Continuous Autonomous UAV Inspection for FPSO vessels

This Master's thesis represents the preliminary design study and proposes the unmanned aerial vehicle (UAV) -based inspection framework, comprising several multirotors with automatic charging and deployment for 24/7 integrity inspection tasks. This project has three main topics. First one describes the operational environment and existing regulations that cover use of UAVs. It forms the basis for proposal of the relevant use-case scenarios. Third part comprises two chapters, where design of concept and framework is being based on the previous factors. It shows that before implementation of fully autonomous inspection system, there is a need to cover both regulatory and technical gaps. It can be explained by the fact that there does not exist any autonomous inspection system today. Thus, this project can be seen as a base for future development of the UAV-based inspection system, as it focuses on creation of a general framework

Mobile Ad-Hoc Networks

Being infrastructure-less and without central administration control, wireless ad-hoc networking is playing a more and more important role in extending the coverage of traditional wireless infrastructure (cellular networks, wireless LAN, etc). This book includes state-of-the-art techniques and solutions for wireless ad-hoc networks. It focuses on the following topics in ad-hoc networks: quality-of-service and video communication, routing protocol and cross-layer design. A few interesting problems about security and delay-tolerant networks are also discussed. This book is targeted to provide network engineers and researchers with design guidelines for large scale wireless ad hoc networks

Design automation in synthetic biology : a dual evolutionary strategy

PhD ThesisSynthetic biology o ers a new horizon in designing complex systems. However, unprecedented complexity hinders the development of biological systems to its full potential. Mitigating complexity via adopting design principles from engineering and computer science elds has resulted in some success. For example, modularisation to foster reuse of design elements, and using computer assisted design tools have helped contain complexity to an extent. Nevertheless, these design practices are still limited, due to their heavy dependence on rational decision making by human designers. The issue with rational design approaches here arises from the challenging nature of dealing with highly complex biological systems of which we currently do not have complete understanding. Systematic processes that can algorithmically nd design solutions would be better able to cope with uncertainties posed by high levels of design complexity. A new framework for enabling design automation in synthetic biology was investigated. The framework works by projecting design problems into search problems, and by searching for design solutions based on the dual-evolutionary approach to combine the respective power of design domains in vivo and in silico. Proof-of-concept ideas, software, and hardware were developed to exemplify key technologies necessary in realising the dual evolutionary approach. Some of the areas investigated as part of this research included single-cell-level micro uidics, programmatic data collection, processing and analysis, molecular devices supporting solution search in vivo, and mathematical modelling. These somewhat eclectic collection of research themes were shown to work together to provide necessary means with which to design and characterise biological systems in a systematic fashion

Determining Additional Modulus of Subgarde Reaction Based on Tolerable Settlement for the Nailed-slab System Resting on Soft Clay.

Abstract—Nailed-slab System is a proposed alternative solution for rigid pavement problem on soft soils. Equivalent modulus of subgrade reaction (k’) can be used in designing of nailed-slab system. This modular is the cumulative of modulus of subgrade reaction from plate load test (k) and additional modulus of subgrade reaction due to pile installing (∆∆∆∆k). A recent method has used reduction of pile resistance approach in determining ∆∆∆∆k. The relative displacement between pile and soils, and reduction of pile resistance has been identified. In fact, determining of reduction of pile resistance is difficult. This paper proposes an approach by considering tolerable settlement of rigid pavement. Validation is carried out with respect to a loading test of nailed-slab models. The models are presented as strip section of rigid pavement. The theory of beams on elastic foundation is used to calculate the slab deflection by using k’. Proposed approach can results in deflection prediction close to observed one. In practice, the Nailed-slab System would be constructed by multiple-row piles. Designing this system based on one-pile row analysis will give more safety design and will consume less time

