Search results for "Loo"
showing 10 items of 7086 documents
Assessing Urban System Vulnerabilities to Flooding to Improve Resilience and Adaptation in Spatial Planning
2018
Fluvial, pluvial and coastal flooding are the most frequent and costly natural hazard. Cities are social hubs and life in cities is reliant on a number of services and functions such as housing, healthcare, education and other key daily facilities. Urban flooding can cause significant disruption to these services and wider impacts on the population. These impacts may be short or long with a variably spatial scale: urban systems are spatially distributed and the nature of this can have significant effects on flood impacts. From an urban-planning perspective, measuring this disruption and its consequences is fundamental in order to develop more resilient cities. Whereas the assessment of phys…
Tutorial on dynamic analysis of the Costas loop
2016
Abstract Costas loop is a classical phase-locked loop (PLL) based circuit for carrier recovery and signal demodulation. The PLL is an automatic control system that adjusts the phase of a local signal to match the phase of the input reference signal. This tutorial is devoted to the dynamic analysis of the Costas loop. In particular the acquisition process is analyzed. Acquisition is most conveniently described by a number of frequency and time parameters such as lock-in range, lock-in time, pull-in range, pull-in time, and hold-in range. While for the classical PLL equations all these parameters have been derived (many of them are approximations, some even crude approximations), this has not…
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Load Torque Estimation Method to Design Electric Drivetrains for Offshore Pipe Handling Equipment
2016
One of the main design objectives for electric drivetrains operating in offshore drilling equipment is to keep them as small, yet as effective, as possible, to minimize space they occupy on drill floor and maximize their performance. However, practical experience shows that typically choices made by design engineers are too conservative due to the lack of enough data characterizing load conditions. This results in too costly and too heavy selected components. Therefore, in the current paper we present a method to estimate required full-scale motor torque using a scaled down experimental setup and its computational model. A gripper arm of an offshore vertical pipe handling machine is selecte…
Engineering multi-agent systems using feedback loops and holarchies
2016
This paper presents a methodological approach for the engineering of Multi-Agent Systems using feedback loops as a first class concept in order to identify organizations. Feedback loops are a way for modeling complex systems that expose emergent behavior by means of a cause-effect loop between two levels called micro and macro levels of the system. The proposed approach principles consist in defining an abstract feedback loop pattern and providing activities and guidelines in order to identify and refine possible candidates for feedback loops during the analysis phase of the Aspecs methodology. This approach is illustrated by using an example drawn from the smart grid field.
A new approach to simulate coating thickness in cold spray
2020
Abstract In the process of cold spray on complex components, the coating thickness is an important indicator to monitor and control. Current methods such as destructive tests or direct mechanical measurements can only be performed after spraying. Besides, these methods lead to production shutdown and additional costs . This article presents a novel approach predicting coating thickness for components with complex curved surfaces, especially in the case of shadow effects. Firstly, a three-dimensional geometric model of the coating profile based on Gaussian distribution was developed. In addition, the relative deposition efficiency (RDE) resulting from the different robot kinematic parameters…
Multi-band identification for enhancing bearing fault detection in variable speed conditions
2020
Abstract Rolling element bearings are crucial components in rotating machinery, and avoiding unexpected breakdowns using fault detection methods is an increased demand in industry today. Variable speed conditions render a challenge for vibration-based fault diagnosis due to the non-stationary impact frequency. Computed order tracking transforms the vibration signal from time domain to the shaft-angle domain, allowing order analysis with the envelope spectrum. To enhance fault detection, the bearing resonance frequency region is isolated in the raw signal prior to order tracking. Identification of this region is not trivial but may be estimated using kurtosis-based methods reported in the li…
Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension
2016
We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the congestion resulting from the collective behavior, which motivates the term “crowd-averse.” Motivations for this model are analyzed and discussed in three main contexts: a stock market application, a production engineering example, and a dynamic demand management problem in power systems. For th…
Resilience to flash floods in wetland communities of northeastern Bangladesh
2018
Globally, a number of catastrophic hydrometeorological hazards occurred in 2017 among which the monsoon floods in South Asia was particularly disastrous, killing nearly 1200 people in India, Nepal and Bangladesh. The wetland region (Haor) of northeastern (NE) Bangladesh was severely affected by flash floods early in 2017, affecting nearly 1 million households and damaging US $450 million worth of rice crops. This study investigates how the NE Bangladesh experienced the 2017 flash floods, and to what degree the wetland communities are vulnerable and resilience to flash floods. Focus group discussion, key informant interviews, and household questionnaire surveys (n = 80) were applied in the s…