7,537 research outputs found

    Beam scanning by liquid-crystal biasing in a modified SIW structure

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    A fixed-frequency beam-scanning 1D antenna based on Liquid Crystals (LCs) is designed for application in 2D scanning with lateral alignment. The 2D array environment imposes full decoupling of adjacent 1D antennas, which often conflicts with the LC requirement of DC biasing: the proposed design accommodates both. The LC medium is placed inside a Substrate Integrated Waveguide (SIW) modified to work as a Groove Gap Waveguide, with radiating slots etched on the upper broad wall, that radiates as a Leaky-Wave Antenna (LWA). This allows effective application of the DC bias voltage needed for tuning the LCs. At the same time, the RF field remains laterally confined, enabling the possibility to lay several antennas in parallel and achieve 2D beam scanning. The design is validated by simulation employing the actual properties of a commercial LC medium

    An empirical investigation of the relationship between integration, dynamic capabilities and performance in supply chains

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    This research aimed to develop an empirical understanding of the relationships between integration, dynamic capabilities and performance in the supply chain domain, based on which, two conceptual frameworks were constructed to advance the field. The core motivation for the research was that, at the stage of writing the thesis, the combined relationship between the three concepts had not yet been examined, although their interrelationships have been studied individually. To achieve this aim, deductive and inductive reasoning logics were utilised to guide the qualitative study, which was undertaken via multiple case studies to investigate lines of enquiry that would address the research questions formulated. This is consistent with the author’s philosophical adoption of the ontology of relativism and the epistemology of constructionism, which was considered appropriate to address the research questions. Empirical data and evidence were collected, and various triangulation techniques were employed to ensure their credibility. Some key features of grounded theory coding techniques were drawn upon for data coding and analysis, generating two levels of findings. These revealed that whilst integration and dynamic capabilities were crucial in improving performance, the performance also informed the former. This reflects a cyclical and iterative approach rather than one purely based on linearity. Adopting a holistic approach towards the relationship was key in producing complementary strategies that can deliver sustainable supply chain performance. The research makes theoretical, methodological and practical contributions to the field of supply chain management. The theoretical contribution includes the development of two emerging conceptual frameworks at the micro and macro levels. The former provides greater specificity, as it allows meta-analytic evaluation of the three concepts and their dimensions, providing a detailed insight into their correlations. The latter gives a holistic view of their relationships and how they are connected, reflecting a middle-range theory that bridges theory and practice. The methodological contribution lies in presenting models that address gaps associated with the inconsistent use of terminologies in philosophical assumptions, and lack of rigor in deploying case study research methods. In terms of its practical contribution, this research offers insights that practitioners could adopt to enhance their performance. They can do so without necessarily having to forgo certain desired outcomes using targeted integrative strategies and drawing on their dynamic capabilities

    Integrating materials supply in strategic mine planning of underground coal mines

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    In July 2005 the Australian Coal Industry’s Research Program (ACARP) commissioned Gary Gibson to identify constraints that would prevent development production rates from achieving full capacity. A “TOP 5” constraint was “The logistics of supply transport distribution and handling of roof support consumables is an issue at older extensive mines immediately while the achievement of higher development rates will compound this issue at most mines.” Then in 2020, Walker, Harvey, Baafi, Kiridena, and Porter were commissioned by ACARP to investigate Australian best practice and progress made since Gibson’s 2005 report. This report was titled: - “Benchmarking study in underground coal mining logistics.” It found that even though logistics continue to be recognised as a critical constraint across many operations particularly at a tactical / day to day level, no strategic thought had been given to logistics in underground coal mines, rather it was always assumed that logistics could keep up with any future planned design and productivity. This subsequently meant that without estimating the impact of any logistical constraint in a life of mine plan, the risk of overvaluing a mining operation is high. This thesis attempts to rectify this shortfall and has developed a system to strategically identify logistics bottlenecks and the impacts that mine planning parameters might have on these at any point in time throughout a life of mine plan. By identifying any logistics constraints as early as possible, the best opportunity to rectify the problem at the least expense is realised. At the very worst if a logistics constraint was unsolvable then it could be understood, planned for, and reflected in the mine’s ongoing financial valuations. The system developed in this thesis, using a suite of unique algorithms, is designed to “bolt onto” existing mine plans in the XPAC mine scheduling software package, and identify at a strategic level the number of material delivery loads required to maintain planned productivity for a mining operation. Once an event was identified the system then drills down using FlexSim discrete event simulation to a tactical level to confirm the predicted impact and understand if a solution can be transferred back as a long-term solution. Most importantly the system developed in this thesis was designed to communicate to multiple non-technical stakeholders through simple graphical outputs if there is a risk to planned production levels due to a logistics constraint

    Design and implementation of a prototype infrared video bolometer (IRVB) in MAST Upgrade

