piesky, Slovakia, is not as mobile as Cu and As during weathering but reprecipiates to a mixture of tripuhyite and romeite. Finally, the original antimony-hosting minerals, both stibnite and sulphosalts, in the gold ore at Giant Mine, Yellowknife, Canada were completely destroyed during ore roasting. In tailings-contaminated sediments, antimony persists in roaster-generated iron oxide phases, except under reducing conditions where some of the antimony forms a Sb-S phase. The combined presence of antimony and arsenic in mine waste complicates risk assessment but in general, our findings suggest that antimony is less mobile than arsenic in the environment.

  5. 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...

  6. A novel application of ADC/K-foaming agent-loaded NBR rubber composites as pressure sensor

    Energy Technology Data Exchange (ETDEWEB)

    Mahmoud, W E [Physics Department, Faculty of Science, Suez Canal University, Ismailia (Egypt); El-Eraki, M H I [Physics Department, Faculty of Science, Suez Canal University, Ismailia (Egypt); El-Lawindy, A M Y [Physics Department, Faculty of Science, Suez Canal University, Ismailia (Egypt); Hassan, H H [Physics Department, Faculty of Science, Cairo University, Giza (Egypt)

    2006-02-07

    Nitrile butadiene rubber (NBR) structure foam of different apparent densities was obtained by using different concentrations of foaming agent, azodicarbonamide, ADC/K. The true stress-strain characteristics, in case of compression, of foamed samples were measured. It was found that the theoretical values predicted from the simple blending model are in more agreement with the experimental results than those from the square-relationship model. The effect of cyclic loading-unloading and dissipation energy of rubber foams was studied. The results also indicated that foams with low density exhibited a small hysteresis. The electrical properties were found dependent on the foaming agent concentration. This study was assisted by Mott and Gurney equation. The effect of compressive strain on the electrical conductivity of rubber foams was studied. The free current carrier mobility and the equilibrium concentration of charge carrier in the conduction band were produced as functions of compressive strain. The results also indicate that there is a linear variation between pressure and conductivity for all samples, which means that these samples can be used as a pressure sensor. At a certain concentration of foaming agent (5 phr) a change of electrical conductivity by more than three orders is observed at 20% compression strain.

  7. A novel application of ADC/K-foaming agent-loaded NBR rubber composites as pressure sensor

    International Nuclear Information System (INIS)

    Mahmoud, W E; El-Eraki, M H I; El-Lawindy, A M Y; Hassan, H H

    2006-01-01

    Nitrile butadiene rubber (NBR) structure foam of different apparent densities was obtained by using different concentrations of foaming agent, azodicarbonamide, ADC/K. The true stress-strain characteristics, in case of compression, of foamed samples were measured. It was found that the theoretical values predicted from the simple blending model are in more agreement with the experimental results than those from the square-relationship model. The effect of cyclic loading-unloading and dissipation energy of rubber foams was studied. The results also indicated that foams with low density exhibited a small hysteresis. The electrical properties were found dependent on the foaming agent concentration. This study was assisted by Mott and Gurney equation. The effect of compressive strain on the electrical conductivity of rubber foams was studied. The free current carrier mobility and the equilibrium concentration of charge carrier in the conduction band were produced as functions of compressive strain. The results also indicate that there is a linear variation between pressure and conductivity for all samples, which means that these samples can be used as a pressure sensor. At a certain concentration of foaming agent (5 phr) a change of electrical conductivity by more than three orders is observed at 20% compression strain

  8. A novel application of ADC/K-foaming agent-loaded NBR rubber composites as pressure sensor

    Science.gov (United States)

    Mahmoud, W. E.; El-Eraki, M. H. I.; El-Lawindy, A. M. Y.; Hassan, H. H.

    2006-02-01

    Nitrile butadiene rubber (NBR) structure foam of different apparent densities was obtained by using different concentrations of foaming agent, azodicarbonamide, ADC/K. The true stress-strain characteristics, in case of compression, of foamed samples were measured. It was found that the theoretical values predicted from the simple blending model are in more agreement with the experimental results than those from the square-relationship model. The effect of cyclic loading-unloading and dissipation energy of rubber foams was studied. The results also indicated that foams with low density exhibited a small hysteresis. The electrical properties were found dependent on the foaming agent concentration. This study was assisted by Mott and Gurney equation. The effect of compressive strain on the electrical conductivity of rubber foams was studied. The free current carrier mobility and the equilibrium concentration of charge carrier in the conduction band were produced as functions of compressive strain. The results also indicate that there is a linear variation between pressure and conductivity for all samples, which means that these samples can be used as a pressure sensor. At a certain concentration of foaming agent (5 phr) a change of electrical conductivity by more than three orders is observed at 20% compression strain.

  9. Stretching and folding mechanism in foams

    International Nuclear Information System (INIS)

    Tufaile, Alberto; Pedrosa Biscaia Tufaile, Adriana

    2008-01-01

    We have described the stretching and folding of foams in a vertical Hele-Shaw cell containing air and a surfactant solution, from a sequence of upside-down flips. Besides the fractal dimension of the foam, we have observed the logistic growth for the soap film length. The stretching and folding mechanism is present during the foam formation, and this mechanism is observed even after the foam has reached its respective maximum fractal dimension. Observing the motion of bubbles inside the foam, large bubbles present power spectrum associated with random walk motion in both directions, while the small bubbles are scattered like balls in a Galton board

  10. Method of making a cyanate ester foam

    Science.gov (United States)

    Celina, Mathias C.; Giron, Nicholas Henry

    2014-08-05

    A cyanate ester resin mixture with at least one cyanate ester resin, an isocyanate foaming resin, other co-curatives such as polyol or epoxy compounds, a surfactant, and a catalyst/water can react to form a foaming resin that can be cured at a temperature greater than 50.degree. C. to form a cyanate ester foam. The cyanate ester foam can be heated to a temperature greater than 400.degree. C. in a non-oxidative atmosphere to provide a carbonaceous char foam.

  11. Stretching and folding mechanism in foams

    Energy Technology Data Exchange (ETDEWEB)

    Tufaile, Alberto [Escola de Artes, Ciencias e Humanidades, Soft Matter Laboratory, Universidade de Sao Paulo, 03828-000 Sao Paulo, SP (Brazil)], E-mail: tufaile@usp.br; Pedrosa Biscaia Tufaile, Adriana [Escola de Artes, Ciencias e Humanidades, Soft Matter Laboratory, Universidade de Sao Paulo, 03828-000 Sao Paulo, SP (Brazil)

    2008-10-13

    We have described the stretching and folding of foams in a vertical Hele-Shaw cell containing air and a surfactant solution, from a sequence of upside-down flips. Besides the fractal dimension of the foam, we have observed the logistic growth for the soap film length. The stretching and folding mechanism is present during the foam formation, and this mechanism is observed even after the foam has reached its respective maximum fractal dimension. Observing the motion of bubbles inside the foam, large bubbles present power spectrum associated with random walk motion in both directions, while the small bubbles are scattered like balls in a Galton board.

