Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

Oil Retention and Pressure Drop in Horizontal and Vertical Suction Lines with R410A / POE ISO 32

In refrigeration systems a small amount of compressor lubricant is entrained in the refrigerant and circulated through the system, where some is retained in each component. The suction line to the compressor has the largest potential for oil retention. This paper presents results from an experimental apparatus that has been constructed to circulate POE (polyolester) oil and R410A at a controlled mass flux, OCR (oil in circulation ratio), and apparent superheat, and to directly measure the pressure drop and mass of oil retained in horizontal and vertical suction lines. The bulk vapor velocity and overall void fraction are determined from direct mass and temperature measurements. The oil retention, pressure drop, and flow regimes near the minimum ASHRAE recommended mass flux condition are explored. It was found that oil retention begins to increase sharply even above the minimum recommended flux, so conditions near the minimum should be avoided. Two relationships were developed to predict the oil retention in the vertical and horizontal suction lines. The average error from the predictions method was 10.9% for the vertical tube, and 7.9% for the horizontal tube.