RAPID-PROTOTYPING OF PDMS-BASED MICROFLUIDIC DEVICES

Microfluidics uses the manipulation of fluids in microchannels to accomplish innumerous goals, and is attractive to analytical chemistry because it can reduce the scale of larger analytical processes. The benefits of the use of microfluidic systems, in comparison with conventional processes, include efficient sample and reagent consumption, low power usage and portability. Most microfluidic applications require a development process based on iterative design and testing of multiple prototype microdevices. Typical microfabrication protocols, however, can require over a week of specialist time in high-maintenance cleanroom facilities, making the iterative process resource-intensive and prohibitive in many locations. Rapid prototyping techniques can alleviate these issues, enabling faster development of microfluidic structures at lower costs. Print-and-peel techniques (PAP), including wax printing and xurography, are low-cost fast-prototyping tools used to create master molds for polydimethylsiloxane (PDMS) miniaturized systems. In this work, three different methods were created to improve the rapid-prototyping of PDMS-based microfluidic devices. Using the wax printing method, PDMS microdevices can now be fabricated from design to testing in less than 1 hour, at the cost of $0.01 per mold, being one of the fastest and cheapest methods to date. If extensive fluidic manipulation is required, xurography becomes the method of choice. The xurography technique presented here is the most rapid tool to fabricate PDMS-based microdevices to date, presenting turnaround times as fast as 5 minutes. The first hybrid technique that can be used either as a PAP or a scaffolding method is also presented here, using the same materials and fabrication process. The green, low-cost, user-friendly elastomeric (GLUE) rapid prototyping method to fabricate PDMS-based devices uses white glue as the patterning material, and is capable of fabricating multi-height molds in a single step, improving even further the development of PDMS microfluidic devices. Device fabrication is only one of the steps in the iterative process of designing a fully-functional microfluidic tool. The design of the microdevice itself plays a crucial role in its performance, which directly impacts processes conducted in miniaturized devices. In this work, the influence of hydrodynamic resistance in sample dispersion on a microfluidic multiplexer was studied using paper-based analytical microfluidic devices (µPADs) as the testbed. When microfluidic devices are not rationally designed, and when the influence of fluidic resistance is not taken into account, sample dispersion can be biased. A bias can influence the output of colorimetric enzymatic assays supported on these microstructures, which are the most common applications of µPADs, demonstrating the need for rational design of microdevices. The third essential component of developing microfluidic devices is their effective testing, especially when incorporating active pumping elements on-chip. To overcome issues in the manual operation or coding for operation of microvalves, a program that can automatically generate sequences for fluidic manipulation in microfluidic processors was written in Python, with the only inputs required from the user being reservoir positions, mixing ratio and the desired input and output reservoirs. To further improve testing and avoid the use of fixed mounts, a modular system was created to aid the testing of devices with different designs, another advance in the area. This research enables better design and testing of microfluidic devices in shorter times and at lower costs, enabling improvements in the interfacing between different unit operations on-chip, a challenge in the microfluidics area. More than that, it also makes this area, traditionally confined into expensive cleanroom facilities, available to more research groups worldwide.Ph.D

Shortest Route at Dynamic Location with Node Combination-Dijkstra Algorithm

Abstract— Online transportation has become a basic requirement of the general public in support of all activities to go to work, school or vacation to the sights. Public transportation services compete to provide the best service so that consumers feel comfortable using the services offered, so that all activities are noticed, one of them is the search for the shortest route in picking the buyer or delivering to the destination. Node Combination method can minimize memory usage and this methode is more optimal when compared to A* and Ant Colony in the shortest route search like Dijkstra algorithm, but can’t store the history node that has been passed. Therefore, using node combination algorithm is very good in searching the shortest distance is not the shortest route. This paper is structured to modify the node combination algorithm to solve the problem of finding the shortest route at the dynamic location obtained from the transport fleet by displaying the nodes that have the shortest distance and will be implemented in the geographic information system in the form of map to facilitate the use of the system. Keywords— Shortest Path, Algorithm Dijkstra, Node Combination, Dynamic Location (key words

Extracting root system architecture from X-ray micro computed tomography images using visual tracking

X-ray micro computed tomography (µCT) is increasingly applied in plant biology as an imaging system that is valuable for the study of root development in soil, since it allows the three-dimensional and non-destructive visualisation of plant root systems. Variations in the X-ray attenuation values of root material and the overlap in measured intensity values between roots and soil caused by water and organic matter represent major challenges to the extraction of root system architecture. We propose a novel technique to recover root system information from X-ray CT data, using a strategy based on a visual tracking framework embedding a modiffed level set method that is evolved using the Jensen-Shannon divergence. The model-guided search arising from the visual tracking approach makes the method less sensitive to the natural ambiguity of X-ray attenuation values in the image data and thus allows a better extraction of the root system. The method is extended by mechanisms that account for plagiatropic response in roots as well as collision between root objects originating from different plants that are grown and interact within the same soil environment. Experimental results on monocot and dicot plants, grown in different soil textural types, show the ability of successfully extracting root system information. Various global root system traits are measured from the extracted data and compared to results obtained with alternative methods

Extracting root system architecture from X-ray micro computed tomography images using visual tracking