  12. Incentive-Rewarding Mechanism for User-position Control in Mobile Services

    Science.gov (United States)

    Yoshino, Makoto; Sato, Kenichiro; Shinkuma, Ryoichi; Takahashi, Tatsuro

    When the number of users in a service area increases in mobile multimedia services, no individual user can obtain satisfactory radio resources such as bandwidth and signal power because the resources are limited and shared. A solution for such a problem is user-position control. In the user-position control, the operator informs users of better communication areas (or spots) and navigates them to these positions. However, because of subjective costs caused by subjects moving from their original to a new position, they do not always attempt to move. To motivate users to contribute their resources in network services that require resource contributions for users, incentive-rewarding mechanisms have been proposed. However, there are no mechanisms that distribute rewards appropriately according to various subjective factors involving users. Furthermore, since the conventional mechanisms limit how rewards are paid, they are applicable only for the network service they targeted. In this paper, we propose a novel incentive-rewarding mechanism to solve these problems, using an external evaluator and interactive learning agents. We also investigated ways of appropriately controlling rewards based on user contributions and system service quality. We applied the proposed mechanism and reward control to the user-position control, and demonstrated its validity.

  13. Mobile robot nonlinear feedback control based on Elman neural network observer

    Directory of Open Access Journals (Sweden)

    Khaled Al-Mutib

    2015-12-01

    Full Text Available This article presents a new approach to control a wheeled mobile robot without velocity measurement. The controller developed is based on kinematic model as well as dynamics model to take into account parameters of dynamics. These parameters related to dynamic equations are identified using a proposed methodology. Input–output feedback linearization is considered with a slight modification in the mathematical expressions to implement the dynamic controller and analyze the nonlinear internal behavior. The developed controllers require sensors to obtain the states needed for the closed-loop system. However, some states may not be available due to the absence of the sensors because of the cost, the weight limitation, reliability, induction of errors, failure, and so on. Particularly, for the velocity measurements, the required accuracy may not be achieved in practical applications due to the existence of significant errors induced by stochastic or cyclical noise. In this article, Elman neural network is proposed to work as an observer to estimate the velocity needed to complete the full state required for the closed-loop control and account for all the disturbances and model parameter uncertainties. Different simulations are carried out to demonstrate the feasibility of the approach in tracking different reference trajectories in comparison with other paradigms.

  14. Development of a 10 kGy(Si) rad hard controller for a mobile robot using COTS

    International Nuclear Information System (INIS)

    Alexandre, J.M.; Marceau, M.

    1999-01-01

    The CEA has developed a 10 kGy(Si) hardened controller using only COTS (Commercial-Off-The-Shelf devices), to equip the mobile robot Andros. An electronic architecture adapted to the constraint of hardening have been carried out, leading to the construction of a complete set of electronics modules (power electronic, control computer). (authors)

  15. Dynamics and control for Constrained Multibody Systems modeled with Maggi's equation: Application to Differential Mobile Robots Partll

    International Nuclear Information System (INIS)

    Amengonu, Yawo H; Kakad, Yogendra P

    2014-01-01

    Quasivelocity techniques were applied to derive the dynamics of a Differential Wheeled Mobile Robot (DWMR) in the companion paper. The present paper formulates a control system design for trajectory tracking of this class of robots. The method develops a feedback linearization technique for the nonlinear system using dynamic extension algorithm. The effectiveness of the nonlinear controller is illustrated with simulation example

  16. Numerical Modeling of Foam Drilling Hydraulics

    Directory of Open Access Journals (Sweden)

    Ozcan Baris

    2007-12-01

    Full Text Available The use of foam as a drilling fluid was developed to meet a special set of conditions under which other common drilling fluids had failed. Foam drilling is defined as the process of making boreholes by utilizing foam as the circulating fluid. When compared with conventional drilling, underbalanced or foam drilling has several advantages. These advantages include: avoidance of lost circulation problems, minimizing damage to pay zones, higher penetration rates and bit life. Foams are usually characterized by the quality, the ratio of the volume of gas, and the total foam volume. Obtaining dependable pressure profiles for aerated (gasified fluids and foam is more difficult than for single phase fluids, since in the former ones the drilling mud contains a gas phase that is entrained within the fluid system. The primary goal of this study is to expand the knowledge-base of the hydrodynamic phenomena that occur in a foam drilling operation. In order to gain a better understanding of foam drilling operations, a hydrodynamic model is developed and run at different operating conditions. For this purpose, the flow of foam through the drilling system is modeled by invoking the basic principles of continuum mechanics and thermodynamics. The model was designed to allow gas and liquid flow at desired volumetric flow rates through the drillstring and annulus. Parametric studies are conducted in order to identify the most influential variables in the hydrodynamic modeling of foam flow.

  17. The Mobile Limiters of TJ-II: Power and Particle Control

    International Nuclear Information System (INIS)

    Cal, E. de la

    1998-01-01

    For mobile limiters have been designed for the TJ-II stellerator to reduce thermal loads on the vacuum vessel and its protections at the region of the central hard core (groove) and to characterise the scrap off layer plasma. The role of the mobile limiters for particle and thermal load control is analysed for the different operating phases of TJ-II. The task of impurity control will be treated in a future report. A simplified model has been used to estimate the termal loads on the limiters. The conclusion is that a new design for the limiter heads will be necessary for the neutral beam injection (NBI)-phase at high power density, if acceptable efficiencies of thermal removal is desired. The rexperimental measurements which will be made in the first phase (ECH) with the temperature and Lagmuir probes installed in the diagnosed limiter-heads will be essential for the optimisation of the future limiter-shape. For particle control it will be absolutely necessary to use first wall conditioning techniques (e.g. boronization), since no active pumping method is foreseen for TJ-II. Again, this point will be more critical in the NBI-phase, due to the large particle fluxes to the first wall and due to possible thermal gas, desorption caused by local overheating of plasma-facing surfaces. The role of magnetic topology on plasma-wall interaction is finally analysed. A configuration has been found in which the limiters act as divertor plates (Natural Island Divertor). This inherent flexibility for changing the magnetic topology of TJ-II should be exploited in order to find the most favourable operating scenarios for the high powder injection phase

  18. Mobile phone SMS messages can enhance healthy behaviour: a meta-analysis of randomised controlled trials.

    Science.gov (United States)

    Orr, Jayne A; King, Robert J

    2015-01-01

    Healthy behaviour, such as smoking cessation and adherence to prescribed medications, mitigates illness risk factors but health behaviour change can be challenging. Mobile phone short-message service (SMS) messages are increasingly used to deliver interventions designed to enhance healthy behaviour. This meta-analysis used a random-effects model to synthesise 38 randomised controlled trials that investigated the efficacy of SMS messages to enhance healthy behaviour. Participants (N = 19,641) lived in developed and developing countries and were diverse with respect to age, ethnicity, socioeconomic background and health behaviours targeted for change. SMS messages had a small, positive, significant effect (g = 0.291) on a broad range of healthy behaviour. This effect was maximised when multiple SMS messages per day were used (g = 0.395) compared to using lower frequencies (daily, multiple per week and once-off) (g = 0.244). The low heterogeneity in this meta-analysis (I (2) = 38.619) supports reporting a summary effect size and implies that the effect of SMS messaging is robust, regardless of population characteristics or healthy behaviour targeted. SMS messaging is a simple, cost-effective intervention that can be automated and can reach any mobile phone owner. While the effect size is small, potential health benefits are well worth achieving.

