Smart Rocks and Wireless Communication System for Real-Time Monitoring and Mitigation of Bridge Scour -- A Proof-of-Concept Study

This study aims to integrate commercial measurement and communication components into a scour monitoring system with magnets or electronics embedded in smart rocks, and evaluate and improve its performance in laboratory and field conditions for the movement of smart rocks. Properly-designed smart rocks were found to be automatically rolled into the very bottom of a scour hole and can give critical information about the maximum scour depth and effectiveness of rip-rap mitigation strategies. Four types of smart rock technologies were investigated in this proof-of-concept phase of study, including passive with embedded magnets, active with magneto-inductive communication, active with controllable magnet rotation, and active with acoustic communication. Their performances were evaluated against three criteria: 1) movement accuracy within 0.5 m, 2) transmission distance between 5 and 30 m, and 3) at least one measurement every 15 minutes. Test results demonstrated that the proposed smart rocks are cost-effective, viable technologies for bridge scour monitoring

Design of Digital Advanced Systems Based on Programmable System on Chip

This chapter fills up an advanced analysis of the state-of-the-art design in programmable SoC systems, giving a critical overall vision for every designer to implement real time operating systems and concurrent processing. The content of the chapter is divided in the next four main sections. First the evolution timeline of FPGA based systems is covered from its beginning until the last AP SoC chips. They are complex devices and it is necessary to have a well-known understanding to utilise them in the more efficient form possible. The more important advance digital systems structures and architectures are described. The embedded AP SoCs are analysed and main design methodologies are covered, focusing in hardware and co-design strategies. In this section is described the development of a real open source application that covers the fundamental parts in the design of a SoC system, ranging from the hardware development until the software design involving the embedded operating system and the user interface application. Finally, the system described in the last section is tested in a real scientific experiment and the results are evaluated

Marine Vessel Inspection as a Novel Field for Service Robotics: A Contribution to Systems, Control Methods and Semantic Perception Algorithms.

This cumulative thesis introduces a novel field for service robotics: the inspection of marine vessels using mobile inspection robots. In this thesis, three scientific contributions are provided and experimentally verified in the field of marine inspection, but are not limited to this type of application. The inspection scenario is merely a golden thread to combine the cumulative scientific results presented in this thesis. The first contribution is an adaptive, proprioceptive control approach for hybrid leg-wheel robots, such as the robot ASGUARD described in this thesis. The robot is able to deal with rough terrain and stairs, due to the control concept introduced in this thesis. The proposed system is a suitable platform to move inside the cargo holds of bulk carriers and to deliver visual data from inside the hold. Additionally, the proposed system also has stair climbing abilities, allowing the system to move between different decks. The robot adapts its gait pattern dynamically based on proprioceptive data received from the joint motors and based on the pitch and tilt angle of the robot's body during locomotion. The second major contribution of the thesis is an independent ship inspection system, consisting of a magnetic wall climbing robot for bulkhead inspection, a particle filter based localization method, and a spatial content management system (SCMS) for spatial inspection data representation and organization. The system described in this work was evaluated in several laboratory experiments and field trials on two different marine vessels in close collaboration with ship surveyors. The third scientific contribution of the thesis is a novel approach to structural classification using semantic perception approaches. By these methods, a structured environment can be semantically annotated, based on the spatial relationships between spatial entities and spatial features. This method was verified in the domain of indoor perception (logistics and household environment), for soil sample classification, and for the classification of the structural parts of a marine vessel. The proposed method allows the description of the structural parts of a cargo hold in order to localize the inspection robot or any detected damage. The algorithms proposed in this thesis are based on unorganized 3D point clouds, generated by a LIDAR within a ship's cargo hold. Two different semantic perception methods are proposed in this thesis. One approach is based on probabilistic constraint networks; the second approach is based on Fuzzy Description Logic and spatial reasoning using a spatial ontology about the environment

Short Distance Telemetry for Piston Monitoring. Design and Development of Short Distance Telemetry for Engine Condition Monitoring.

