Design of a lightweight, modular robotic vehicle for the sustainable intensification of broadacre agriculture

This thesis presents the design process and the prototyping of a lightweight, modular robotic vehicle for the sustainable intensification of broadacre agriculture. Achieved by the joint operation of multiple autonomous vehicles to improve energy consumption, reduce labour, and increase efficiency in the application of inputs for the management of crops. The Small Robotic Farm Vehicle (SRFV) is a lightweight and energy efficient robotic vehicle with a configurable, modular design. It is capable of undertaking a range of agricultural tasks, including fertilising and weed management through mechanical intervention and precision spraying, whilst being more than an order of magnitude lower in weight than existing broadacre agricultural equipment.

Combinatorial Design of Secure Lightweight Data Dispersal Schemes (Work in Progress)

Dispersing a data object into a set of data shares is an elemental stage in distributed communication and storage systems. In comparison to data replication, data dispersal with redundancy saves space and bandwidth. Moreover, dispersing a data object to distinct communication links or storage sites limits adversarial access to whole data and tolerates loss of a part of data shares. Existing data dispersal schemes have been proposed mostly based on various mathematical transformations on the data which induce high computation overhead. This paper presents a novel data dispersal scheme where each part of a data object is replicated, without encoding, into a subset of data shares according to combinatorial design theory. Particularly, data parts are mapped to points and data shares are mapped to lines of a projective plane. Data parts are then distributed to data shares using the point and line incidence relations in the plane so that certain subsets of data shares collectively possess all data parts. The presented scheme incorporates combinatorial design theory with inseparability transformation to achieve secure data dispersal at reduced computation, communication and storage costs. Rigorous formal analysis and experimental study demonstrate significant cost-benefits of the presented scheme in comparison to existing methods.

Analytical efficiency evaluation of a network mobility management protocol for Intelligent Transportation Systems

One of the major concerns in an Intelligent Transportation System (ITS) scenario, such as that which may be found on a long-distance train service, is the provision of efficient communication services, satisfying users' expectations, and fulfilling even highly demanding application requirements, such as safety-oriented services. In an ITS scenario, it is common to have a significant amount of onboard devices that comprise a cluster of nodes (a mobile network) that demand connectivity to the outside networks. This demand has to be satisfied without service disruption. Consequently, the mobility of the mobile network has to be managed. Due to the nature of mobile networks, efficient and lightweight protocols are desired in the ITS context to ensure adequate service performance. However, the security is also a key factor in this scenario. Since the management of the mobility is essential for providing communications, the protocol for managing this mobility has to be protected. Furthermore, there are safety-oriented services in this scenario, so user application data should also be protected. Nevertheless, providing security is expensive in terms of efficiency. Based on this considerations, we have developed a solution for managing the network mobility for ITS scenarios: the NeMHIP protocol. This approach provides a secure management of network mobility in an efficient manner. In this article, we present this protocol and the strategy developed to maintain its security and efficiency in satisfactory levels. We also present the developed analytical models to analyze quantitatively the efficiency of the protocol. More specifically, we have developed models for assessing it in terms of signaling cost, which demonstrates that NeMHIP generates up to 73.47% less signaling compared to other relevant approaches. Therefore, the results obtained demonstrate that NeMHIP is the most efficient and secure solution for providing communications in mobile network scenarios such as in an ITS context.

Development of catalytic methane reforming systems integrating hydrogen selective PdCu membrane modules

En la presente tesis doctoral se ha estudiado la integración del proceso de producción de hidrógeno con su purificación mediante el empleo de membranas selectivas de hidrógeno. La producción de hidrógeno se realiza empleando catalizadores no convencionales de níquel soportado sobre magnesia y alúmina en un reactor catalítico. Se analiza la actividad de los catalizadores y la producción de hidrógeno mediante distintos procesos con metano como son la oxidación parcial catalítica (OPC), OPC húmeda y reformadoLa purificación de hidrógeno se realiza en un módulo provisto de una membrana selectiva de hidrógeno de PdCu depositado en un soporte poroso cerámico. Una vez optimizada su preparación mediante deposición no electrolítica se caracterizan. Para ello se determina su permeabilidad a distintas temperaturas y realizando ciclos térmicos en atmósferas inerte y de hidrógeno, que puede fragilizar el metal. Una vez preparados los catalizadores y las membranas se integran los dos sistemas y se determinan los parámetros de operación óptimos como la presión de la línea de alimentación y el caudal de gas de arrastre en el módulo de membrana. Ambos parámetros se optimizan para lograr la máxima recuperación de hidrógeno en el módulo de membrana. Por últimos se realizan ensayos completos de producción y purificación, que permiten observar el rendimiento del sistema y también el efecto que los compuestos de la mezcla compleja alimentada a las membranas tienen en su comportamiento. Para concluir la integración de procesos se realizan ensayos añadiendo azufre de forma que el sistema sea más similar al proceso real. Esto permite también analizar el efecto del azufre tanto en los catalizadores como en las membranas.