  19. Foaming Glass Using High Pressure Sintering

    DEFF Research Database (Denmark)

    Østergaard, Martin Bonderup; Petersen, Rasmus Rosenlund; König, Jakob

    Foam glass is a high added value product which contributes to waste recycling and energy efficiency through heat insulation. The foaming can be initiated by a chemical or physical process. Chemical foaming with aid of a foaming agent is the dominant industrial process. Physical foaming has two...... to expand. After heat-treatment foam glass can be obtained with porosities of 80–90 %. In this study we conduct physical foaming of cathode ray tube (CRT) panel glass by sintering under high pressure (5-25 MPa) using helium, nitrogen, or argon at 640 °C (~108 Pa s). Reheating a sample in a heating...... variations. One way is by saturation of glass melts with gas. The other involves sintering of powdered glass under a high gas pressure resulting in glass pellets with high pressure bubbles entrapped. Reheating the glass pellets above the glass transition temperature under ambient pressure allows the bubbles...

  20. Positivity of spin foam amplitudes

    International Nuclear Information System (INIS)

    Baez, John C; Christensen, J Daniel

    2002-01-01

    The amplitude for a spin foam in the Barrett-Crane model of Riemannian quantum gravity is given as a product over its vertices, edges and faces, with one factor of the Riemannian 10j symbols appearing for each vertex, and simpler factors for the edges and faces. We prove that these amplitudes are always nonnegative for closed spin foams. As a corollary, all open spin foams going between a fixed pair of spin networks have real amplitudes of the same sign. This means one can use the Metropolis algorithm to compute expectation values of observables in the Riemannian Barrett-Crane model, as in statistical mechanics, even though this theory is based on a real-time (e iS ) rather than imaginary-time e -S path integral. Our proof uses the fact that when the Riemannian 10j symbols are nonzero, their sign is positive or negative depending on whether the sum of the ten spins is an integer or half-integer. For the product of 10j symbols appearing in the amplitude for a closed spin foam, these signs cancel. We conclude with some numerical evidence suggesting that the Lorentzian 10j symbols are always nonnegative, which would imply similar results for the Lorentzian Barrett-Crane model

  1. Influence of foaming agents on solid thermal conductivity of foam glasses prepared from CRT panel glass

    DEFF Research Database (Denmark)

    Østergaard, Martin Bonderup; Petersen, Rasmus Rosenlund; König, Jakob

    2017-01-01

    The understanding of the thermal transport mechanism of foam glass is still lacking. The contribution of solid- and gas conduction to the total thermal conductivity remains to be reported. In many foam glasses, the solid phase consist of a mix of an amorphous and a crystalline part where foaming...... containing glass and crystalline foaming agents and amorphous samples where the foaming agents are completely dissolved in the glass structure, respectively. Results show that the samples prepared by sintering have a higher thermal conductivity than the samples prepared by melt-quenching. The thermal...... conductivities of the sintered and the melt-quenched samples represent an upper and lower limit of the solid phase thermal conductivity of foam glasses prepared with these foaming agents. The content of foaming agents dissolved in the glass structure has a major impact on the solid thermal conductivity of foam...

  2. Mobile Phone-Delivered Cognitive Behavioral Therapy for Insomnia: A Randomized Waitlist Controlled Trial

    Science.gov (United States)

    Lancee, Jaap; Griffioen-Both, Fiemke; Spruit, Sandor; Fitrianie, Siska; Neerincx, Mark A; Beun, Robbert Jan; Brinkman, Willem-Paul

    2017-01-01

    Background This study is one of the first randomized controlled trials investigating cognitive behavioral therapy for insomnia (CBT-I) delivered by a fully automated mobile phone app. Such an app can potentially increase the accessibility of insomnia treatment for the 10% of people who have insomnia. Objective The objective of our study was to investigate the efficacy of CBT-I delivered via the Sleepcare mobile phone app, compared with a waitlist control group, in a randomized controlled trial. Methods We recruited participants in the Netherlands with relatively mild insomnia disorder. After answering an online pretest questionnaire, they were randomly assigned to the app (n=74) or the waitlist condition (n=77). The app packaged a sleep diary, a relaxation exercise, sleep restriction exercise, and sleep hygiene and education. The app was fully automated and adjusted itself to a participant’s progress. Program duration was 6 to 7 weeks, after which participants received posttest measurements and a 3-month follow-up. The participants in the waitlist condition received the app after they completed the posttest questionnaire. The measurements consisted of questionnaires and 7-day online diaries. The questionnaires measured insomnia severity, dysfunctional beliefs about sleep, and anxiety and depression symptoms. The diary measured sleep variables such as sleep efficiency. We performed multilevel analyses to study the interaction effects between time and condition. Results The results showed significant interaction effects (Papp condition on the primary outcome measures of insomnia severity (d=–0.66) and sleep efficiency (d=0.71). Overall, these improvements were also retained in a 3-month follow-up. Conclusions This study demonstrated the efficacy of a fully automated mobile phone app in the treatment of relatively mild insomnia. The effects were in the range of what is found for Web-based treatment in general. This supports the applicability of such technical

  3. The Effect of Joint Mobilization on Dynamic Postural Control in Patients With Chronic Ankle Instability: A Critically Appraised Topic.

    Science.gov (United States)

    Kosik, Kyle B; Gribble, Phillip A

    2018-01-01

    Clinical Scenario: Dorsiflexion range of motion is an important factor in the performance of the Star Excursion Balance Test (SEBT). While patients with chronic ankle instability (CAI) commonly experience decreased reach distances on the SEBT, ankle joint mobilization has been suggested to be an effective therapeutic intervention for targeting dorsiflexion range of motion. What is the evidence to support ankle joint mobilization for improving performance on the SEBT in patients with CAI? Summary of Key Findings: The literature was searched for articles examining the effects of ankle joint mobilization on scores of the SEBT. A total of 3 peer-reviewed articles were retrieved, 2 prospective individual cohort studies and 1 randomized controlled trial. Only 2 articles demonstrated favorable results following 6 sessions of ankle joint mobilization. Clinical Bottom Line: Despite the mixed results, the majority of the available evidence suggests that ankle joint mobilization improves dynamic postural control. Strength of Recommendation: In accordance with the Centre of Evidence Based Medicine, the inconsistent results and the limited high-quality studies indicate that there is level C evidence to support the use of ankle joint mobilization to improve performance on the SEBT in patients with CAI.

  4. Joint Optimized CPU and Networking Control Scheme for Improved Energy Efficiency in Video Streaming on Mobile Devices

    Directory of Open Access Journals (Sweden)

    Sung-Woong Jo

    2017-01-01

    Full Text Available Video streaming service is one of the most popular applications for mobile users. However, mobile video streaming services consume a lot of energy, resulting in a reduced battery life. This is a critical problem that results in a degraded user’s quality of experience (QoE. Therefore, in this paper, a joint optimization scheme that controls both the central processing unit (CPU and wireless networking of the video streaming process for improved energy efficiency on mobile devices is proposed. For this purpose, the energy consumption of the network interface and CPU is analyzed, and based on the energy consumption profile a joint optimization problem is formulated to maximize the energy efficiency of the mobile device. The proposed algorithm adaptively adjusts the number of chunks to be downloaded and decoded in each packet. Simulation results show that the proposed algorithm can effectively improve the energy efficiency when compared with the existing algorithms.

  5. 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.

  6. 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

  7. Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

    Science.gov (United States)

    Nazemizadeh, M.; Rahimi, H. N.; Amini Khoiy, K.

