Electric-drive-based control and electric energy regeneration in a hydraulic system

Over the recent years, development in mobile working machines has concentrated on reducing emissions owing to the tightening rules and needs to improve energy utilization and reduce power losses. This study focuses on energy utilization and regeneration in an electro-hydraulic forklift, which is a lifting equipment application. The study starts from the modelling and simulation of a hydraulic forklift. The energy regeneration from the potential energy of the load was studied. Also a flow-based electric motor speed control was suggested in this thesis instead of the throttle control method or the variable displacement pump control. Topics related to further development in the future are discussed. Finally, a summary and conclusions are presented.

Pulse response based control for positive definite systems

Pulse Response Based Control (PRBC) is a recently developed minimum time control method for flexible structures. The flexible behavior of the structure is represented through a set of discrete time sequences, which are the responses of the structure due to rectangular force pulses. The rectangular force pulses are given by the actuators that control the structure. The set of pulse responses, desired outputs, and force bounds form a numerical optimization problem. The solution of the optimization problem is a minimum time piecewise constant control sequence for driving the system to a desired final state. The method was developed for driving positive semi-definite systems. In case the system is positive definite, some final states of the system may not be reachable. Necessary conditions for reachability of the final states are derived for systems with a finite number of degrees of freedom. Numerical results are presented that confirm the derived analytical conditions. Numerical simulations of maneuvers of distributed parameter systems have shown a relationship between the error in the estimated minimum control time and sampling interval

A Chloride Ion-Selective Potentiometric Sensor Based on a Polymeric Schiff Base Complex

This paper describes the fabrication of an ion-selective electrode in which a polymeric Schiff base complex of cobalt(II) is used as the ionophore.The main advantage of the electrode is that it is mechanically stable upto 3 months..The electrode shows a linear response in the range of 2.5 × 10-5-0.5 × 10-1 mol dm-3. The response time of the electrode is 30 s.The pH range at which the electrode works is 3.8 to 6.8. The electrode was found to be selective towards chloride ion in the presence of ions like Na+, Ca2+, Mn2+, ,Fe3+, Co2+, Ni2+, Cu2+, Zn2+, CH3COO-, NO3-, SO42- ,Br- and NO2-.

Highly Sensitive Sensor Based On Intracavity Laser Absorption Spectroscopy By Means of Relative Intensity Noise

This thesis concerns with the main aspects of medical trace molecules detection by means of intracavity laser absorption spectroscopy (ICLAS), namely with the equirements for highly sensitive, highly selective, low price, and compact size sensor. A novel two modes semiconductor laser sensor is demonstrated. Its operation principle is based on the competition between these two modes. The sensor sensitivity is improved when the sample is placed inside the two modes laser cavity, and the competition between the two modes exists. The effects of the mode competition in ICLAS are discussed theoretically and experimentally. The sensor selectivity is enhanced using external cavity diode laser (ECDL) configuration, where the tuning range only depends on the external cavity configuration. In order to considerably reduce the sensor cost, relative intensity noise (RIN) is chosen for monitoring the intensity ratio of the two modes. RIN is found to be an excellent indicator for the two modes intensity ratio variations which strongly supports the sensor methodology. On the other hand, it has been found that, wavelength tuning has no effect on the RIN spectrum which is very beneficial for the proposed detection principle. In order to use the sensor for medical applications, the absorption line of an anesthetic sample, propofol, is measured. Propofol has been dissolved in various solvents. RIN has been chosen to monitor the sensor response. From the measured spectra, the sensor sensitivity enhancement factor is found to be of the order of 10^(3) times of the conventional laser spectroscopy.