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    A prototype infrared video bolometer (IRVB) was successfully deployed in the Mega Ampere Spherical Tokamak Upgrade (MAST Upgrade or MAST-U), the first deployment of such a diagnostic in a spherical tokamak. The IRVB was designed to study the radiation around the lower x-point, another first in tokamaks, and has the potential to estimate emissivity profiles with spatial resolution beyond what is achievable with resistive bolometry. The system was fully characterized prior to installation on MAST-U, and the results are summarized here. After installation, it was verified that the actual measurement geometry in the tokamak qualitatively matches the design; this is a particularly difficult process for bolometers and was done using specific features of the plasma itself. The installed IRVB measurements are consistent both with observations from other diagnostics, including magnetic reconstruction, visible light cameras, and resistive bolometry, as well as with the IRVB-designed view. Early results show that with conventional divertor geometry and only intrinsic impurities (for example, C and He), the progression of radiative detachment follows a similar path to that observed for large aspect ratio tokamaks: The peak of the radiation moves along the separatrix from the targets to the x-point and high-field side midplane with a toroidally symmetric structure that can eventually lead to strong effects on the core plasma inside the separatrix

    Systemic Circular Economy Solutions for Fiber Reinforced Composites

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    This open access book provides an overview of the work undertaken within the FiberEUse project, which developed solutions enhancing the profitability of composite recycling and reuse in value-added products, with a cross-sectorial approach. Glass and carbon fiber reinforced polymers, or composites, are increasingly used as structural materials in many manufacturing sectors like transport, constructions and energy due to their better lightweight and corrosion resistance compared to metals. However, composite recycling is still a challenge since no significant added value in the recycling and reprocessing of composites is demonstrated. FiberEUse developed innovative solutions and business models towards sustainable Circular Economy solutions for post-use composite-made products. Three strategies are presented, namely mechanical recycling of short fibers, thermal recycling of long fibers and modular car parts design for sustainable disassembly and remanufacturing. The validation of the FiberEUse approach within eight industrial demonstrators shows the potentials towards new Circular Economy value-chains for composite materials

    An adaptive type-2 fuzzy sliding mode tracking controller for a robotic manipulator

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    With the wide application of intelligent manufacturing and the development of diversified functions of industrial manipulator, the requirements for the control accuracy and stability of the manipulator servo system are also increasing. The control of industrial manipulator is a time-varying system with nonlinear and strong coupling, which is often affected by uncertain factors, including parameter changing, environmental interference, joint friction and so on. Aiming at the problem of the poor control accuracy of the manipulator. Under the complex disturbance environment, control accuracy of the manipulator will be greatly affected, so this paper proposes an adaptive type-2 fuzzy sliding mode control (AT2FSMC) method applied to the servo control of the industrial manipulator, which realizes the adaptive adjustment of the boundary layer thickness to suppress the trajectory error caused by the external disturbance and weakens the chattering problem of the sliding mode control. The simulation results on a two-axis manipulator indicate that, with the presence of external disturbances, the proposed control method can help the manipulator maintain control signal stability and improve tracking accuracy. It also suppressed chattering produced by sliding mode control (SMC) and strengthening the robustness of the system. Compared with other conventional trajectory tracking control methods, the effectiveness of the proposed method can be reflected. Finally, the proposed method is tested in an actual manipulator to complete a practical trajectory to prove its feasibility

    Understanding the Sources, Atmospheric Evolution and Radiative Effect of Brown Carbon Aerosol Particles

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    Organic aerosols (OA) have long been thought to only scatter incoming solar radiation and have a cooling effect on climate. However, a fraction of OA, referred to as brown carbon (BrC), absorbs light in the lower visible to ultraviolet range. BrC can be emitted from incomplete combustions and can also be generated through secondary processes. The radiative impact of BrC on climate is difficult to assess owing to the lack of knowledge about emissions and the evolution of BrC aerosol. As part of the thesis work, the light absorption of BrC aerosol was measured with filters sampled from research aircraft during the NASA ATom mission. The aircraft flew from near surface to up to ~ 13 km altitude nearly pole to pole along the central Pacific and Atlantic Ocean basins and across the southern and Arctic Oceans, providing the first direct measurement of BrC aerosol on a global scale. BrC concentrations were found to be highly spatially heterogeneous, and high BrC levels were associated with the long-range transport of biomass burning emissions. A radiative transfer model suggested that BrC could substantially affect the global climate. The characteristics and evolution of BrC emitted from wildfires in the western US as part of the FIREX-AQ study were investigated. An optical closure analysis was performed to compare the overall light absorption measured by a photoacoustic spectrometer and the sum of the light absorption by individual light absorbers, including black carbon (BC) and BrC. The evolution of BrC was examined in the first few hours after emissions, but no consistent fate of BrC was observed. We found that BrC did not behave as the bulk OA or as a single BrC compound (4-Nitrocatechol) in response to change with temperature increases. Evidence was found that oxidation of ozone could cause BrC enhancement under high NOx conditions, while BrC could be bleached by ozone when NOx levels were low. Additionally, an online water-soluble BrC measuring system was developed and deployed in the FIREX-AQ. The newly built system was compared to two other systems with similar detection methods but different aerosol collection methods. In general, all three instruments can make effective BrC measurements in airborne campaigns, but baseline drift and signal hysteresis were observed. A possible approach to correct the baseline drift and hysteresis effect was proposed, along with possible methods for future improvements for these systems.Ph.D