    2012-03-01

    This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

  8. Foam flow in a model porous medium: II. The effect of trapped gas.

    Science.gov (United States)

    Jones, S A; Getrouw, N; Vincent-Bonnieu, S

    2018-05-09

    Gas trapping is an important mechanism in both Water or Surfactant Alternating Gas (WAG/SAG) and foam injection processes in porous media. Foams for enhanced oil recovery (EOR) can increase sweep efficiency as they decrease the gas relative permeability, and this is mainly due to gas trapping. However, gas trapping mechanisms are poorly understood. Some studies have been performed during corefloods, but little work has been carried out to describe the bubble trapping behaviour at the pore scale. We have carried out foam flow tests in a micromodel etched with an irregular hexagonal pattern. Image analysis of the foam flow allowed the bubble centres to be tracked and local velocities to be obtained. It was found that the flow in the micromodel is dominated by intermittency and localized zones of trapped gas. The quantity of trapped gas was measured both by considering the fraction of bubbles that were trapped (via velocity thresholding) and by measuring the area fraction containing immobile gas (via image analysis). A decrease in the quantity of trapped gas was observed for both increasing total velocity and increasing foam quality. Calculations of the gas relative permeability were made with the Brooks Corey equation, using the measured trapped gas saturations. The results showed a decrease in gas relative permeabilities, and gas mobility, for increasing fractions of trapped gas. It is suggested that the shear thinning behaviour of foam could be coupled to the saturation of trapped gas.

  9. A neural learning classifier system with self-adaptive constructivism for mobile robot control.

    Science.gov (United States)

    Hurst, Jacob; Bull, Larry

    2006-01-01

    For artificial entities to achieve true autonomy and display complex lifelike behavior, they will need to exploit appropriate adaptable learning algorithms. In this context adaptability implies flexibility guided by the environment at any given time and an open-ended ability to learn appropriate behaviors. This article examines the use of constructivism-inspired mechanisms within a neural learning classifier system architecture that exploits parameter self-adaptation as an approach to realize such behavior. The system uses a rule structure in which each rule is represented by an artificial neural network. It is shown that appropriate internal rule complexity emerges during learning at a rate controlled by the learner and that the structure indicates underlying features of the task. Results are presented in simulated mazes before moving to a mobile robot platform.

  10. Cooperative control of UAVs for localization of intermittently emitting mobile targets.

    Science.gov (United States)

    Pack, Daniel J; Delima, Pedro; Toussaint, Gregory J; York, George

    2009-08-01

    Compared with a single platform, cooperative autonomous unmanned aerial vehicles (UAVs) offer efficiency and robustness in performing complex tasks. Focusing on ground mobile targets that intermittently emit radio frequency signals, this paper presents a decentralized control architecture for multiple UAVs, equipped only with rudimentary sensors, to search, detect, and locate targets over large areas. The proposed architecture has in its core a decision logic which governs the state of operation for each UAV based on sensor readings and communicated data. To support the findings, extensive simulation results are presented, focusing primarily on two success measures that the UAVs seek to minimize: overall time to search for a group of targets and the final target localization error achieved. The results of the simulations have provided support for hardware flight tests.

  11. SDN Controlled mmWave Massive MIMO Hybrid Precoding for 5G Heterogeneous Mobile Systems

    Directory of Open Access Journals (Sweden)

    Na Chen

    2016-01-01

    Full Text Available In 5G mobile network, millimeter wave (mmWave and heterogeneous networks (Hetnets are significant techniques to sustain coverage and spectral efficiency. In this paper, we utilize the hybrid precoding to overcome hardware constraints on the analog-only beamforming in mmWave systems. Particularly, we identify the complicated antenna coordination and vast spatial domain information as the outstanding challenges in mmWave Hetnets. In our work, we employ software defined network (SDN to accomplish radio resource management (RRM and achieve flexible spacial coordination in mmWave Hetnets. In our proposed scheme, SDN controller is responsible for collecting the user channel state information (CSI and applying hybrid precoding based on the calculated null-space of victim users. Simulation results show that our design can effectively reduce the interference to victim users and support high quality of service.

  12. Guaranteed cost control of mobile sensor networks with Markov switching topologies.

    Science.gov (United States)

    Zhao, Yuan; Guo, Ge; Ding, Lei

    2015-09-01

    This paper investigates the consensus seeking problem of mobile sensor networks (MSNs) with random switching topologies. The network communication topologies are composed of a set of directed graphs (or digraph) with a spanning tree. The switching of topologies is governed by a Markov chain. The consensus seeking problem is addressed by introducing a global topology-aware linear quadratic (LQ) cost as the performance measure. By state transformation, the consensus problem is transformed to the stabilization of a Markovian jump system with guaranteed cost. A sufficient condition for global mean-square consensus is derived in the context of stochastic stability analysis of Markovian jump systems. A computational algorithm is given to synchronously calculate both the sub-optimal consensus controller gains and the sub-minimum upper bound of the cost. The effectiveness of the proposed design method is illustrated by three numerical examples. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  13. Hydrodynamics of foam flows for in situ bioremediation of DNAPL-contaminated subsurface

    International Nuclear Information System (INIS)

    Bouillard, J.X.; Enzien, M.; Peters, R.W.; Frank, J.; Botto, R.E.; Cody, G.

    1995-01-01

    In situ remediation technologies such as (1) pump-and-treat, (2) soil vacuum extraction, (3) soil flushing/washing, and (4) bioremediation are being promoted for cleanup of contaminated sites. However, these technologies are limited by flow channeling of chemical treatment agents. Argonne National Laboratory (ANL), the Gas Research Institute, and the Institute of Gas Technology are collaboratively investigating a new bioremediation technology using foams. The ability of a foam to block pores and limit flow bypassing makes it ideal for DNAPL remediation. The hydrodynamics of gas/liquid foam flows differ significantly from the hydrodynamics of single and multiphase nonfoaming flows. This is illustrated using a multiphase flow hydrodynamic computer model and a two-dimensional flow visualization cell. A state-of-the-art, nonintrusive, three-dimensional magnetic resonance imaging technique was developed to visualize DNAPL mobilization in three dimensions. Mechanisms to be investigated are in situ DNAPL interactions with the foam, DNAPL emulsification, DNAPL scouring by the foam, and subsequent DNAPL mobilization/redeposition in the porous media

  14. Happier Healers: Randomized Controlled Trial of Mobile Mindfulness for Stress Management.

    Science.gov (United States)

    Yang, Elaine; Schamber, Elizabeth; Meyer, Rika M L; Gold, Jeffrey I

    2018-05-01

    Medical students have higher rates of depression and psychologic distress than the general population, which may negatively impact academic performance and professional conduct. This study assessed whether 10-20 min of daily mindfulness meditation for 30 days, using a mobile phone application, could decrease perceived stress and improve well-being for medical students. Eighty-eight medical students were stratified by class year and randomized to either intervention or control groups to use the mobile application Headspace, an audio-guided mindfulness meditation program, for 30 days. All participants completed the Perceived Stress Scale (PSS), Five-Facet Mindfulness Questionnaire (FFMQ), and General Well-Being Schedule (GWBS) at baseline (T1), 30 days (T2), and 60 days (T3). Repeated measures analysis of variance (rANOVA) was conducted for intervention versus control groups across T1, T2, and T3 to examine differences in stress, mindfulness, and well-being. There was a significant interaction between time and treatment group for perceived stress and well-being. Perceived stress significantly decreased for the intervention group from T1 to T3 (F[2,142] = 3.98, p mindfulness meditation program is an effective means to decrease perceived stress in medical students, which may have implications on patient care. Integrating mindfulness training into medical school curricula for management of school- and work-related stress may lead to fewer negative physician outcomes (e.g., burnout, anxiety, and depression) and improved physician and patient outcomes. This has implications for a broad group of therapists and healthcare providers, ultimately improving quality of healing and patient care.