A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot

Aquesta tesi proposa l'ús d'un seguit de tècniques pel control a alt nivell d'un robot autònom i també per l'aprenentatge automàtic de comportaments. L'objectiu principal de la tesis fou el de dotar d'intel·ligència als robots autònoms que han d'acomplir unes missions determinades en entorns desconeguts i no estructurats. Una de les premisses tingudes en compte en tots els passos d'aquesta tesis va ser la selecció d'aquelles tècniques que poguessin ésser aplicades en temps real, i demostrar-ne el seu funcionament amb experiments reals. El camp d'aplicació de tots els experiments es la robòtica submarina. En una primera part, la tesis es centra en el disseny d'una arquitectura de control que ha de permetre l'assoliment d'una missió prèviament definida. En particular, la tesis proposa l'ús de les arquitectures de control basades en comportaments per a l'assoliment de cada una de les tasques que composen la totalitat de la missió. Una arquitectura d'aquest tipus està formada per un conjunt independent de comportaments, els quals representen diferents intencions del robot (ex.: "anar a una posició", "evitar obstacles",...). Es presenta una recerca bibliogràfica sobre aquest camp i alhora es mostren els resultats d'aplicar quatre de les arquitectures basades en comportaments més representatives a una tasca concreta. De l'anàlisi dels resultats se'n deriva que un dels factors que més influeixen en el rendiment d'aquestes arquitectures, és la metodologia emprada per coordinar les respostes dels comportaments. Per una banda, la coordinació competitiva és aquella en que només un dels comportaments controla el robot. Per altra banda, en la coordinació cooperativa el control del robot és realitza a partir d'una fusió de totes les respostes dels comportaments actius. La tesis, proposa un esquema híbrid d'arquitectura capaç de beneficiar-se dels principals avantatges d'ambdues metodologies. En una segona part, la tesis proposa la utilització de l'aprenentatge per reforç per aprendre l'estructura interna dels comportaments. Aquest tipus d'aprenentatge és adequat per entorns desconeguts i el procés d'aprenentatge es realitza al mateix temps que el robot està explorant l'entorn. La tesis presenta també un estat de l'art d'aquest camp, en el que es detallen els principals problemes que apareixen en utilitzar els algoritmes d'aprenentatge per reforç en aplicacions reals, com la robòtica. El problema de la generalització és un dels que més influeix i consisteix en permetre l'ús de variables continues sense augmentar substancialment el temps de convergència. Després de descriure breument les principals metodologies per generalitzar, la tesis proposa l'ús d'una xarxa neural combinada amb l'algoritme d'aprenentatge per reforç Q_learning. Aquesta combinació proporciona una gran capacitat de generalització i una molt bona disposició per aprendre en tasques de robòtica amb exigències de temps real. No obstant, les xarxes neurals són aproximadors de funcions no-locals, el que significa que en treballar amb un conjunt de dades no homogeni es produeix una interferència: aprendre en un subconjunt de l'espai significa desaprendre en la resta de l'espai. El problema de la interferència afecta de manera directa en robòtica, ja que l'exploració de l'espai es realitza sempre localment. L'algoritme proposat en la tesi té en compte aquest problema i manté una base de dades representativa de totes les zones explorades. Així doncs, totes les mostres de la base de dades s'utilitzen per actualitzar la xarxa neural, i per tant, l'aprenentatge és homogeni. Finalment, la tesi presenta els resultats obtinguts amb la arquitectura de control basada en comportaments i l'algoritme d'aprenentatge per reforç. Els experiments es realitzen amb el robot URIS, desenvolupat a la Universitat de Girona, i el comportament après és el seguiment d'un objecte mitjançant visió per computador. La tesi detalla tots els dispositius desenvolupats pels experiments així com les característiques del propi robot submarí. Els resultats obtinguts demostren la idoneïtat de les propostes en permetre l'aprenentatge del comportament en temps real. En un segon apartat de resultats es demostra la capacitat de generalització de l'algoritme d'aprenentatge mitjançant el "benchmark" del "cotxe i la muntanya". Els resultats obtinguts en aquest problema milloren els resultats d'altres metodologies, demostrant la millor capacitat de generalització de les xarxes neurals.

