A simulated annealing global maximum power point tracking approach for PV modules under partial shading conditions

This paper proposes a simulated annealing (SA)-based global maximum power point tracking (GMPPT) technique designed for photovoltaic (PV) systems which experience partial shading conditions (PSC). The proposed technique is compared with the common perturb and observe MPPT technique and the particle swarm optimization method for GMPPT. The performance is assessed by considering the time taken to converge and the number of sample cases where the technique converges to the GMPP. Simulation results indicate the improved performance of the SA-based GMPPT algorithm, with arbitrarily selected parameters, in tracking to the global maxima in a multiple module PV system which experiences PSC. Experimental validation of the technique is presented based on PV modules that experience nonuniform environmental conditions. Additionally, studies regarding the influence of the key parameters of the SA-based algorithm are described. Simulation and experimental results verify the effectiveness of the proposed GMPPT method.

In situ measurement of pipeline coating integrity and corrosion resistance losses under simulated mechanical strains and cathodic protection

A novel experimental assembly consisting of a specially designed tensile testing rig and a standard electrochemical flat cell has been designed for simulating buried high pressure pipeline environmental conditions in which a coating gets damaged and degrades under mechanical strain, and for studying the influence of mechanically induced damages such as the cracking of a coating on its anti-corrosion property. The experimental assembly is also capable of applying a cathodic protection (CP) potential simultaneously with the mechanical strain and environmental exposure. The influence of applied mechanical strain as well as extended exposure to the corrosive environment, coupled with the application of CP, has been investigated based on changes in electrochemical impedance spectroscopy (EIS). Preliminary results show that the amplitude of the coating impedance decreases with an increase in the applied strain level and the length of environmental exposure. The EIS characteristics and changes are found to correlate well with variations in coating cracking and degradation features observed on post-test samples using both optical microscopy and scanning electron microscopy. These results demonstrate that this new experimental method can be used to simulate and examine coating behaviour under the effects of complex high pressure pipeline mechanical, electrochemical and environmental conditions.

La responsabilité civile dans les cas de dommages causés par les robots d’assistance au Québec

Le développement exponentiel de la technologie et le vieillissement de la population permettent d’introduire dans notre quotidien les robots d’assistance. La coexistence de l’homme avec ces robots intelligents et autonomes soulève une question fondamentale: dans l’éventualité où un robot provoquerait un accident causant un dommage à une personne ou à un bien qui serait le responsable? Aucune loi ne réglemente les activités de la robotique d’assistance dans le monde. Cette étude vise l’analyse de l’applicabilité des régimes de responsabilité du Code Civil du Québec aux cas de dommages causés par le robot d’assistance. L’analyse des régimes de responsabilité du Code civil du Québec permet de constater que deux régimes de responsabilité sont susceptibles d’être appliqués aux cas spécifiques de dommages causés par le robot d’assistance: le régime de responsabilité du fait des biens, énoncé à l’article 1465 C.c.Q., et le régime de responsabilité du fait des fabricants et vendeurs spécialisés, énoncé à l’article 1468 C.c.Q. Cela s’explique par la présence de critères et de conditions de mise en œuvre des régimes qui sont transposables aux différents aspects concernant la fabrication et l’utilisation du robot d’assistance.

Assessing Decision Making Skill in Complex and Dynamic Environments Using Representative and Simulated Tasks

Traditional decision making research has often focused on one's ability to choose from a set of prefixed options, ignoring the process by which decision makers generate courses of action (i.e., options) in-situ (Klein, 1993). In complex and dynamic domains, this option generation process is particularly critical to understanding how successful decisions are made (Zsambok & Klein, 1997). When generating response options for oneself to pursue (i.e., during the intervention-phase of decision making) previous research has supported quick and intuitive heuristics, such as the Take-The-First heuristic (TTF; Johnson & Raab, 2003). When generating predictive options for others in the environment (i.e., during the assessment-phase of decision making), previous research has supported the situational-model-building process described by Long Term Working Memory theory (LTWM; see Ward, Ericsson, & Williams, 2013). In the first three experiments, the claims of TTF and LTWM are tested during assessment- and intervention-phase tasks in soccer. To test what other environmental constraints may dictate the use of these cognitive mechanisms, the claims of these models are also tested in the presence and absence of time pressure. In addition to understanding the option generation process, it is important that researchers in complex and dynamic domains also develop tools that can be used by `real-world' professionals. For this reason, three more experiments were conducted to evaluate the effectiveness of a new online assessment of perceptual-cognitive skill in soccer. This test differentiated between skill groups and predicted performance on a previously established test and predicted option generation behavior. The test also outperformed domain-general cognitive tests, but not a domain-specific knowledge test when predicting skill group membership. Implications for theory and training, and future directions for the development of applied tools are discussed.

