Recent Advances and Industrial Applications of Multilevel Converters

Multilevel converters have been under research and development for more than three decades and have found successful industrial application. However, this is still a technology under development, and many new contributions and new commercial topologies have been reported in the last few years. The aim of this paper is to group and review these recent contributions, in order to establish the current state of the art and trends of the technology, to provide readers with a comprehensive and insightful review of where multilevel converter technology stands and is heading. This paper first presents a brief overview of well-established multilevel converters strongly oriented to their current state in industrial applications to then center the discussion on the new converters that have made their way into the industry. In addition, new promising topologies are discussed. Recent advances made in modulation and control of multilevel converters are also addressed. A great part of this paper is devoted to show nontraditional applications powered by multilevel converters and how multilevel converters are becoming an enabling technology in many industrial sectors. Finally, some future trends and challenges in the further development of this technology are discussed to motivate future contributions that address open problems and explore new possibilities.

Goal Seeking for Robots in Unknown Environments

We consider the problem of goal seeking by robots in unknown environments. We present a frontier based algorithm for finding a route to a goal in a fully unknown environment, where information about the goal region (GR), the region where the goal is most likely to be located, is available. Our algorithm efficiently chooses the best candidate frontier cell, which is on the boundary between explored space and unexplored space, having the maximum ``goal seeking index'', to reach the goal in minimal number of moves. Modification of the algorithm is also proposed to further reduce the number of moves toward the goal. The algorithm has been tested extensively in simulation runs and results demonstrate that the algorithm effectively directs the robot to the goal and completes the search task in minimal number of moves in bounded as well as unbounded environments. The algorithm is shown to perform as well as a state of the art agent centered search algorithm RTAA*, in cluttered environments if exact location of the goal is known at the beginning of the mission and is shown to perform better in uncluttered environments.

Industrial validation of processing maps of 316L stainless steel using hot forging, rolling, and extrusion

The development of microstructure in 316L stainless steel during industrial hot forming operations including press forging (strain rate of 0 . 15 s(-1)), rolling/extrusion (strain rate of 2-8 . 8 s(-1)), and hammer forging (strain rate of 100 s(-1)) at different temperatures in the range 600-1200 degrees C was studied with a view to validating the predictions of the processing map. The results showed that good col relation existed between the regimes indicated in the map and the product microstructures. The 316L stainless steel exhibited unstable flow in the form of flow localisation when hammer forged at temperatures above 900 degrees C, rolled below 1000 degrees C, or press forged below 900 degrees C. All these conditions must therefore be avoided in mechanical processing of the material. Conversely, in order to obtain defect free microstructures, ideally the material should be rolled at temperatures above 1100 degrees C, press forged at temperatures above 1000 degrees C, or hammer forged in the temperature range 600-900 degrees C. (C) 1996 The Institute of Materials.

Nonlinear dynamics and chaotic motions in feedback-controlled two- and three-degree-of-freedom robots

The dynamics of a feedback-controlled rigid robot is most commonly described by a set of nonlinear ordinary differential equations. In this paper we analyze these equations, representing the feedback-controlled motion of two- and three-degrees-of-freedom rigid robots with revolute (R) and prismatic (P) joints in the absence of compliance, friction, and potential energy, for the possibility of chaotic motions. We first study the unforced or inertial motions of the robots, and show that when the Gaussian or Riemannian curvature of the configuration space of a robot is negative, the robot equations can exhibit chaos. If the curvature is zero or positive, then the robot equations cannot exhibit chaos. We show that among the two-degrees-of-freedom robots, the PP and the PR robot have zero Gaussian curvature while the RP and RR robots have negative Gaussian curvatures. For the three-degrees-of-freedom robots, we analyze the two well-known RRP and RRR configurations of the Stanford arm and the PUMA manipulator respectively, and derive the conditions for negative curvature and possible chaotic motions. The criteria of negative curvature cannot be used for the forced or feedback-controlled motions. For the forced motion, we resort to the well-known numerical techniques and compute chaos maps, Poincare maps, and bifurcation diagrams. Numerical results are presented for the two-degrees-of-freedom RP and RR robots, and we show that these robot equations can exhibit chaos for low controller gains and for large underestimated models. From the bifurcation diagrams, the route to chaos appears to be through period doubling.

Diaphragmless shock wave generators for industrial applications of shock waves

The prime focus of this study is to design a 50 mm internal diameter diaphragmless shock tube that can be used in an industrial facility for repeated loading of shock waves. The instantaneous rise in pressure and temperature of a medium can be used in a variety of industrial applications. We designed, fabricated and tested three different shock wave generators of which one system employs a highly elastic rubber membrane and the other systems use a fast acting pneumatic valve instead of conventional metal diaphragms. The valve opening speed is obtained with the help of a high speed camera. For shock generation systems with a pneumatic cylinder, it ranges from 0.325 to 1.15 m/s while it is around 8.3 m/s for the rubber membrane. Experiments are conducted using the three diaphragmless systems and the results obtained are analyzed carefully to obtain a relation between the opening speed of the valve and the amount of gas that is actually utilized in the generation of the shock wave for each system. The rubber membrane is not suitable for industrial applications because it needs to be replaced regularly and cannot withstand high driver pressures. The maximum shock Mach number obtained using the new diaphragmless system that uses the pneumatic valve is 2.125 +/- 0.2%. This system shows much promise for automation in an industrial environment.