  15. Simultaneous influence of indigenous microorganism along with abiotic factors controlling arsenic mobilization in Brahmaputra floodplain, India

    Science.gov (United States)

    Sathe, Sandip S.; Mahanta, Chandan; Mishra, Pushpanjali

    2018-06-01

    In the dynamic cycling of oxic and anoxic aqueous alluvial aquifer environments, varying Arsenic (As) concentrations are controlled by both abiotic and biotic factors. Studies have shown a significant form of toxic As (III) being released through the reductive dissolution of iron-oxy/hydroxide minerals and microbial reduction mechanisms, which leads to a serious health concern. The present study was performed in order to assess the abiotic and biotic factors influencing As release into the alluvial aquifer groundwater in Brahmaputra floodplain, India. The groundwater chemistry, characterization of the sediments, isolation, identification and characterization of prominent As releasing indigenous bacterium were conducted. The measured solid and liquid phases of total As concentration were ranged between 0.02 and 17.2 mg kg-1 and 8 to 353 μg L-1, respectively. The morphology and mineralogy showed the presence of detrital and authigenic mineral assemblages whereas primary and secondary As bearing Realgar and Claudetite minerals were identified, respectively. Furthermore, significant non-labile As fraction was found associated with the amorphous oxides of Fe, Mn and Al. The observed groundwater chemistry and sediment color, deduced a sub-oxic reducing aquifer conditions in As-contaminated regions. In addition, 16S rDNA sequencing results of the isolated bacterium showed the prominent Pseudomonas aeruginosa responsible for the mobilization of As, reducing condition, biomineralization and causing grey color to the sediments at the shallower and deeper aquifers in the study area. These findings suggest that microbial metabolic activities are equally responsible in iron-oxy/hydroxide reductive dissolution, controlling As mobilization in dynamic fluvial flood plains.

  16. Investigation of foaming during nuclear defense-waste solidification by electric melting

    International Nuclear Information System (INIS)

    Blair, H.T.; Lukacs, J.M.

    1980-12-01

    To determine the cause of foaming, the physical and chemical composition of the glass formers that are added to the waste to produce a borosilicate melt were investigated. It was determined that the glass-forming frit was not the source of the foam-causing gases. Incomplete calcination of the waste, which results in residual hydrates, carbonates and nitrates, and the relatively high carbon and sulfate contents of the waste glass composition were also eliminated as possible sources of the foam. It was finally shown that the oxides of the multivalent ions of manganese and iron that are in the defense waste in high concentrations are the source of the foaming. Nickel oxide is also present in the waste and is suspected of contributing to the foaming. In investigating methods to reduce the foam, the focus was on the chemistry of the materials being processed rather than on the mechanical aspects of the processing equipment to avoid increasing the mechanical complexity of the melter operation. Reducing the waste loading in the host glass from 28 to 14 wt. % produced the most significant reduction in the foam. Of course this did not increase the rate at which waste can be processed. Adding carbonaceous additives or barium metaphosphate to the waste/frit mixture (batch) reduced the foaming somewhat. However, if too much reducing agent was added to the batch, iron-nickel alloys separated from the melt. Likewise, melting the batch in an inert or a reducing atmosphere reduced the foaming but produced a heterogeneous product. Finally, initial attempts to control foaming by adding reducing agents to the liquid waste and then spray-calcining it using an inert atomizing gas were not successful. The possibilities for liquid-waste treatment need to be investigated further

  17. Toward Understanding Pore Formation and Mobility during Controlled Directional Solidification in a Microgravity Environment Investigation (PFMI)

    Science.gov (United States)

    Grugel, Richard N.; Anilkumar, A. V.; Luz, Paul; Jeter, Linda; Volz, Martin P.; Spivey, Reggie; Smith, G.

    2003-01-01

    The generation and inclusion of detrimental porosity, e.g., pipes and rattails can occur during controlled directional solidification processing. The origin of these defects is generally attributed to gas evolution and entrapment during solidification of the melt. On Earth, owing to buoyancy, an initiated bubble can rapidly rise through the liquid melt and pop at the surface; this is obviously not ensured in a low gravity or microgravity environment. Clearly, porosity generation and inclusion is detrimental to conducting any meaningful solidification-science studies in microgravity. Thus it is essential that model experiments be conducted in microgravity, to understand the details of the generation and mobility of porosity, so that methods can be found to eliminate it. In hindsight, this is particularly relevant given the results of the previous directional solidification experiments conducted in Space. The current International Space Station (ISS) Microgravity Science Glovebox (MSG) investigation addresses the central issue of porosity formation and mobility during controlled directional solidification processing in microgravity. The study will be done using a transparent metal-analogue material, succinonitrile (SCN) and succinonitrile-water 'alloys', so that direct observation and recording of pore generation and mobility can be made during the experiments. Succinonitrile is particularly well suited for the proposed investigation because it is transparent, it solidifies in a manner analogous to most metals, it has a convenient melting point, its material properties are well characterized and, it has been successfully used in previous microgravity experiments. The PFMI experiment will be launched on the UF-2, STS-111 flight. Highlighting the porosity development problem in metal alloys during microgravity processing, the poster will describe: (i) the intent of the proposed experiments, (ii) the theoretical rationale behind using SCN as the study material for

  18. Foaming behaviour of polymer-surfactant solutions

    International Nuclear Information System (INIS)

    Cervantes-MartInez, Alfredo; Maldonado, Amir

    2007-01-01

    We study the effect of a non-ionic amphiphilic polymer (PEG-100 stearate also called Myrj 59) on the foaming behaviour of aqueous solutions of an anionic surfactant (sodium dodecyl sulfate or SDS). The SDS concentration was kept fixed while the Myrj 59 concentration was varied. Measurements of foamability, surface tension and electrical conductivity were carried out. The results show two opposite effects depending on the polymer concentration: foamability is higher when the Myrj 59 concentration is low; however, it decreases considerably when the polymer concentration is increased. This behaviour is due to the polymer adsorption at the air/liquid interface at lower polymer concentrations, and to the formation of a polymer-surfactant complex in the bulk at higher concentrations. The results are confirmed by surface tension and electrical conductivity measurements, which are interpreted in terms of the microstructure of the polymer-surfactant solutions. The observed behaviour is due to the amphiphilic nature of the studied polymer. The increased hydrophobicity of Myrj 59, compared to that of water-soluble polymers like PEG or PEO, increases its 'reactivity' towards SDS, i.e. the strength of its interaction with this anionic surfactant. Our results show that hydrophobically modified polymers have potential applications as additives in order to control the foaming properties of surfactant solutions

  19. 46 CFR 108.463 - Foam rate: Protein.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Foam rate: Protein. 108.463 Section 108.463 Shipping... EQUIPMENT Fire Extinguishing Systems Foam Extinguishing Systems § 108.463 Foam rate: Protein. (a) If the outlets of a protein foam extinguishing system are in a space, the foam rate at each outlet must be at...