Bacterial production of nitrate in aquatic systems: progress report. Nitrate-loss processes in raw water

This short interim progress report builds on previous progress reports which have described the quantification of the process both within and between lakes of different degrees of eutrophication. These data indicated that slight changes in methodology, particularly when investigating sediment deposits, could grossly affect the measured activity. The aim of the present research was an attempt to rationalize these differences. If this could be achieved it would enable meaningful interpretation of published data obtained using different methods and therefore enlarge the available database. In addition some observations have been made on the production of nitrite by Grasmere profundal sediment slurries sampled during the circulation period.

Arquitectura de Comunicaciones para Sistemas Ciber-Físicos Basada en OPC UA

[ES]Los sistemas Ciber-Físicos (Cyber-Physical Systems – CPS) son dispositivos que integran computación, control y comunicaciones. Actualmente se puede encontrar este tipo de sistemas en áreas tan diversas como la industria aeroespacial, automotriz, procesos químicos, infraestructura civil, etc. Entre las arquitecturas de comunicación empleadas en estos dispositivos, OPC UA se consolida como la más adecuada. OPC Unified Architecture es la nueva generación de tecnología propuesta por OPC Foundation para transmitir datos en bruto e información pre procesada entre los niveles de producción y los sistemas de planificación de producto de la empresa. Mediante OPC UA se puede disponer de toda la información deseada para cualquier aplicación y usuario autorizados, en cualquier instante y en cualquier lugar. En este proyecto se pretende desarrollar una arquitectura basada en OPC UA sobre CPSs para el acceso a datos de producción. Para ello se partirá de arquitecturas basadas en PC empotrados y redes de comunicación industriales.

Nonautonomous elementary net systems and their application to programmable logic control

In this paper, a novel approach to Petri net modeling of programmable logic controller (PLC) programs is presented. The modeling approach is a simple extension of elementary net systems, and a graphical design tool that supports the use of this modeling approach is provided. A key characteristic of the model is that the binary sensory inputs and binary actuation outputs of the PLC are explicitly represented. This leads to the following two improvements: outputs are unambiguous, and interaction patterns are more clearly represented in the graphical form. The use of this modeling approach produces programs that are simple, lightweight, and portable. The approach is demonstrated by applying it to the development of a control module for a MonTech Positioning Station. © 2008 IEEE.

Kinetic study on the photo-catalytic degradation of pyridine in TiO2 suspension systems

It has been generally agreed that pyridine can be effectively mineralized in aerated TiO2 slurries using near-UV irradiation. The knowledge on the kinetics of the system possesses both practical and theoretical values. The present study, on the base of Langmuir-Hinshewood mechanism, illustrates a pseudo first-order kinetic model of the degradation with the limiting rate constant of 3.004 mg l(-1) min(-1) and equilibrium adsorption constant 2.763 x 10(-2) l mg(-1), respectively. The degradation efficiency in alkali is a little higher than that in acid with a minimum at about pH = 5, which is explained by the formation of acid-pyridine in acidic surrounding together with the amphoteric nature of the TiO2 surface. The promotion of H2O2 on the photo-degradation ties in its supplying proper amount of (OH)-O-. radicals for the inducement stage before surface redox reactions. (C) 2004 Elsevier B.V. All rights reserved.

