Enhancing smart environments with mobile robots

Sensor networks are becoming popular nowadays in the development of smart environments. Heavily relying on static sensor and actuators, though, such environments usually lacks of versatility regarding the provided services and interaction capabilities. Here we present a framework for smart environments where a service robot is included within the sensor network acting as a mobile sensor and/or actuator. Our framework integrates on-the-shelf technologies to ensure its adaptability to a variety of sensor technologies and robotic software. Two pilot cases are presented as evaluation of our proposal.

Multi-surface sliding control of MIMO autonomous flight systems

In this paper, we present a hardware in the loop simulation of our proposed multi-surface sliding control (MSSC) for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). Using MSSC on MIMO autonomous flight systems creates confluent control that can account for both matched and mismatched uncertainties, system disturbances and excitation in internal dynamics. The control law is implemented on an onboard computer and is validated though Hardware-In-the-Loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. Simulation results are presented to validate the analysis.

A single cation or anion dendrimer-based liquid electrolyte

We propose here a novel liquid dendrimer-based single ion conductor as a potential alternative to conventional molecular liquid solvent-salt solutions in rechargeable batteries, sensors and actuators. A specific change from ester (-COOR) to cyano (-CN) terminated peripheral groups in generation-one poly(propyl ether imine) (G1-PETIM)-lithium salt complexes results in a remarkable switchover from a high cation (tLi+ = 0.9 for -COOR) to a high anion (tPF6- = 0.8 for -CN) transference number. This observed switchover draws an interesting analogy with the concept of heterogeneous doping, applied successfully to account for similar changes in ionic conductivity arising out of dispersion of insulator particle inclusions in weak inorganic solid electrolytes. The change in peripheral group simultaneously affects the effective ionic conductivity, with the room temperature ionic conductivity of PETIM-CN (1.9 × 10-5 Ω-1 cm-1) being an order of magnitude higher than PETIM-COOR (1.9 × 10-6 Ω-1 cm-1). Notably, no significant changes are observed in the lithium mobility even following changes in viscosity due to the change in the peripheral group. Changes in the peripheral chemical functionality directly influence the anion mobility, being lower in PETIM-COOR than in PETIM-CN, which ultimately becomes the sole parameter controlling the effective transport and electrochemical properties of the dendrimer electrolytes.

Conductive polymer coatings

Conducting polymer-coated textiles possess a wide range of electrical properties. The surface resistivity is influenced by concentrations of the reactants, the thickness of the coating, the nature of the substrate surface, the extent of penetration of the polymer into the textile structure, and the strength of the binding of the coating to the textile surface. Low resistivity in fabric results from highly doped thicker coatings that penetrate well into the textile structure, thus enabling good electrical contact between fibers. Microwave studies showed that conductive textiles are not highly effective as electromagnetic shielding materials owing to their medium-level conductivity and therefore large skin depth. Combined with the fact that coatings are around 1. ?m thick, they cannot act as effective reflective barriers to electromagnetic radiation. However, because they are highly absorptive in the microwave region, absorbing materials can be designed in conjunction with conductive textiles. Study of Fourier transform-infrared spectra of aged polypyrrole films has shown an increase in intensity of an ?,?-unsaturated conjugated carbonyl peak that may be linked to the increase in resistance but cannot be the only factor, because the rate of electrical decay was influenced by several factors such as temperature, the type and concentration of the dopant, and the aging time, all of which signify a complex mechanism of degradation of conductivity. Degradation is a major concern for conductive textile systems that needs to be characterized before considering these materials for potential applications.

MODELING AND EXPERIMENTAL SETUP OF AN HCCI ENGINE

For the past three decades the automotive industry is facing two main conflicting challenges to improve fuel economy and meet emissions standards. This has driven the engineers and researchers around the world to develop engines and powertrain which can meet these two daunting challenges. Focusing on the internal combustion engines there are very few options to enhance their performance beyond the current standards without increasing the price considerably. The Homogeneous Charge Compression Ignition (HCCI) engine technology is one of the combustion techniques which has the potential to partially meet the current critical challenges including CAFE standards and stringent EPA emissions standards. HCCI works on very lean mixtures compared to current SI engines, resulting in very low combustion temperatures and ultra-low NOx emissions. These engines when controlled accurately result in ultra-low soot formation. On the other hand HCCI engines face a problem of high unburnt hydrocarbon and carbon monoxide emissions. This technology also faces acute combustion controls problem, which if not dealt properly with yields highly unfavorable operating conditions and exhaust emissions. This thesis contains two main parts. One part deals in developing an HCCI experimental setup and the other focusses on developing a grey box modelling technique to control HCCI exhaust gas emissions. The experimental part gives the complete details on modification made on the stock engine to run in HCCI mode. This part also comprises details and specifications of all the sensors, actuators and other auxiliary parts attached to the conventional SI engine in order to run and monitor the engine in SI mode and future SI-HCCI mode switching studies. In the latter part around 600 data points from two different HCCI setups for two different engines are studied. A grey-box model for emission prediction is developed. The grey box model is trained with the use of 75% data and the remaining data is used for validation purpose. An average of 70% increase in accuracy for predicting engine performance is found while using the grey-box over an empirical (black box) model during this study. The grey-box model provides a solution for the difficulty faced for real time control of an HCCI engine. The grey-box model in this thesis is the first study in literature to develop a control oriented model for predicting HCCI engine emissions for control.