  20. Making continuous bubble type polyethylene foam incombustible

    International Nuclear Information System (INIS)

    Kaji, Kanako; Hatada, Motoyoshi; Yoshizawa, Iwao; Komai, Kuniaki; Kohara, Choji.

    1989-01-01

    Since continuous bubble type plastic foam has excellent compression characteristics and sound absorption characteristics, it has been widely used as cushion material, sealing material, sound insulating material and so on. However, the most part of plastic foam is taken by air, therefore at the time of fires, it becomes a very dangerous material. At present, the material used mostly as the seat cushions for airliners, railroad coaches, automobiles and others is polyurethane foam, but since it contains C-N couples in its molecules, it is feared to generate cyanic gas according to the condition of combustion. As the plastic foam that does not generate harmful gas at the time of fires, there is continuous bubble type polyethylene which is excellent in its weathering property and chemical resistance. A reactive, phosphorus-containing oligomer has large molecular weight and two or more double couplings in a molecule, therefore, it does not enter the inside of polyethylene, and polymerizes and crosslinks on the surfaces of bubble walls in the foam, accordingly it is expected that the apparent graft polymerization is carried out, and it is very effective for making polyethylene foam incombustible. The method of making graft foam, the properties of graft foam and so on are reported. When the graft polymerization of this oligomer to continuous bubble type polyethylene foam was tried, highly incombustible polyethylene foam was obtained. (K.I.)

  1. Covering sources of toxic vapors with foam

    International Nuclear Information System (INIS)

    Aue, W. P.; Guidetti, F.

    2009-01-01

    In a case of chemical terrorism, first responders might well be confronted with a liquid source of toxic vapor which keeps spreading out its hazardous contents. With foam as an efficient and simple means, such a source could be covered up in seconds and the spread of vapors mitigated drastically. Once covered, the source could then wait for a longer time to be removed carefully and professionally by a decontamination team. In order to find foams useful for covering up toxic vapor sources, a large set of measurements has been performed in order to answer the following questions: - Which foams could be used for this purpose? - How thick should the foam cover be? - For how long would such a foam cover be effective? - Could the practical application of foam cause a spread of the toxic chemical? The toxic vapors sources included GB, GD and HD. Among the foams were 10 fire fighter foams (e.g. AFFF, protein) and the aqueous decontamination foam CASCAD. Small scale experiments showed that CASCAD is best suited for covering a toxic source; a 10 cm layer of it covers and decontaminates GB. The large scale experiments confirmed that any fire fighter foam is a suitable cover for a longer or shorter period.(author)

  2. Advanced Software Ground Station and UAV Development for NLoS Control Using Mobile Communications

    Directory of Open Access Journals (Sweden)

    Amr AbdElHamid

    2015-01-01

    Full Text Available Over the last decades, Unmanned Aerial Systems (UASs have gained much attention due to their various applications in different sections. However, their communication range is limited to utilized communication equipment. Therefore, utilization of GSM channels opens a new prospect towards long distance UAV missions and mobile command and control centers. This paper demonstrates new design and development of a small-scale UAV and a Ground Control Station (GCS using GSM bidirectional communications for Non-Line of Sight (NLoS long range control. GCSs are considered the front end node in UAV guidance process. Therefore, the proposed GCS employs a two-layer framework to consider all ground pilot requirements. Moreover, a new exploitation of global weather forecast data is added to the GCS. On the other hand, the proposed airborne system utilizes a new integration of different Commercial off-the-Shelf (COTS components and excludes short range receivers. The ground and flight tests show that stable bidirectional GSM communication is established, reliable hardware integration is accomplished, real time performance is achieved, GCS functional fidelity is obtained, and low cost is maintained. Finally, some qualitative aspects of the proposed platform are presented to address the detailed features.

  3. Real-Time Performance of Hybrid Mobile Robot Control Utilizing USB Protocol

    Directory of Open Access Journals (Sweden)

    Jacek Augustyn

    2015-02-01

    Full Text Available This article discusses the problem of usability of the USB 2.0 protocol in the area of real-time control of a mobile robot. Optimization methods of data transfer handling were proposed. The impact of the optimization results on the entire system's performance was examined in practice. As a test-bed, a hybrid system composed of two devices communicating by direct USB connection was implemented. The first of the mentioned devices was a 32-bit SoC micro-system serving as a direct control unit, and the second one was an off-the-shelf PDA providing supervisory control and logging. Due to this design, the system meets regimes of the real-time constraints and maintains continuity of a data stream at a large bandwidth. The real-time performances of subsystems and the entire system were experimentally examined depending on various operating conditions. Thanks to the performed experiments, the dependency of real-time limits on operational parameters has been determined.

  4. Design of a Mobile Brain Computer Interface-Based Smart Multimedia Controller

    Science.gov (United States)

    Tseng, Kevin C.; Lin, Bor-Shing; Wong, Alice May-Kuen; Lin, Bor-Shyh

    2015-01-01

    Music is a way of expressing our feelings and emotions. Suitable music can positively affect people. However, current multimedia control methods, such as manual selection or automatic random mechanisms, which are now applied broadly in MP3 and CD players, cannot adaptively select suitable music according to the user’s physiological state. In this study, a brain computer interface-based smart multimedia controller was proposed to select music in different situations according to the user’s physiological state. Here, a commercial mobile tablet was used as the multimedia platform, and a wireless multi-channel electroencephalograph (EEG) acquisition module was designed for real-time EEG monitoring. A smart multimedia control program built in the multimedia platform was developed to analyze the user’s EEG feature and select music according his/her state. The relationship between the user’s state and music sorted by listener’s preference was also examined in this study. The experimental results show that real-time music biofeedback according a user’s EEG feature may positively improve the user’s attention state. PMID:25756862

  5. Path Planning of Mobile Elastic Robotic Arms by Indirect Approach of Optimal Control

    Directory of Open Access Journals (Sweden)

    Moharam Habibnejad Korayem

    2011-03-01

    Full Text Available Finding optimal trajectory is critical in several applications of robot manipulators. This paper is applied the open-loop optimal control approach for generating the optimal trajectory of the flexible mobile manipulators in point-to-point motion. This method is based on the Pontryagin-s minimum principle that by providing a two-point boundary value problem is solved the problem. This problem is known to be complex in particular when combined motion of the base and manipulator, non-holonomic constraint of the base and highly non-linear and complicated dynamic equations as a result of flexible nature of links are taken into account. The study emphasizes on modeling of the complete optimal control problem by remaining all nonlinear state and costate variables as well as control constraints. In this method, designer can compromise between different objectives by considering the proper penalty matrices and it yields to choose the proper trajectory among the various paths. The effectiveness and capability of the proposed approach are demonstrated through simulation studies. Finally, to verify the proposed method, the simulation results obtained from the model are compared with the results of those available in the literature.