A sensor based intelligent building assessment model

While building provides shelter for human being, the previous models for assessing the intelligence of a building seldom consider the responses of occupants. In addition, the assessment is usually conducted by an authority organization on a yearly basis, thus can seldom provide timely assistance for facility manager to improve his daily facility maintenance performance. By the extending the law of entropy into the area of intelligent building, this paper demonstrate that both energy consumption and the response of occupants are important when partially assessing the intelligence of a building. This study then develops a sensor based real time building intelligence (BI) assessment model. An experimental case study demonstrates how the model can be implemented. The developed model can address the two demerits of the previous BI assessment model.

Neural network based control in food processing

A number of commonly encountered simple neural network types are discussed, with particular attention being paid to their applicability in automation and control when applied to food processing. In the first instance n-tuple networks are considered, these being particularly useful for high speed production checking operations. Subsequently backpropagation networks are discussed, these being useful both in a more familiar feedback control arrangement and also for such things as recipe prediction.

An Electrochemical Sensor Based on Nanostructured Hollandite-type Manganese Oxide for Detection of Potassium Ions

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Enzymeless Hydrogen Peroxide Sensor Based on Mn-containing Conducting Metallopolymer

The [(Mn4O5)-O-IV(terpy)(4)(H2O)(2)](6+) complex, show great potential for electrode modification by electropolymerization using cyclic voltammetry. The voltammetric behavior both in and after electropolymerization process were also discussed, where the best condition of electropolymerization was observed for low scan rate and 50 potential cycles. A study in glass electrode for better characterization of polymer was also performed. Electrocatalytic process by metal centers of the conducting polymer in H2O2 presence with an increase of anodic current at 0.85 V vs. SCE can be observed. The sensor showed great response from 9.9 x 10(-5) to 6.4 x 10(-4) mol L-1 concentration range with a detection limit of 8.8 x 10(-5) mol L-1, where the electrocatalytic mechanism was based on oxidation of H2O2 to H2O with consequently reduction of Mn-IV to Mn-III. After, the Mn-III ions are oxidized electrochemically to Mn-IV ions. (C) 2012 Elsevier Ltd .... Selection and/or peer-review under responsibility of the Symposium Cracoviense Sp. z.o.o.

Optical Fiber Relative Humidity Sensor Based on a FBG with a Di-Ureasil Coating

In this work we proposed a relative humidity (RH) sensor based on a Bragg grating written in an optical fiber, associated with a coating of organo-silica hybrid material prepared by the sol-gel method. The organo-silica-based coating has a strong adhesion to the optical fiber and its expansion is reversibly affected by the change in the RH values (15.0-95.0%) of the surrounding environment, allowing an increased sensitivity (22.2 pm/%RH) and durability due to the presence of a siliceous-based inorganic component. The developed sensor was tested in a real structure health monitoring essay, in which the RH inside two concrete blocks with different porosity values was measured over 1 year. The results demonstrated the potential of the proposed optical sensor in the monitoring of civil engineering structures.

Fabrication of phytic acid sensor based on mixed phytase-lipid Langmuir-Blodgett films

This paper reports the surface activity of phytase at the air-water interface, its interaction with lipid monolayers, and the construction of a new phytic acid biosensor on the basis of the Langmuir-Blodgett (LB) technique. Phytase was inserted in the subphase solution of dipalmitoylphosphatidylglycerol (DPPG) Langmuir monolayers, and its incorporation to the air-water interface was monitored with surface pressure measurements. Phytase was able to incorporate into DPPG monolayers even at high surface pressures, ca. 30 mN/m, under controlled ionic strength, pH, and temperature. Mixed Langmuir monolayers of phytase and DPPG were characterized by surface pressure-area and surface potential-area isotherms, and the presence of the enzyme provided an expansion in the monolayers ( when compared to the pure lipid at the interface). The enzyme incorporation also led to significant changes in the equilibrium surface compressibility (in-plane elasticity), especially in liquid-expanded and liquid-condensed regions. The dynamic surface elasticity for phytase-containing interfaces was investigated using harmonic oscillation and axisymmetric drop shape analysis. The insertion of the enzyme at DPPG monolayers caused an increase in the dynamic surface elasticity at 30 mN m(-1), indicating a strong interaction between the enzyme and lipid molecules at a high-surface packing. Langmuir-Blodgett (LB) films containing 35 layers of mixed phytase-DPPG were characterized by ultraviolet-visible and fluorescence spectroscopy and crystal quartz microbalance nanogravimetry. The ability in detecting phytic acid was studied with voltammetric measurements.