广西合山固体废弃物制备地质聚合物胶凝材料

Geopolymer gelatinous material was prepared by ferroalloy slag (signed with NKT in laboratory) and circulating fluidization bed slag (CFB slag, signed with NM in laboratory) produced from Heshan city, Guangxi zhuang autonomous region, China. The mechanical properties of the geopolymer made of high content ferroalloy slag can reach the standard of 42.5# portland blastfurnace-slag cement, and it’s processing technology is more simple and not need of mill and burn and will not produce harmful gas. By means of chemical and XRD analyses, it is concluded that NKT is a kind of acidity water-granulated slag with better activation and fit to be activated by alkali activators. Low-cost industrial gypsum (signed with NG in laboratory), analytic reagent oxide(signed with NH in laboratory) and sulfate(signed with NS in laboratory) were selected as alkali activation in the experiment. The results showed NH is a good alkali activator for NKT. Both NH and NG can activate ferroally slag’s activities, but NS can’t alone. The activation effect of superimposing activation of NH and NG excel by separateness. Based on those experiments, optimization compounds were carried out: (1) NKT: NH: NG = 80: 10: 10 and (2) NM: NKT: NS: NG: NH = 10: 70: 2: 8: 10。. The soundness of the test blocks is good by boiling examination. Through XRD, SEM, IR, NMR analyses of geopolymer, the reaction mechanism of geopolymer prepared by alkalescent activating in solid wastes was discussed in the thesis first. It is point out, there is difference in reaction mechanism between traditional geopolymer preparation and the preparation of alkalescent activating solid wastes because NG is a industry product. There is the similar process of depolymerization and reunion of Si-O bond. The latter preparation process generate new subtance but the former doesn’t. In the experiment, we found a performance of NKT that the water requirement of normal consistency of geopolymer reduces with increasing content of NKT. The result shows NKT has some ability to reduce water requirement. The performance is worthy of further research and utilization. Making use of solid wastes to prepare geopolymer, not only can settle environment problem caused by a great deal of dump of NKT, but also settle the shortage of natural resources. Moreover it could take economic, environmental and social benefits and settle thoroughly contradiction in the environment protection and regional economy development and promote circulation economy development.

Minimizing Residual Vibrations in Flexible Systems

Residual vibrations degrade the performance of many systems. Due to the lightweight and flexible nature of space structures, controlling residual vibrations is especially difficult. Also, systems such as the Space Shuttle remote Manipulator System have frequencies that vary significantly based upon configuration and loading. Recently, a technique of minimizing vibrations in flexible structures by command input shaping was developed. This document presents research completed in developing a simple, closed- form method of calculating input shaping sequences for two-mode systems and a system to adapt the command input shaping technique to known changes in system frequency about the workspace. The new techniques were tested on a three-link, flexible manipulator.

Lightweight Formal Verification in Classroom Instruction of Reasoning about Functional Code

In college courses dealing with material that requires mathematical rigor, the adoption of a machine-readable representation for formal arguments can be advantageous. Students can focus on a specific collection of constructs that are represented consistently. Examples and counterexamples can be evaluated. Assignments can be assembled and checked with the help of an automated formal reasoning system. However, usability and accessibility do not have a high priority and are not addressed sufficiently well in the design of many existing machine-readable representations and corresponding formal reasoning systems. In earlier work [Lap09], we attempt to address this broad problem by proposing several specific design criteria organized around the notion of a natural context: the sphere of awareness a working human user maintains of the relevant constructs, arguments, experiences, and background materials necessary to accomplish the task at hand. We report on our attempt to evaluate our proposed design criteria by deploying within the classroom a lightweight formal verification system designed according to these criteria. The lightweight formal verification system was used within the instruction of a common application of formal reasoning: proving by induction formal propositions about functional code. We present all of the formal reasoning examples and assignments considered during this deployment, most of which are drawn directly from an introductory text on functional programming. We demonstrate how the design of the system improves the effectiveness and understandability of the examples, and how it aids in the instruction of basic formal reasoning techniques. We make brief remarks about the practical and administrative implications of the system’s design from the perspectives of the student, the instructor, and the grader.

Towards policy-based self-configuration of embedded systems

This paper describes work towards the deployment of flexible self-management into real-time embedded systems. A challenging project which focuses specifically on the development of a dynamic, adaptive automotive middleware is described, and the specific self-management requirements of this project are discussed. These requirements have been identified through the refinement of a wide-ranging set of use cases requiring context-sensitive behaviours. A sample of these use-cases is presented to illustrate the extent of the demands for self-management. The strategy that has been adopted to achieve self-management, based on the use of policies is presented. The embedded and real-time nature of the target system brings the constraints that dynamic adaptation capabilities must not require changes to the run-time code (except during hot update of complete binary modules), adaptation decisions must have low latency, and because the target platforms are resource-constrained the self-management mechanism have low resource requirements (especially in terms of processing and memory). Policy-based computing is thus and ideal candidate for achieving the self-management because the policy itself is loaded at run-time and can be replaced or changed in the future in the same way that a data file is loaded. Policies represent a relatively low complexity and low risk means of achieving self-management, with low run-time costs. Policies can be stored internally in ROM (such as default policies) as well as externally to the system. The architecture of a designed-for-purpose powerful yet lightweight policy library is described. A suitable evaluation platform, supporting the whole life-cycle of feasibility analysis, concept evaluation, development, rigorous testing and behavioural validation has been devised and is described.