  6. Supervisory control of mobile sensor networks: math formulation, simulation, and implementation.

    Science.gov (United States)

    Giordano, Vincenzo; Ballal, Prasanna; Lewis, Frank; Turchiano, Biagio; Zhang, Jing Bing

    2006-08-01

    This paper uses a novel discrete-event controller (DEC) for the coordination of cooperating heterogeneous wireless sensor networks (WSNs) containing both unattended ground sensors (UGSs) and mobile sensor robots. The DEC sequences the most suitable tasks for each agent and assigns sensor resources according to the current perception of the environment. A matrix formulation makes this DEC particularly useful for WSN, where missions change and sensor agents may be added or may fail. WSN have peculiarities that complicate their supervisory control. Therefore, this paper introduces several new tools for DEC design and operation, including methods for generating the required supervisory matrices based on mission planning, methods for modifying the matrices in the event of failed nodes, or nodes entering the network, and a novel dynamic priority assignment weighting approach for selecting the most appropriate and useful sensors for a given mission task. The resulting DEC represents a complete dynamical description of the WSN system, which allows a fast programming of deployable WSN, a computer simulation analysis, and an efficient implementation. The DEC is actually implemented on an experimental wireless-sensor-network prototyping system. Both simulation and experimental results are presented to show the effectiveness and versatility of the developed control architecture.

  7. Design of a Mobile Brain Computer Interface-Based Smart Multimedia Controller

    Directory of Open Access Journals (Sweden)

    Kevin C. Tseng

    2015-03-01

    Full Text Available Music is a way of expressing our feelings and emotions. Suitable music can positively affect people. However, current multimedia control methods, such as manual selection or automatic random mechanisms, which are now applied broadly in MP3 and CD players, cannot adaptively select suitable music according to the user’s physiological state. In this study, a brain computer interface-based smart multimedia controller was proposed to select music in different situations according to the user’s physiological state. Here, a commercial mobile tablet was used as the multimedia platform, and a wireless multi-channel electroencephalograph (EEG acquisition module was designed for real-time EEG monitoring. A smart multimedia control program built in the multimedia platform was developed to analyze the user’s EEG feature and select music according his/her state. The relationship between the user’s state and music sorted by listener’s preference was also examined in this study. The experimental results show that real-time music biofeedback according a user’s EEG feature may positively improve the user’s attention state.

  8. Mobile phone base stations and early childhood cancers: case-control study.

    Science.gov (United States)

    Elliott, Paul; Toledano, Mireille B; Bennett, J; Beale, L; de Hoogh, K; Best, N; Briggs, D J

    2010-06-22

    To investigate the risk of early childhood cancers associated with the mother's exposure to radiofrequency from and proximity to macrocell mobile phone base stations (masts) during pregnancy. Case-control study. Cancer registry and national birth register data in Great Britain. 1397 cases of cancer in children aged 0-4 from national cancer registry 1999-2001 and 5588 birth controls from national birth register, individually matched by sex and date of birth (four controls per case). Incidence of cancers of the brain and central nervous system, leukaemia, and non-Hodgkin's lymphomas, and all cancers combined, adjusted for small area measures of education level, socioeconomic deprivation, population density, and population mixing. Mean distance of registered address at birth from a macrocell base station, based on a national database of 76,890 base station antennas in 1996-2001, was similar for cases and controls (1107 (SD 1131) m v 1073 (SD 1130) m, P=0.31), as was total power output of base stations within 700 m of the address (2.89 (SD 5.9) kW v 3.00 (SD 6.0) kW, P=0.54) and modelled power density (-30.3 (SD 21.7) dBm v -29.7 (SD 21.5) dBm, P=0.41). For modelled power density at the address at birth, compared with the lowest exposure category the adjusted odds ratios were 1.01 (95% confidence interval 0.87 to 1.18) in the intermediate and 1.02 (0.88 to 1.20) in the highest exposure category for all cancers (P=0.79 for trend), 0.97 (0.69 to 1.37) and 0.76 (0.51 to 1.12), respectively, for brain and central nervous system cancers (P=0.33 for trend), and 1.16 (0.90 to 1.48) and 1.03 (0.79 to 1.34) for leukaemia and non-Hodgkin's lymphoma (P=0.51 for trend). There is no association between risk of early childhood cancers and estimates of the mother's exposure to mobile phone base stations during pregnancy.

  9. Wrench tectonics control on Neogene-Quaternary sedimentation along the Mid-Hungarian Mobile Belt

    Science.gov (United States)

    Pogacsas, Gyorgy; Juhász, Györgyi; Mádl-Szőnyi, Judit; Simon, Szilvia; Lukács, Szilveszter; Csizmeg, János

    2010-05-01

    The Neogene Pannonian basin is underlain by a large orogenic collage which is built up by several tectonostratigraphic terrains. The basement of the Pannonian Basin became imbricate nappes during the Cretaceous Alpine collision. Nappes of Late Cretaceous in age have been proven below the Great Hungarian Plain (Grow et al 1994). The boundary of the two main terrains, the northwestern ALCAPA (Alpine-Carpathian-Pannonian) and the southeastern TISZA, is the Mid-Hungarian Mobile Belt. It is the most significant neotectonic zone of the Pannonian Basin. The structural analysis of the middle section of the Mid-Hungarian Mobile Belt was carried out on a 120km x 50km area, between the Danube and the Tisza river, on the basis of interpretation of seismic data. The structural analysis of the Neogene-Quaternary sediments was supported by sequence stratigraphic interpretation of seismic, well log and core-sample data. Regional seismic profiles were both oriented in the dip direction, which highlights sediment supply routes into the basin, and strike-oriented. The studied segment of the Mid-Hungarian Mobile Belt consists of several long (some ten kilometres long) strike slip fault zones. The offset lengths of the individual strike slipe faults varies between a few and a dozens of kilometres. Activity along the Mid-Hungarian Mobile Belt can be characterised by four periods, the size and shape of facies zones of each development period were controlled by tectonics: 1. During the early Miocene, the ALPACA moved eastward, bounded by sinistral strike-slipe system along its northern side and dextral strike-slipe fault system along its contact with the Southern Alps and the TISZA terrain. The largest movement took part during the Ottnangian-Karpatian (19-16.5 Ma). The TISZA unit moved northeastward over the remnant Carpathian Flysch Basin (Nemcok et al 2006). These terrains movements resulted in right lateral, convergent wide wrench along the Mid-Hungarian Mobile Belt. The ALPACA

  10. Long-term effect of physical activity counseling on mobility limitation among older people: a randomized controlled study

    DEFF Research Database (Denmark)

    Mänty, Minna Regina; Heinonen, Ari; Leinonen, Raija

    2009-01-01

    counseling-induced benefits persist after cessation of the intervention. METHODS: In a 2-year, single-blinded, randomized controlled study, 632 sedentary participants aged 75-81 years were randomly assigned into the intervention (n = 318) or control (n = 314) group. The intervention group received a single......BACKGROUND: Physical activity counseling increases physical activity among older people, but its effectiveness on mobility, that is, maintaining the ability to move independently, is unknown. We studied the effect of physical activity counseling on mobility among older people and evaluated whether...... individualized physical activity counseling session with a supportive telephone contact every 4 months for 2 years. The outcome measures-perceived difficulty in advanced (walking 2 km) and basic (walking 0.5 km) mobility-were gathered semiannually during the intervention and the 1.5-year postintervention follow...