Piston telemetry research involves monitoring the temperatures at specific internal location points within a combustion engine piston. The temperatures are detected with type K thermocouples as voltages and processed to convert them into temperatures using cold junction compensation methods. The present system uses a specific sensor designed to operate in the high temperature environment within the piston, reading multiple thermocouples. Because of the reciprocating motion of the piston, power generation is intermittent and available only when the piston reaches near bottom dead centre, using inductive coupling to power the sensors and transmit data to an evaluation unit for data processing. The planned system involves designing and building a prototype telemetry unit using ¿off the shelf¿ components that integrate the reading of thermocouple outputs, signal processing and cold junction compensation. Wireless telemetry is adopted for data transmission with an integrated Bluetooth and microcontroller module. The data acquisition module can be adapted for other sensors by adapting the firmware uploaded to the microcontroller. The hardware electronics are envisaged to be encased in thermal insulation to enable operation in high temperature environments. The considered system requires a power supply for the integrated components in the form of a power generator and that it should meet two criteria: to be located within confined spaces and to be permanently available, without having to dismantle systems to change batteries. The selected method is an induction generator constructed from a coil stator connected to the piston connection rod big end and a permanent magnet rotor connected to the crankshaft. The suggested mechatronic system is validated against the present system by comparing both systems to determine whether wireless telemetry can perform within acceptable tolerances and limits for the specified task. Then, for acceptable performances, reduce costs and include flexibility to operate in multiple environments. Bench testing shows that the power generator is capable of driving the sensors and the Bluetooth integrated DAQ system.EPSRC and University of Bradfor

Technical Proposal for FASER: ForwArd Search ExpeRiment at the LHC

FASER is a proposed small and inexpensive experiment designed to search for light, weakly-interacting particles during Run 3 of the LHC from 2021-23. Such particles may be produced in large numbers along the beam collision axis, travel for hundreds of meters without interacting, and then decay to standard model particles. To search for such events, FASER will be located 480 m downstream of the ATLAS IP in the unused service tunnel TI12 and be sensitive to particles that decay in a cylindrical volume with radius R=10 cm and length L=1.5 m. FASER will complement the LHC's existing physics program, extending its discovery potential to a host of new, light particles, with potentially far-reaching implications for particle physics and cosmology. This document describes the technical details of the FASER detector components: the magnets, the tracker, the scintillator system, and the calorimeter, as well as the trigger and readout system. The preparatory work that is needed to install and operate the detector, including civil engineering, transport, and integration with various services is also presented. The information presented includes preliminary cost estimates for the detector components and the infrastructure work, as well as a timeline for the design, construction, and installation of the experiment.Comment: 82 pages, 62 figures; submitted to the CERN LHCC on 7 November 201

Normally-Off Computing Design Methodology Using Spintronics: From Devices to Architectures

Energy-harvesting-powered computing offers intriguing and vast opportunities to dramatically transform the landscape of Internet of Things (IoT) devices and wireless sensor networks by utilizing ambient sources of light, thermal, kinetic, and electromagnetic energy to achieve battery-free computing. In order to operate within the restricted energy capacity and intermittency profile of battery-free operation, it is proposed to innovate Elastic Intermittent Computation (EIC) as a new duty-cycle-variable computing approach leveraging the non-volatility inherent in post-CMOS switching devices. The foundations of EIC will be advanced from the ground up by extending Spin Hall Effect Magnetic Tunnel Junction (SHE-MTJ) device models to realize SHE-MTJ-based Majority Gate (MG) and Polymorphic Gate (PG) logic approaches and libraries, that leverage intrinsic-non-volatility to realize middleware-coherent, intermittent computation without checkpointing, micro-tasking, or software bloat and energy overheads vital to IoT. Device-level EIC research concentrates on encapsulating SHE-MTJ behavior with a compact model to leverage the non-volatility of the device for intrinsic provision of intermittent computation and lifetime energy reduction. Based on this model, the circuit-level EIC contributions will entail the design, simulation, and analysis of PG-based spintronic logic which is adaptable at the gate-level to support variable duty cycle execution that is robust to brief and extended supply outages or unscheduled dropouts, and development of spin-based research synthesis and optimization routines compatible with existing commercial toolchains. These tools will be employed to design a hybrid post-CMOS processing unit utilizing pipelining and power-gating through state-holding properties within the datapath itself, thus eliminating checkpointing and data transfer operations