Search results for "BLE"
showing 10 items of 23353 documents
A Systematic Review of the Hydrological, Environmental and Durability Performance of Permeable Pavement Systems
2021
Due to urbanization, large portions of vegetated territory have been replaced by waterproof surfaces. The consequences are greater outflows, lower infiltration, and lower evapotranspiration. Pavement systems made with permeable surfaces allow the infiltration of water, ensuring reduction of runoff volume. In this paper, the methods of analysis of the hydrological and environmental performance of the pavement systems are reviewed in the context of urban drainage and regarding their durability. The purpose is to present an overview of the studies published during the last decade in the field. The Pubmed and Web Science Core Collection electronic databases were used to conduct the scientific l…
Soil conservation and sustainable development goals(SDGs) achievement in Europe and central Asia: Which role for the European soil partnership?
2021
Abstract Voluntary soil protection measures are not sufficient to achieve sustainable soil management at a global scale. Additionally, binding soil protection legislation at national and international levels has also proved to be insufficient for the effective protection of this non-renewable natural resource. In 2012, the FAO Members established the Global Soil Partnership (GSP) with the mission to facilitate and contribute exchange of knowledge and technologies related to soils, and develop dialogue and raise awareness for the need to establish a binding global agreement for sustainable soil management. Moreover, region-specific aspects of implementation are considered and strengthened th…
Large multiple neighborhood search for the soft-clustered vehicle-routing problem
2021
Abstract The soft-clustered vehicle-routing problem (SoftCluVRP) is a variant of the classical capacitated vehicle-routing problem. Customers are partitioned into clusters and all customers of the same cluster must be served by the same vehicle. In this paper, we present a large multiple neighborhood search for the SoftCluVRP. We design and analyze multiple cluster destroy and repair operators as well as two post-optimization components, which are both based on variable neighborhood descent. The first allows inter-route exchanges of complete clusters, while the second searches for intra-route improvements by combining classical neighborhoods (2-opt, Or-opt, double-bridge) and the Balas-Simo…
Convergence of direct recursive algorithm for identification of Preisach hysteresis model with stochastic input
2015
We consider a recursive iterative algorithm for identification of parameters of the Preisach model, one of the most commonly used models of hysteretic input-output relationships. The classical identification algorithm due to Mayergoyz defines explicitly a series of test inputs that allow one to find parameters of the Preisach model with any desired precision provided that (a) such input time series can be implemented and applied; and, (b) the corresponding output data can be accurately measured and recorded. Recursive iterative identification schemes suitable for a number of engineering applications have been recently proposed as an alternative to the classical algorithm. These recursive sc…
Decoupled nonlinear adaptive control of position and stiffness for pneumatic soft robots
2020
This article addresses the problem of simultaneous and robust closed-loop control of joint stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid links and compliant joints. By introducing a first-order dynamic equation for the stiffness variable and using the additional control degree of freedom, embedded in the null space of the pneumatic actuator matrix, an innovative control approach is introduced comprising an adaptive compensator and a dynamic decoupler. The proposed solution builds upon existing adaptive control theory and provides a technique for closing the loop on joint stiffness in pneumatic variable stiffness actuators. Under a very mi…
Comparison of Model-Based Simultaneous Position and Stiffness Control Techniques for Pneumatic Soft Robots
2020
Soft robots have been extensively studied for their ability to provide both good performance and safe human-robot interaction. In this paper, we present and compare the performance of two model-based control techniques with the common aim to independently and simultaneously control position and stiffness of a pneumatic soft robot’s joint. The dynamic system of a robot arm with flexible joints actuated by a pneumatic antagonistic pair of actuators, so-called McKibben artificial muscles, will be regarded, while its dynamic parameters will be considered imprecise. Simulation results are provided to verify the performance of the algorithms.
Analysis of Electrical Energy Demands in Friction Stir Welding of Aluminum Alloys
2017
Abstract Manufacturing processes, as used for discrete part manufacturing, are responsible for a substantial part of the environmental impact of products. Despite that, most of metalworking processes are still poorly documented in terms of environmental footprint. To be more specific, the scientific research has well covered conventional machining processes, concerning the other processes there is a lack of knowledge in terms of environmental load characterization instead. The present paper aims to contribute to fill this knowledge gap and an energetic analysis of Friction Stir welding (FSW) is presented. Following the CO2PE! methodological approach, power studies and a preliminary time stu…
Distributed adaptive leader–follower and leaderless consensus control of a class of strict-feedback nonlinear systems : a unified approach
2020
In this paper, distributed adaptive consensus for a class of strict-feedback nonlinear systems under directed topology condition is investigated. Both leader–follower and leaderless cases are considered in a unified framework. To design distributed controller for each subsystem, a local compensatory variable is generated based on the signals collected from its neighbors. Such a technique enables us to solve the leader–follower consensus and leaderless consensus problems in a unified framework. And it further allows us to treat the leaderless consensus as a special case of the leader–follower consensus. For leader–follower consensus, the assumption that the leader trajectory is linearly para…
Cross-Layer MAC Protocol for Unbiased Average Consensus Under Random Interference
2019
Wireless Sensor Networks have been revealed as a powerful technology to solve many different problems through sensor nodes cooperation. One important cooperative process is the so-called average gossip algorithm, which constitutes a building block to perform many inference tasks in an efficient and distributed manner. From the theoretical designs proposed in most previous work, this algorithm requires instantaneous symmetric links in order to reach average consensus. However, in a realistic scenario wireless communications are subject to interferences and other environmental factors, which results in random instantaneous topologies that are, in general, asymmetric. Consequently, the estimat…
Scalable implementation of measuring distances in a Riemannian manifold based on the Fisher Information metric
2019
This paper focuses on the scalability of the Fisher Information manifold by applying techniques of distributed computing. The main objective is to investigate methodologies to improve two bottlenecks associated with the measurement of distances in a Riemannian manifold formed by the Fisher Information metric. The first bottleneck is the quadratic increase in the number of pairwise distances. The second is the computation of global distances, approximated through a fully connected network of the observed pairwise distances, where the challenge is the computation of the all sources shortest path (ASSP). The scalable implementation for the pairwise distances is performed in Spark. The scalable…