MVCSLAM: Mono-Vision Corner SLAM for Autonomous Micro-Helicopters in GPS Denied Environments

We present a real-time vision navigation and ranging method (VINAR) for the purpose of Simultaneous Localization and Mapping (SLAM) using monocular vision. Our navigation strategy assumes a GPS denied unknown environment, whose indoor architecture is represented via corner based feature points obtained through a monocular camera. We experiment on a case study mission of vision based SLAM through a conventional maze of corridors in a large building with an autonomous Micro Aerial Vehicle (MAV). We propose a method for gathering useful landmarks from a monocular camera for SLAM use. We make use of the corners by exploiting the architectural features of the manmade indoors

Estimation of Steam Turbine Shafts Fatigue Damage Caused by Torsional Vibrations

В Україні 74 енергоблоки потужністю 150-800 МВт теплових електростанцій із 102 перебувають на межі перевищення паркового ресурсу (220 тис. Годин). З них 17 енергоблоків наближаються до кінця ресурсу парку, а 11 енергоблоків досягли передбачуваного ресурсу (100 тис. Годин). Статистика аварій на електростанціях у різних країнах показує, що більшість з них спричинені тривалим накопиченням збитків від втоми. Серед основних причин пошкодження втоми - пульсація високотемпературних потоків пари в циліндрах турбіни, поперечні та крутильні коливання валів при тривалій експлуатації тощо. Це обумовлює розробку обчислювальних та експериментальних методів визначення втомних пошкоджень вали турбінних установок при динамічних навантаженнях. Оцінка втомних пошкоджень вала парової турбіни К-200-130 базується на 3D-моделі кінцевих елементів. Розрахунки враховують експериментально визначені втомні властивості роторної сталі. Розраховано втомну пошкодження в результаті крутильних коливань валу турбіни, спричинених аномальною роботою турбінного генератора. Зони концентрації напружень в обертових елементах парової турбіни типу К-200-130 встановлені для різних режимів роботи. Запропоновано процедуру прогнозування впливу втоми від пошкоджень на розрахунковий ресурс турбінного агрегату.In Ukraine, 74 power units with a capacity of 150-800 MW of thermal power plants out of 102 are on the verge of exceeding the park resource (220 thousand hours). Of these, 17 power units are close to the end the park resource, and 11 units have reached their estimated resource (100 thousand hours). Statistics of power plants accidents in different countries indicates that most of them are caused by the long term accumulation of fatigue damage. Among the main causes of fatigue damage are the pulsating of high-temperature steam flows in the turbine cylinders, transverse and torsional vibrations of shafts during long-term operation etc. This causes the development of computational and experimental methods for the determination of fatigue damage of turbine units’ shafts under dynamic loads. The evaluation of fatigue damage of steam turbine K-200-130 shaft is based on the 3D finite element model. The calculations take into account experimentally determined fatigue properties of rotor steel. The fatigue damage as a result of torsional vibrations of turbine shaft caused by the abnormal operation of turbine generator is calculated. Zones of stress concentration in the rotating elements of the steam turbine type K-200-130 are established for various operating modes. The procedure to predict the effect of fatigue damage on the estimated resource of turbine unit is proposed.В Украине 74 энергоблока мощностью 150-800 МВт тепловых электростанций из 102 находятся на грани превышения ресурса парка (220 тыс. Часов). Из них 17 энергоблоков близки к исчерпанию ресурса парка, а 11 энергоблоков вышли на расчетный ресурс (100 тыс. Часов). Статистика аварий на электростанциях в разных странах показывает, что большинство из них вызвано длительным накоплением усталостных повреждений. Среди основных причин усталостных повреждений - пульсации высокотемпературных потоков пара в цилиндрах турбины, поперечные и крутильные колебания валов при длительной эксплуатации и т. Д. Это вызывает развитие расчетных и экспериментальных методов определения усталостных повреждений. валы турбоагрегатов при динамических нагрузках. Оценка усталостных повреждений вала паровой турбины К-200-130 проводится на основе трехмерной конечно-элементной модели. В расчетах учтены экспериментально определенные усталостные свойства роторной стали. Рассчитано усталостное повреждение в результате крутильных колебаний вала турбины, вызванных ненормальной работой турбогенератора. Установлены зоны концентрации напряжений во вращающихся элементах паровой турбины типа К-200-130 для различных режимов работы. Предложена методика прогнозирования влияния усталостных повреждений на расчетный ресурс турбоагрегата