  11. Sodium borohydride hydrogen generator using Co–P/Ni foam catalysts for 200 W proton exchange membrane fuel cell system

    International Nuclear Information System (INIS)

    Oh, Taek Hyun; Gang, Byeong Gyu; Kim, Hyuntak; Kwon, Sejin

    2015-01-01

    The response characteristics of electroless-deposited Co–P/Ni foam catalysts for sodium borohydride hydrolysis were investigated. The effect of nickel foam geometry on the properties of the catalysts was evaluated. As the PPI (pores per inch) of the nickel foam increased, the hydrogen generation rate per gram of the deposited catalyst increased due to an increase in surface area. The response characteristics of various catalysts were compared under real operating conditions. When a thin nickel foam with high PPI was used, the response characteristics of the catalyst improved due to an increase in the amount of the deposited catalyst and surface area. Finally, a 200 W PEMFC (proton exchange membrane fuel cell) system using electroless-deposited Co–P/Ni foam (110 PPI) catalyst was investigated. The response time to reach a hydrogen generation rate sufficient for a 200 W PEMFC was 71 s, and the energy density of a 200 W fuel cell system for producing 600 Wh was 252.1 Wh/kg. A fuel cell system using Co–P/Ni foam catalysts can be widely used as a power source for mobile applications due to fast response characteristics and high energy density. - Highlights: • Response characteristics of Co–P/Ni foam catalysts are investigated. • Catalytic activity is improved with increase in PPI (pores per inch) of Ni foam. • Co–P/Ni foam (110 PPI) catalyst has improved response characteristics. • The energy density of a 200 W PEMFC system for producing 600 Wh is 252.1 Wh/kg. • Co–P/Ni foam (110 PPI) catalyst is suitable for fuel cell system.

  12. Reaching the unreachable: providing STI control services to female sex workers via mobile team outreach.

    Directory of Open Access Journals (Sweden)

    Pablo E Campos

    Full Text Available As part of a community-randomized trial of a multicomponent intervention to prevent sexually transmitted infections, we created Mobile Teams (MTs in ten intervention cities across Peru to improve outreach to female sex workers (FSW for strengthened STI prevention services.Throughout 20 two-month cycles, MTs provided counseling; condoms; screening and specific treatment for Neisseria gonorrhoeae (NG, Chlamydia trachomatis (CT, and vaginal Trichomonas vaginalis (TV infections; and periodic presumptive metronidazole treatment for vaginal infections.MTs had 48,207 separate encounters with 24,814 FSW; numbers of sex work venues and of FSW reached increased steadily over several cycles. Approximately 50% of FSW reached per cycle were new. Reported condom use with last client increased from 73% to 93%. Presumptive metronidazole treatment was accepted 83% of times offered. Over 38 months, CT prevalence declined from 15.4% to 8.2%, and TV prevalence from 7.3% to 2.6%. Among participants in ≥ 9 cycles, CT prevalence decreased from 12.9% to 6.0% (p <0.001; TV from 4.6% to 1.5% (p <0.001; and NG from 0.8% to 0.4% (p = 0.07.Mobile outreach to FSW reached many FSW not utilizing government clinics. Self-reported condom use substantially increased; CT and TV prevalences declined significantly. The community-randomized trial, reported separately, demonstrated significantly greater reductions in composite prevalence of CT, NG, TV, or high-titer syphilis serology in FSW in these ten intervention cities than in ten matched control cities.

  13. Solid cellulose nanofiber based foams - Towards facile design of sustained drug delivery systems

    DEFF Research Database (Denmark)

    Svagan, Anna J; Benjamins, Jan-Willem; Al-Ansari, Zeinab

    2016-01-01

    acceptable surfactant (lauric acid sodium salt). The drug was suspended in the wet-stable foams followed by a drying step to obtain dry foams. Flexible cellular solid materials of different thicknesses, shapes and drug loadings (up to 50wt%) could successfully be prepared. The drug was released from...... the solid foams in a diffusion-controlled, sustained manner due to the presence of intact air bubbles which imparted a tortuous diffusion path. The diffusion coefficient was assessed using Franz cells and shown to be more than one order of magnitude lower for the cellular solids compared to the bubble...

  14. Foam-oil interaction in porous media: implications for foam assisted enhanced oil recovery.

    Science.gov (United States)

    Farajzadeh, R; Andrianov, A; Krastev, R; Hirasaki, G J; Rossen, W R

    2012-11-15

    The efficiency of a foam displacement process in enhanced oil recovery (EOR) depends largely on the stability of foam films in the presence of oil. Experimental studies have demonstrated the detrimental impact of oil on foam stability. This paper reviews the mechanisms and theories (disjoining pressure, coalescence and drainage, entering and spreading of oil, oil emulsification, pinch-off, etc.) suggested in the literature to explain the impact of oil on foam stability in the bulk and porous media. Moreover, we describe the existing approaches to foam modeling in porous media and the ways these models describe the oil effect on foam propagation in porous media. Further, we present various ideas on an improvement of foam stability and longevity in the presence of oil. The outstanding questions regarding foam-oil interactions and modeling of these interactions are pointed out. Copyright © 2012 Elsevier B.V. All rights reserved.

  15. 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)

  16. Regional Variation in Gravel Riverbed Mobility, Controlled by Hydrologic Regime and Sediment Supply

    Science.gov (United States)

    Pfeiffer, Allison M.; Finnegan, Noah J.

    2018-04-01

    The frequency and intensity of riverbed mobility are of paramount importance to the inhabitants of river ecosystems as well as to the evolution of bed surface structure. Because sediment supply varies by orders of magnitude across North America, the intensity of bedload transport varies by over an order of magnitude. Climate also varies widely across the continent, yielding a range of flood timing, duration, and intermittency. Together, the differences in sediment supply and hydroclimate result in diverse regimes of bed surface stability. To quantitatively characterize this regional variation, we calculate multidecadal time series of estimated bed surface mobility for 29 rivers using sediment transport equations. We use these data to compare predicted bed mobility between rivers and regions. There are statistically significant regional differences in the (a) exceedance probability of bed-mobilizing flows (W* > 0.002), (b) maximum bed mobility, and (c) number of discrete bed-mobilizing events in a year.

  17. The Director of Mobility Forces' Role in the Command Control of Air Mobility Assets During Humanitarian Relief Operations

    National Research Council Canada - National Science Library

    Bush, Timothy E

    2000-01-01

    ...). Air Force doctrine recommends a command and control (C2) structure that permits the same organizational concept to be used throughout the spectrum of conflict, tailored to suit the specific operational objectives of a Joint Task Force (JFT...

  18. A Model for Trust-based Access Control and Delegation in Mobile Clouds (Post Print)

    Science.gov (United States)

    2013-10-01

    the access-granter knowing the identity of access requester beforehand and authenticating the requester, can no longer be applied. Mobile Wallet Cloud...TktC) for a reservation and con- tacts the user’s mobile wallet provider (MobWC) to purchase the ticket from TktC. For accessing different services...receiving regular services. For example, the human user in our scenario can be an elite member with the mobile wallet service provider that

  19. Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control.

    Science.gov (United States)

    Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

    2016-01-01

    In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A⁎ algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  20. Activated, coal-based carbon foam

    Science.gov (United States)

    Rogers, Darren Kenneth; Plucinski, Janusz Wladyslaw

    2004-12-21

    An ablation resistant, monolithic, activated, carbon foam produced by the activation of a coal-based carbon foam through the action of carbon dioxide, ozone or some similar oxidative agent that pits and/or partially oxidizes the carbon foam skeleton, thereby significantly increasing its overall surface area and concurrently increasing its filtering ability. Such activated carbon foams are suitable for application in virtually all areas where particulate or gel form activated carbon materials have been used. Such an activated carbon foam can be fabricated, i.e. sawed, machined and otherwise shaped to fit virtually any required filtering location by simple insertion and without the need for handling the "dirty" and friable particulate activated carbon foam materials of the prior art.