Application of a Biomimetic Sensor Based on Iron Phthalocyanine Chloride: 4-Methylbenzylidene-Camphor Detection

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Biomimetic sensor based on 5,10,15,20-tetrakis(pentafluorophenyl)-21H,23H- porphyrin iron (III) chloride and MWCNT for selective detection of 2,4-D

Exploitation of the electronic properties of carbon nanotubes for the development of voltammetric and amperometric sensors to monitor analytes of environmental relevance has increased in recent years. This work reports the development of a biomimetic sensor based on a carbon paste modified with 5,10,15,20-tetrakis(pentafluorophenyl)-21H,23H-porphyrin iron (III) chloride (a biomimetic catalyst of the P450 enzyme) and multi-wall carbon nanotubes (MWCNT), for the sensitive and selective detection of the herbicide 2,4- dichlorophenoxyacetic acid (2,4-D). The sensor was evaluated using cyclic voltammetry and amperometry, for electrochemical characterization and quantification purposes, respectively. Amperometric analyses were carried out at -100 mV vs. Ag/AgCl(KClsat), using a 0.1 mol L-1 phosphate buffer solution at pH 6.0 as the support electrolyte. Under these optimized analytical conditions, the sensor showed a linear response between 9.9 × 10-6 and 1.4 × 10-4 mol L-1, a sensitivity of 1.8 × 104 (±429) μA L mol -1, and limits of detection and quantification of 2.1 × 10 -6 and 6.8 × 10-6 mol L-1, respectively. The incorporation of functionalized MWCNT in the carbon paste resulted in a 10-fold increase in the response, compared to that of the biomimetic sensor without MWCNT. In addition, the low applied potential (-100 mV) used to obtain high sensitivity also contributed to the excellent selectivity of the proposed sensor. The viability of the application of this sensor for analysis of soil samples was confirmed by satisfactory recovery values, with a mean of 96% and RSD of 2.1% (n = 3). © 2013 Elsevier B.V.

Development of an electrochemical sensor based on nanostructured hausmannite-type manganese oxide for detection of sodium ions

The preparation and electrochemical characterization of hausmannite-type manganese oxide to use as a sensing material for sodium ion is described. This paper reports a new via synthetic to obtain of the hausmannite-type manganese oxide and its application in the construction of modified electrode as a voltammetric sensor. The electrochemical activity of hausmannite-type manganese oxide is controlled by intercalation/deintercalation of the sodium ions within the oxide lattice. The detection is based on the measurement of anodic current generated by oxidation of MnIII-MnIV at electrode surface. The best electrochemical response was obtained for a sensor composition of 20% (w/w) hausmannite oxide in the paste, a TRIS buffer solution of pH 6.0-7.0 and a scan rate of 50 mV s-1. A sensitive linear voltammetric response for sodium ions was obtained in the concentration range of 2.01 × 10 -5-2.09 × 10-4 mol L-1 with a slope of 355 μA L mmol-1 and a detection limit of 7.50 × 10 -6 mol L-1 using cyclic voltammetry. The use of hausmannite has significantly improved the selectivity of the sensor compared to the birnessite-type manganese oxide modified electrode. Under the working conditions, the proposed method was successfully applied to determination of sodium ions in urine samples. © 2013 Elsevier B.V.