Modelling, simulation, and graphical user interface for industrial gas carburising process

A mathematical model has been developed for the gas carburising (diffusion) process using finite volume method. The computer simulation has been carried out for an industrial gas carburising process. The model's predictions are in good agreement with industrial experimental data and with data collected from the literature. A study of various mass transfer and diffusion coefficients has been carried out in order to suggest which correlations should be used for the gas carburising process. The model has been interfaced in a Windows environment using a graphical user interface. In this way, the model is extremely user friendly. The sensitivity analysis of various parameters such as initial carbon concentration in the specimen, carbon potential of the atmosphere, temperature of the process, etc. has been carried out using the model.

Modeling of wheeled mobile robots using dextrous manipulation kinematics

Abstract—This document introduces a new kinematic simulation of a wheeled mobile robot operating on uneven terrain. Our modeling method borrows concepts from dextrous manipulation. This allows for an accurate simulation of the way 3-dimensional wheels roll over a smooth ground surface. The purpose of the simulation is to validate a new concept for design of off-road wheel suspensions, called Passive Variable Camber (PVC). We show that PVC eliminates kinematic slip for an outdoor robot. Both forward and inverse kinematics are discussed and simulation results are presented.

Biocorrosion in industrial applications

Industrial situations afflicted by corrosion induced by microorganisms are illustrated with examples. The types and characteristics of microorganisms involved in biocorrosion processes are discussed. Possible mechanisms in biocorrosion as occurring under sub-soil, sea water and fresh water conditions are analyzed. Methods to combat biocorrosion are also outlined.

Study on degradation of H-acid by Alcaligenes latus isolated from textile industrial effluent

This study presents 100% degradation of H-acid under optimized conditions using Alcaligenes latus, isolated from textile industrial effluent. Gene/s responsible for H-acid degradation was/were found to be present on plasmid DNA. Addition of bipyridyl to incubated medium resulted in accumulation of terminal aromatic compound, suggesting that catechol may be terminal aromatic compound in degradation pathway of H-acid by A. latus. SDS-PAGE of cell free extracts showed two prominent bands close to molecular weight of catechol 1,2-dioxygenase.

Combining ``chimie douce'' and green principles for the developing world: Improving industrial viability of photocatalytic water remediation

We highlight the need for a comprehensive, multi-disciplinary approach for the development of cost-effective water remediation methods. Combining ``chimie douce'' and green chemical principles seems essential for making these technologies economically viable and socially relevant (especially in the developing world). A comprehensive approach to water remediation will take into account issues such as nanotoxicity, chemical yield, cost, and ease of deployment in reactors. By considering technological challenges that lie ahead, we will attempt to identify directions that are likely to make photocatalytic water remediation a more global technology than it currently is. (C) 2013 Elsevier Ltd. All rights reserved

Biological sulfate reduction of a sulfate-rich industrial waste liquor using sulfate reducing bacteria

An industrial waste liquor having high sulfate concentrations was subjected to biological treatment using the sulfate-reducing bacteria (SRB) Desulfovibrio desulfuricans. Toxicity levels of different sulfate, cobalt and nickel concentrations toward growth of the SRB with respect to biological sulfate reduction kinetics was initially established. Optimum sulfate concentration to promote SRB growth amounted to 0.8 - 1 g/L. The strain of D. desulfuricans used in this study initially tolerated up to 4 -5 g/L of sulfate or 50 mg/L of cobalt and nickel, while its tolerance could be further enhanced through adaptation by serial subculturing in the presence of increasing concentrations of sulfate, cobalt and nickel. From the waste liquor, more than 70% of sulfate and 95% of cobalt and nickel could be precipitated as sulfides, using a preadapted strain of D. desulfuricans. Probable mechanisms involving biological sulfide precipitation and metal adsorption onto precipitates and bacterial cells are discussed.

Biodiesel Exhaust Treatment with Dielectric Barrier Discharges Coupled with Industrial Waste Byproducts

Biodiesel run engines are gaining popularity since the last few years as a viable alternative to conventional petro-diesel based engines. In biodiesel exhaust the content of volatile organic compounds, oil mist, and mass of particulate matter is considerably lower. However, the concentration of oxides of nitrogen (NOx) is relatively higher. In this paper the biodiesel exhaust from a stationary engine is treated under controlled laboratory conditions for removal of NOx using dielectric barrier discharge plasma in cascade with adsorbents prepared from abundantly available industrial waste byproducts like red mud and copper slag. Results were compared with gamma-alumina, a commercial adsorbent. Two different dielectric barrier discharge (DBD) reactors were tested for their effectiveness under Repetitive pulses /AC energization. NOx removal as high as 80% was achieved with pulse energized reactors when cascaded with red mud as adsorbent.