Test of a Smock System on CPR Primary Emergency Measures and Medical Errors During Simulated Emergencies

Rates of survival of victims of sudden cardiac arrest (SCA) using cardio pulmonary resuscitation (CPR) have shown little improvement over the past three decades. Since registered nurses (RNs) comprise the largest group of healthcare providers in U.S. hospitals, it is essential that they are competent in performing the four primary measures (compression, ventilation, medication administration, and defibrillation) of CPR in order to improve survival rates of SCA patients. The purpose of this experimental study was to test a color-coded SMOCK system on:1) time to implement emergency patient care measures 2) technical skills performance 3) number of medical errors, and 4) team performance during simulated CPR exercises. The study sample was 260 RNs (M 40 years, SD=11.6) with work experience as an RN (M 7.25 years, SD=9.42).Nurses were allocated to a control or intervention arm consisting of 20 groups of 5-8 RNs per arm for a total of 130 RNs in each arm. Nurses in each study arm were given clinical scenarios requiring emergency CPR. Nurses in the intervention group wore different color labeled aprons (smocks) indicating their role assignment (medications, ventilation, compression, defibrillation, etc) on the code team during CPR. Findings indicated that the intervention using color-labeled smocks for pre-assigned roles had a significant effect on the time nurses started compressions (t=3.03, p=0.005), ventilations (t=2.86, p=0.004) and defibrillations (t=2.00, p=.05) when compared to the controls using the standard of care. In performing technical skills, nurses in the intervention groups performed compressions and ventilations significantly better than those in the control groups. The control groups made significantly (t=-2.61, p=0.013) more total errors (7.55 SD 1.54) than the intervention group (5.60, SD 1.90). There were no significant differences in team performance measures between the groups. Study findings indicate use of colored labeled smocks during CPR emergencies resulted in: shorter times to start emergency CPR; reduced errors; more technical skills completed successfully; and no differences in team performance.

Photo Degradation of Cotnaminants of Emerging concern (CECs) under Simulated Solar Radiation: Implications for their Environmental Fate

Contaminants of emerging concern (CECs) are continuously being released into the environment mainly because of their incomplete removal in the sewage treatment plants (STPs). The CECs selected for the study include antibiotics (macrolides, sulfonamides and ciprofloxacin), sucralose (an artificial sweetener) and dioctyl sulfosuccinate (DOSS, chemical dispersant used in the Deepwater Horizon oil spill). After being discharged into waterways from STPs, photo degradation is a key factor in dictating the environmental fate of antibiotics and sucralose. Photodegradation efficiency depends on many factors such as pH of the matrix, matrix composition, light source and structure of the molecule. These factors exert either synergistic or antagonistic effects in the environment and thus experiments with isolated factors may not yield the same results as the natural environmental processes. Hence in the current study photodegradation of 13 CECs (antibiotics, sucralose and dicotyl sulfosuccinate) were evaluated using natural water matrices with varying composition (deionized water, fresh water and salt water) as well as radiation of different wavelengths (254 nm, 350 nm and simulated solar radiation) in order to mimic natural processes. As expected the contribution of each factor on the overall rate of photodegradation is contaminant specific, for example under similar conditions, the rate in natural waters compared to pure water was enhanced for antibiotics (2-11 fold), significantly reduced for sucralose (no degradation seen in natural waters) and similar in both media for DOSS. In general, it was observed that the studied compounds degraded faster at 254 nm, while when using a simulated sunlight radiation the rate of photolysis of DOSS increased and the rates for antibiotics decreased in comparison to the 350 nm radiation. The photo stability of the studied CECs followed the order sucralose > DOSS > macrolides > sulfonamides > ciprofloxacin and a positive relationship was observed between photo stability and their ubiquitous presence in natural aquatic matrices. An online LC-MS/MS method was developed and validated for sucralose and further applied to reclaimed waters (n =56) and drinking waters (n = 43) from South Florida. Sucralose was detected in reclaimed waters with concentrations reaching up to 18 µg/L. High frequency of detection (> 80%) in drinking waters indicate contamination of ground waters in South Florida by anthropogenic activity.