X-ray micro computed tomography (µCT) is increasingly applied in plant biology as an imaging system that is valuable for the study of root development in soil, since it allows the three-dimensional and non-destructive visualisation of plant root systems. Variations in the X-ray attenuation values of root material and the overlap in measured intensity values between roots and soil caused by water and organic matter represent major challenges to the extraction of root system architecture. We propose a novel technique to recover root system information from X-ray CT data, using a strategy based on a visual tracking framework embedding a modiffed level set method that is evolved using the Jensen-Shannon divergence. The model-guided search arising from the visual tracking approach makes the method less sensitive to the natural ambiguity of X-ray attenuation values in the image data and thus allows a better extraction of the root system. The method is extended by mechanisms that account for plagiatropic response in roots as well as collision between root objects originating from different plants that are grown and interact within the same soil environment. Experimental results on monocot and dicot plants, grown in different soil textural types, show the ability of successfully extracting root system information. Various global root system traits are measured from the extracted data and compared to results obtained with alternative methods

New contributions for modeling and simulating high performance computing applications on parallel and distributed architectures

In this thesis we propose a new simulation platform specifically designed for modeling parallel and distributed architectures, which consists on integrating the model of the four basic systems into a single simulation platform. Those systems consist of storage system, memory system, processing system and network system. The main characteristics of this platform are flexibility, to embrace the widest range of possible designs; scalability, to check the limits of extending the architecture designs; and the necessary trade-offs between the execution time and the accuracy obtained. This simulation platform is aimed to model both existent and new designs of HPC architectures and applications. Then, depending on the user's requirements, the model can be focused on a set of the basic systems, or by the contrary on the complete system. Therefore, a complete distributed system can be modeled by integrating those basic systems in the model, each one with the corresponding level of detail, which provides a high level of flexibility. Moreover, it provides a good compromise between accuracy and performance, and flexibility provided for building a wide range of architectures with different configurations. A validation process of the proposed simulation platform has been fulfilled by comparing the results obtained in real architectures with those obtained in the analogous simulated environments. Furthermore, in order to evaluate and analyze how evolve both scalability and bottlenecks existent on a typical HPC multi-core architecture using different configurations, a set of experiments have been achieved. Basically those experiments consist on executing the two application models (HPC and checkpointing applications) in several HPC architectures. Finally, performance results of the simulation itself for executing the corresponding experiments have been achieved. The main purpose of this process is to calculate both the amount of time and memory needed for executing a specific simulation, depending of the size of the environment to be modeled, and the hardware resources available for executing each simulation. ----------------------------------------------------------------------------------------------------------------------------------------------------------En esta tesis se propone una nueva plataforma de simulación específicamente diseñada para modelar sistemas paralelos y distribuidos, la cual se basa en la integración del modelo de los cuatro sistemas básicos en una única plataforma de simulación. Estos sistemas están formados por el sistema de almacenamiento, el sistema de memoria, el sistema de procesamiento (CPU) y el sistema de red. Las principales características de esta plataforma de simulación son flexibilidad, para abarcar el mayor rango de diseños posible; escalabilidad, para comprobar los límites al incrementar el tamaño de las arquitecturas modeladas; y el balance entre los tiempos de ejecución y la precisión obtenida en las simulaciones. Esta plataforma de simulación está orientada a modelar tanto sistemas actuales como nuevos diseños de arquitecturas HPC y aplicaciones. De esta forma, dependiendo de los requisitos del usuario, el modelo puede estar enfocado a un conjunto de sistemas, o por el contrario, éste puede estar enfocado en el sistema completo. Por ello, se pueden modelar sistemas distribuidos completos integrando los sistemas básicos en un único modelo, cada uno con su nivel de detalle correspondiente, lo cual proporciona un alto nivel de flexibilidad. Además, esta plataforma proporciona un buen compromiso tanto entre precisión y rendimiento, como en la flexibilidad proporcionada para poder construir un amplio rango de arquitecturas utilizando diferentes configuraciones. Además, se ha llevado a cabo un proceso de validación de la plataforma de simulación propuesta, comparando los resultados obtenidos en entornos reales con aquellos obtenidos en los modelos análogos. Posteriormente, se han realizado una serie de experimentos para realizar una evaluación y análisis de cómo evolucionan, tanto la escalabilidad como los cuellos de botella, existentes en una arquitectura HPC típica multi-core utilizando diferentes configuraciones. Básicamente estos experimentos consisten en ejecutar 2 modelos de aplicaciones (HPC y checkpointing) en varias arquitecturas. Finalmente, se han calculado datos de rendimiento de la propia plataforma de simulación con los experimentos realizados. El propósito de este proceso es calcular, tanto el tiempo como la cantidad de memoria necesaria, para ejecutar una simulación concreta dependiendo tanto del tamaño del entorno simulado, como de los recursos disponibles para ejecutar tal simulación