A structure design method for compliant parallel manipulators with actuation isolation

Since precise linear actuators of a compliant parallel manipulator suffer from their inability to tolerate the transverse motion/load in the multi-axis motion, actuation isolation should be considered in the compliant manipulator design to eliminate the transverse motion at the point of actuation. This paper presents an effective design method for constructing compliant parallel manipulators with actuation isolation, by adding the same number of actuation legs as the number of the DOF (degree of freedom) of the original mechanism. The method is demonstrated by two design case studies, one of which is quantitatively studied by analytical modelling. The modelling results confirm possible inherent issues of the proposed structure design method such as increased primary stiffness, introduced extra parasitic motions and cross-axis coupling motions.

Machine-to-machine communications with in-network data aggregation, processing, and actuation for large-scale cyber-physical systems

Machine-to-Machine (M2M) paradigm enables machines (sensors, actuators, robots, and smart meter readers) to communicate with each other with little or no human intervention. M2M is a key enabling technology for the cyber-physical systems (CPSs). This paper explores CPS beyond M2M concept and looks at futuristic applications. Our vision is CPS with distributed actuation and in-network processing. We describe few particular use cases that motivate the development of the M2M communication primitives tailored to large-scale CPS. M2M communications in literature were considered in limited extent so far. The existing work is based on small-scale M2M models and centralized solutions. Different sources discuss different primitives. Few existing decentralized solutions do not scale well. There is a need to design M2M communication primitives that will scale to thousands and trillions of M2M devices, without sacrificing solution quality. The main paradigm shift is to design localized algorithms, where CPS nodes make decisions based on local knowledge. Localized coordination and communication in networked robotics, for matching events and robots, were studied to illustrate new directions.

Étude de la dynamique du ferrofluide appliquée sur une surface générée par plusieurs actionneurs

Le sujet de cette thèse est la caractérisation dynamique d’une surface générée par plusieurs actionneurs d’un miroir ferrofluidique intégré dans un montage d’optique adaptative. Elle conclut un projet de doctorat au sein du groupe Borra s’étant échelonné sur 4 années. Un bref portrait général de l’optique adaptative est d’abord présenté, suivi d’une section sur la théorie du contrôle. Les types de contrôleurs y sont abordés, soit PID et surcharge. L’effet de la viscosité sur la réponse dynamique du système, ainsi que les analyseurs de front d’onde utilisés sont ensuite expliqués. La section résultats est subdivisée en plusieurs sous-sections ordonnées de façon chronologique. Dans un premier temps, il est question des résultats obtenus dans le cadre d’une caractérisation d’un nouveau miroir de 91 actionneurs fabriqué au sein du groupe. Il est ensuite question des résultats obtenus avec diverses techniques telles le PSD et l’imagerie déclenchée. Il y aura toute une section sur les résultats en vitesse, en fonction de la viscosité du liquide, suivie d’une section sur les simulations réalisées avec Simulink afin de bien cibler les limites du système. Les résultats portant sur la technique de surcharge des actionneurs seront ensuite présentés avec des projections futures. La dernière partie de cette thèse portera sur une innovation apportée par un autre membre du groupe. Nous parlerons de la déposition d’une membrane élastomère réfléchissante et de ses effets sur la dynamique du système.

Procesos hopping a través del modelo difusional en materiales nanocristalinos usados para aplicaciones fotovoltaicas

Se presentan los modelos de hopping de rango variable (variable range hopping; VRH), vecinos cercanos (nearest neighbor hopping; NNH) y barreras de potencial presentes en las fronteras de grano; como mecanismos de transporte eléctrico predominantes en los materiales semiconductores para aplicaciones fotovoltaicas. Las medidas de conductividad a oscuras en función de temperatura fueron realizadas para región de bajas temperaturas entre 120 y 400 K con Si y compuestos Cu3BiS2 y Cu2ZnSnSe4. Siguiendo la teoría de percolación, se obtuvieron parámetros hopping y la densidad de estados cerca del nivel de Fermi, N(EF), para todas las muestras. A partir de los planteamientos dados por Mott para VRH, se presentó el modelo difusional, que permitió establecer la relación entre la conductividad y la densidad de estados de defecto o estados localizados en el gap del material. El análisis comparativo entre modelos, evidenció, que es posible obtener mejora hasta de un orden de magnitud en valores para cada uno de los parámetros hopping que caracterizan el material.

Traffic Light Using Multiple Wireless Technologies

This paper presents the study and experimental tests for the viability analysis of using multiple wireless technologies in urban traffic light controllers in a Smart City environment. Communication drivers, different types of antennas, data acquisition methods and data processing for monitoring the network are presented. The sensors and actuators modules are connected in a local area network through two distinct low power wireless networks using both 868 MHz and 2.4 GHz frequency bands. All data communications using 868 MHz go through a Moteino. Various tests are made to assess the most advantageous features of each communication type. The experimental results show better range for 868 MHz solutions, whereas the 2.4 GHz presents the advantage of self-regenerating the network and mesh. The different pros and cons of both communication methods are presented.