La responsabilité civile dans les cas de dommages causés par les robots d’assistance au Québec

Le développement exponentiel de la technologie et le vieillissement de la population permettent d’introduire dans notre quotidien les robots d’assistance. La coexistence de l’homme avec ces robots intelligents et autonomes soulève une question fondamentale: dans l’éventualité où un robot provoquerait un accident causant un dommage à une personne ou à un bien qui serait le responsable? Aucune loi ne réglemente les activités de la robotique d’assistance dans le monde. Cette étude vise l’analyse de l’applicabilité des régimes de responsabilité du Code Civil du Québec aux cas de dommages causés par le robot d’assistance. L’analyse des régimes de responsabilité du Code civil du Québec permet de constater que deux régimes de responsabilité sont susceptibles d’être appliqués aux cas spécifiques de dommages causés par le robot d’assistance: le régime de responsabilité du fait des biens, énoncé à l’article 1465 C.c.Q., et le régime de responsabilité du fait des fabricants et vendeurs spécialisés, énoncé à l’article 1468 C.c.Q. Cela s’explique par la présence de critères et de conditions de mise en œuvre des régimes qui sont transposables aux différents aspects concernant la fabrication et l’utilisation du robot d’assistance.

Effect of sonic and ultrasonic activation on organic tissue dissolution from simulated grooves in root canals using sodium hypochlorite and EDTA

Aim: To compare soft-tissue dissolution by sodium hypochlorite, with an EDTA intermediate rinse, with or without activation with passive ultrasonic activation (PUI) or sonic activation using the Endoactivator (EA) or Eddy tips (ED). Methodology: The root canals of eighty-three human maxillary central incisors were chemo-mechanically prepared and the teeth split. A standardized longitudinal intracanal groove was created in one of the root halves. Eighty-three porcine palatal mucosa samples were collected, adapted to fit into the grooves and weighed. The re-assembled specimens were randomly divided into four experimental groups (n = 20), based on the final rinse: no activation; EA; PUI; ED, using 2.5% sodium hypochlorite, with an EDTA intermediate rinse. A control group (n = 3) was irrigated with distilled water without activation. The solutions were delivered using a syringe and needle 2 mm from working length. Total irrigation time was 150 s, including 60 s of activation in the specific groups. The study was carried out at 36 ± 2 °C. The porcine palatal mucosa samples were weighed after completion of the assays. Student paired t-test and anova were used to assess the intra- and intergroup weight changes. The multiple comparisons were evaluated using Bonferroni correction (α = 0.05). Results: Weight loss occurred in all experimental groups. Irrigant activation resulted in greater weight loss when compared to the nonactivated group [vs. EA (P = 0.001); vs. PUI (P < 0.001); vs. ED (P < 0.001)]. No significant differences were found amongst the different activation systems. Conclusions: Activation increased the tissue-dissolving activity of irrigants from artificial grooves in root canals of maxillary central incisors. © 2016 International Endodontic Journal. Published by John Wiley & Sons Ltd.

Transport coopératif d'un objet par deux robots humanoïdes dans un environnement encombré