Fusion between Leishmania amazonensis and Leishmania major Parasitophorous Vacuoles: Live Imaging of Coinfected Macrophages

Protozoan parasites of the genus Leishmania alternate between flagellated, elongated extracellular promastigotes found in insect vectors, and round-shaped amastigotes enclosed in phagolysosome-like Parasitophorous Vacuoles (PVs) of infected mammalian host cells. Leishmania amazonensis amastigotes occupy large PVs which may contain many parasites; in contrast, single amastigotes of Leishmania major lodge in small, tight PVs, which undergo fission as parasites divide. To determine if PVs of these Leishmania species can fuse with each other, mouse macrophages in culture were infected with non-fluorescent L. amazonensis amastigotes and, 48 h later, superinfected with fluorescent L. major amastigotes or promastigotes. Fusion was investigated by time-lapse image acquisition of living cells and inferred from the colocalization of parasites of the two species in the same PVs. Survival, multiplication and differentiation of parasites that did or did not share the same vacuoles were also investigated. Fusion of PVs containing L. amazonensis and L. major amastigotes was not found. However, PVs containing L. major promastigotes did fuse with pre-established L. amazonensis PVs. In these chimeric vacuoles, L. major promastigotes remained motile and multiplied, but did not differentiate into amastigotes. In contrast, in doubly infected cells, within their own, unfused PVs metacyclic-enriched L. major promastigotes, but not log phase promastigotes - which were destroyed - differentiated into proliferating amastigotes. The results indicate that PVs, presumably customized by L. major amastigotes or promastigotes, differ in their ability to fuse with L. amazonensis PVs. Additionally, a species-specific PV was required for L. major destruction or differentiation – a requirement for which mechanisms remain unknown. The observations reported in this paper should be useful in further studies of the interactions between PVs to different species of Leishmania parasites, and of the mechanisms involved in the recognition and fusion of PVs

Determination of relevance between surface free energy and adsorption capacity of cement particles

ABSTRACT The compatibility between superplasticizer and cement was influenced by the adsorption capacity of cement particles. This study investigated the relevance between the adsorption capability and surface free energy. Adsorption capacity and surface free energy of both sulphoaluminate cement and portland cement were measured. The adsorption capacity of cement particles was measured by ultraviolet spectrophotometry. The test showed that particles of sulphoaluminate cement adsorbed more molecules of superplasticizer than portland cement particles. The weight of superplasticizer adsorbed by 2g of sulphoaluminate cement and portland cement were 0.28mg and 0.159mg respectively. Surface free energy of cement particles was calculated by contact angle and the contact angles were determined by the thin-layer wicking technique and washburn equation which is theoretical basis of thin-layer wiching technique presented by Chibowski E. The sulphoaluminate cement, portland cement's surface free energy were 51.46 mJ·m-2 and 49.36 mJ·m-2 respectively. The results showed that the higher adsorption capacity of particles was usual accompanied by higher surface free energy. The fluidity of cement paste was influenced by the adsorption capacity of cement particles because the more molecules of superplasticizer was adsorbed by cement particles there were lacking superplasticizer in the paste. The macro-behaviour of higher adsorption capacity is that the cement paste need more superplasticizer to reach the needed fluidity

Interaction of Hydrogen with Graphitic Surfaces, Clean and Doped with Metal Clusters

Producción CientíficaHydrogen is viewed as a possible alternative to the fossil fuels in transportation. The technology of fuel-cell engines is fully developed, and the outstanding remaining problem is the storage of hydrogen in the vehicle. Porous materials, in which hydrogen is adsorbed on the pore walls, and in particular nanoporous carbons, have been investigated as potential onboard containers. Furthermore, metallic nanoparticles embedded in porous carbons catalyze the dissociation of hydrogen in the anode of the fuel cells. For these reasons the interaction of hydrogen with the surfaces of carbon materials is a topic of high technological interest. Computational modeling and the density functional formalism (DFT) are helping in the task of discovering the basic mechanisms of the interaction of hydrogen with clean and doped carbon surfaces. Planar and curved graphene provide good models for the walls of porous carbons. We first review work on the interaction of molecular and atomic hydrogen with graphene and graphene nanoribbons, and next we address the effects due to the presence of metal clusters on the surface because of the evidence of their role in enhancing hydrogen storage.Ministerio de Economía, Industria y Competitividad (Grant MAT2014-54378-R