    Real-Time Hybrid Visual Servoing of a Redundant Manipulator via Deep Reinforcement Learning

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    Fixtureless assembly may be necessary in some manufacturing tasks and environ-ments due to various constraints but poses challenges for automation due to non-deterministic characteristics not favoured by traditional approaches to industrial au-tomation. Visual servoing methods of robotic control could be effective for sensitive manipulation tasks where the desired end-effector pose can be ascertained via visual cues. Visual data is complex and computationally expensive to process but deep reinforcement learning has shown promise for robotic control in vision-based manipu-lation tasks. However, these methods are rarely used in industry due to the resources and expertise required to develop application-specific systems and prohibitive train-ing costs. Training reinforcement learning models in simulated environments offers a number of benefits for the development of robust robotic control algorithms by reducing training time and costs, and providing repeatable benchmarks for which algorithms can be tested, developed and eventually deployed on real robotic control environments. In this work, we present a new simulated reinforcement learning envi-ronment for developing accurate robotic manipulation control systems in fixtureless environments. Our environment incorporates a contemporary collaborative industrial robot, the KUKA LBR iiwa, with the goal of positioning its end effector in a generic fixtureless environment based on a visual cue. Observational inputs are comprised of the robotic joint positions and velocities, as well as two cameras, whose positioning reflect hybrid visual servoing with one camera attached to the robotic end-effector, and another observing the workspace respectively. We propose a state-of-the-art deep reinforcement learning approach to solving the task environment and make prelimi-nary assessments of the efficacy of this approach to hybrid visual servoing methods for the defined problem environment. We also conduct a series of experiments ex-ploring the hyperparameter space in the proposed reinforcement learning method. Although we could not prove the efficacy of a deep reinforcement approach to solving the task environment with our initial results, we remain confident that such an ap-proach could be feasible to solving this industrial manufacturing challenge and that our contributions in this work in terms of the novel software provide a good basis for the exploration of reinforcement learning approaches to hybrid visual servoing in accurate manufacturing contexts

    Roadmap for a sustainable circular economy in lithium-ion and future battery technologies

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    The market dynamics, and their impact on a future circular economy for lithium-ion batteries (LIB), are presented in this roadmap, with safety as an integral consideration throughout the life cycle. At the point of end-of-life (EOL), there is a range of potential options—remanufacturing, reuse and recycling. Diagnostics play a significant role in evaluating the state-of-health and condition of batteries, and improvements to diagnostic techniques are evaluated. At present, manual disassembly dominates EOL disposal, however, given the volumes of future batteries that are to be anticipated, automated approaches to the dismantling of EOL battery packs will be key. The first stage in recycling after the removal of the cells is the initial cell-breaking or opening step. Approaches to this are reviewed, contrasting shredding and cell disassembly as two alternative approaches. Design for recycling is one approach that could assist in easier disassembly of cells, and new approaches to cell design that could enable the circular economy of LIBs are reviewed. After disassembly, subsequent separation of the black mass is performed before further concentration of components. There are a plethora of alternative approaches for recovering materials; this roadmap sets out the future directions for a range of approaches including pyrometallurgy, hydrometallurgy, short-loop, direct, and the biological recovery of LIB materials. Furthermore, anode, lithium, electrolyte, binder and plastics recovery are considered in order to maximise the proportion of materials recovered, minimise waste and point the way towards zero-waste recycling. The life-cycle implications of a circular economy are discussed considering the overall system of LIB recycling, and also directly investigating the different recycling methods. The legal and regulatory perspectives are also considered. Finally, with a view to the future, approaches for next-generation battery chemistries and recycling are evaluated, identifying gaps for research. This review takes the form of a series of short reviews, with each section written independently by a diverse international authorship of experts on the topic. Collectively, these reviews form a comprehensive picture of the current state of the art in LIB recycling, and how these technologies are expected to develop in the future

    Systematic Adaptation of Communication-focused Machine Learning Models from Real to Virtual Environments for Human-Robot Collaboration

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    Virtual reality has proved to be useful in applications in several fields ranging from gaming, medicine, and training to development of interfaces that enable human-robot collaboration. It empowers designers to explore applications outside of the constraints posed by the real world environment and develop innovative solutions and experiences. Hand gestures recognition which has been a topic of much research and subsequent commercialization in the real world has been possible because of the creation of large, labelled datasets. In order to utilize the power of natural and intuitive hand gestures in the virtual domain for enabling embodied teleoperation of collaborative robots, similarly large datasets must be created so as to keep the working interface easy to learn and flexible enough to add more gestures. Depending on the application, this may be computationally or economically prohibitive. Thus, the adaptation of trained deep learning models that perform well in the real environment to the virtual may be a solution to this challenge. This paper presents a systematic framework for the real to virtual adaptation using limited size of virtual dataset along with guidelines for creating a curated dataset. Finally, while hand gestures have been considered as the communication mode, the guidelines and recommendations presented are generic. These are applicable to other modes such as body poses and facial expressions which have large datasets available in the real domain which must be adapted to the virtual one
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