Il y a présentement de la demande dans plusieurs milieux cherchant à utiliser des robots afin d'accomplir des tâches complexes, par exemple l'industrie de la construction désire des travailleurs pouvant travailler 24/7 ou encore effectuer des operation de sauvetage dans des zones compromises et dangereuses pour l'humain. Dans ces situations, il devient très important de pouvoir transporter des charges dans des environnements encombrés. Bien que ces dernières années il y a eu quelques études destinées à la navigation de robots dans ce type d'environnements, seulement quelques-unes d'entre elles ont abordé le problème de robots pouvant naviguer en déplaçant un objet volumineux ou lourd. Ceci est particulièrement utile pour transporter des charges ayant de poids et de formes variables, sans avoir à modifier physiquement le robot. Un robot humanoïde est une des plateformes disponibles afin d'effectuer efficacement ce type de transport. Celui-ci a, entre autres, l'avantage d'avoir des bras et ils peuvent donc les utiliser afin de manipuler précisément les objets à transporter. Dans ce mémoire de maîtrise, deux différentes techniques sont présentées. Dans la première partie, nous présentons un système inspiré par l'utilisation répandue de chariots de fortune par les humains. Celle-ci répond au problème d'un robot humanoïde naviguant dans un environnement encombré tout en déplaçant une charge lourde qui se trouve sur un chariot de fortune. Nous présentons un système de navigation complet, de la construction incrémentale d'une carte de l'environnement et du calcul des trajectoires sans collision à la commande pour exécuter ces trajectoires. Les principaux points présentés sont : 1) le contrôle de tout le corps permettant au robot humanoïde d'utiliser ses mains et ses bras pour contrôler les mouvements du système à chariot (par exemple, lors de virages serrés) ; 2) une approche sans capteur pour automatiquement sélectionner le jeu approprié de primitives en fonction du poids de la charge ; 3) un algorithme de planification de mouvement qui génère une trajectoire sans collisions en utilisant le jeu de primitive approprié et la carte construite de l'environnement ; 4) une technique de filtrage efficace permettant d'ignorer le chariot et le poids situés dans le champ de vue du robot tout en améliorant les performances générales des algorithmes de SLAM (Simultaneous Localization and Mapping) défini ; et 5) un processus continu et cohérent d'odométrie formés en fusionnant les informations visuelles et celles de l'odométrie du robot. Finalement, nous présentons des expériences menées sur un robot Nao, équipé d'un capteur RGB-D monté sur sa tête, poussant un chariot avec différentes masses. Nos expériences montrent que la charge utile peut être significativement augmentée sans changer physiquement le robot, et donc qu'il est possible d'augmenter la capacité du robot humanoïde dans des situations réelles. Dans la seconde partie, nous abordons le problème de faire naviguer deux robots humanoïdes dans un environnement encombré tout en transportant un très grand objet qui ne peut tout simplement pas être déplacé par un seul robot. Dans cette partie, plusieurs algorithmes et concepts présentés dans la partie précédente sont réutilisés et modifiés afin de convenir à un système comportant deux robot humanoides. Entre autres, nous avons un algorithme de planification de mouvement multi-robots utilisant un espace d'états à faible dimension afin de trouver une trajectoire sans obstacle en utilisant la carte construite de l'environnement, ainsi qu'un contrôle en temps réel efficace de tout le corps pour contrôler les mouvements du système robot-objet-robot en boucle fermée. Aussi, plusieurs systèmes ont été ajoutés, tels que la synchronisation utilisant le décalage relatif des robots, la projection des robots sur la base de leur position des mains ainsi que l'erreur de rétroaction visuelle calculée à partir de la caméra frontale du robot. Encore une fois, nous présentons des expériences faites sur des robots Nao équipés de capteurs RGB-D montés sur leurs têtes, se déplaçant avec un objet tout en contournant d'obstacles. Nos expériences montrent qu'un objet de taille non négligeable peut être transporté sans changer physiquement le robot.

Robots como ferramenta pedagógica nos primeiros anos

O presente artigo descreve e analisa um projeto realizado com duas turmas do 1o ciclo do ensino básico que trabalharam conjuntamente com robots, tomando a aprendizagem como um fenómeno intrinsecamente ligado à participação em comunidades de prática (Lave, 1996; Lave; Wenger, 1991). Pretende-se caracterizar os intervenientes, a metodologia de trabalho implementada, a descrição dos artefactos utilizados (robots e escrita de uma história) e analisar a relação dos intervenientes com os robots, os padrões de participação que se revelaram com esse tipo de trabalho, procurando enfatizar os contributos que decorrem da participação em ambientes sociais digitais para a aprendizagem dos alunos, tais como a participação e a negociação conjunta de significados, a importância dos robots e da história terem sido “construídos” pelos estudantes e a existência de um reportório partilhado e um empreendimento conjunto.