A Partially Randomized Approach to Trajectory Planning and Optimization for Mobile Robots with Flat Dynamics

Motion planning problems are characterized by huge search spaces and complex obstacle structures with no concise mathematical expression. The fixed-wing airplane application considered in this thesis adds differential constraints and point-wise bounds, i. e. an infinite number of equality and inequality constraints. An optimal trajectory planning approach is presented, based on the randomized Rapidly-exploring Random Trees framework (RRT*). The local planner relies on differential flatness of the equations of motion to obtain tree branch candidates that automatically satisfy the differential constraints. Flat output trajectories, in this case equivalent to the airplane's flight path, are designed using Bézier curves. Segment feasibility in terms of point-wise inequality constraints is tested by an indicator integral, which is evaluated alongside the segment cost functional. Although the RRT* guarantees optimality in the limit of infinite planning time, it is argued by intuition and experimentation that convergence is not approached at a practically useful rate. Therefore, the randomized planner is augmented by a deterministic variational optimization technique. To this end, the optimal planning task is formulated as a semi-infinite optimization problem, using the intermediate result of the RRT(*) as an initial guess. The proposed optimization algorithm follows the feasible flavor of the primal-dual interior point paradigm. Discretization of functional (infinite) constraints is deferred to the linear subproblems, where it is realized implicitly by numeric quadrature. An inherent numerical ill-conditioning of the method is circumvented by a reduction-like approach, which tracks active constraint locations by introducing new problem variables. Obstacle avoidance is achieved by extending the line search procedure and dynamically adding obstacle-awareness constraints to the problem formulation. Experimental evaluation confirms that the hybrid approach is practically feasible and does indeed outperform RRT*'s built-in optimization mechanism, but the computational burden is still significant.Bewegungsplanungsaufgaben sind typischerweise gekennzeichnet durch umfangreiche Suchräume, deren vollständige Exploration nicht praktikabel ist, sowie durch unstrukturierte Hindernisse, für die nur selten eine geschlossene mathematische Beschreibung existiert. Bei der in dieser Arbeit betrachteten Anwendung auf Flächenflugzeuge kommen differentielle Randbedingungen und beschränkte Systemgrößen erschwerend hinzu. Der vorgestellte Ansatz zur optimalen Trajektorienplanung basiert auf dem Rapidly-exploring Random Trees-Algorithmus (RRT*), welcher die Suchraumkomplexität durch Randomisierung beherrschbar macht. Der spezifische Beitrag ist eine Realisierung des lokalen Planers zur Generierung der Äste des Suchbaums. Dieser erfordert ein flaches Bewegungsmodell, sodass differentielle Randbedingungen automatisch erfüllt sind. Die Trajektorien des flachen Ausgangs, welche im betrachteten Beispiel der Flugbahn entsprechen, werden mittels Bézier-Kurven entworfen. Die Einhaltung der Ungleichungsnebenbedingungen wird durch ein Indikator-Integral überprüft, welches sich mit wenig Zusatzaufwand parallel zum Kostenfunktional berechnen lässt. Zwar konvergiert der RRT*-Algorithmus (im probabilistischen Sinne) zu einer optimalen Lösung, jedoch ist die Konvergenzrate aus praktischer Sicht unbrauchbar langsam. Es ist daher naheliegend, den Planer durch ein gradientenbasiertes lokales Optimierungsverfahren mit besseren Konvergenzeigenschaften zu unterstützen. Hierzu wird die aktuelle Zwischenlösung des Planers als Initialschätzung für ein kompatibles semi-infinites Optimierungsproblem verwendet. Der vorgeschlagene Optimierungsalgorithmus erweitert das verbreitete innere-Punkte-Konzept (primal dual interior point method) auf semi-infinite Probleme. Eine explizite Diskretisierung der funktionalen Ungleichungsnebenbedingungen ist nicht erforderlich, denn diese erfolgt implizit durch eine numerische Integralauswertung im Rahmen der linearen Teilprobleme. Da die Methode an Stellen aktiver Nebenbedingungen nicht wohldefiniert ist, kommt zusätzlich eine Variante des Reduktions-Ansatzes zum Einsatz, bei welcher der Vektor der Optimierungsvariablen um die (endliche) Menge der aktiven Indizes erweitert wird. Weiterhin wurde eine Kollisionsvermeidung integriert, die in den Teilschritt der Liniensuche eingreift und die Problemformulierung dynamisch um Randbedingungen zur lokalen Berücksichtigung von Hindernissen erweitert. Experimentelle Untersuchungen bestätigen, dass die Ergebnisse des hybriden Ansatzes aus RRT(*) und numerischem Optimierungsverfahren der klassischen RRT*-basierten Trajektorienoptimierung überlegen sind. Der erforderliche Rechenaufwand ist zwar beträchtlich, aber unter realistischen Bedingungen praktisch beherrschbar

Liquid morphologies and capillary forces between three spherical beads

Equilibrium shapes of coalesced pendular bridges in a static assembly of spherical beads are computed by numerical minimization of the interfacial energy. Our present study focuses on generic bead configurations involving three beads, one of which is in contact to the two others while there is a gap of variable size between the latter. In agreement with previous experimental studies, we find interfacial `trimer' morphologies consisting of three coalesced pendular bridges, and `dimers' of two coalesced bridges. In a certain range of the gap opening we observe a bistability between the dimer and trimer morphology during shrinking and growth. The magnitude of the corresponding capillary forces in presence of a trimer or dimer depends, besides the gap opening only on the volume or Laplace pressure of liquid. For a given Laplace pressure, the capillary forces in presence of a trimer are slightly larger than the force of a single bridges at the same gap opening, which could explain the shallow maximum and plateau of the capillary cohesion of a wetting liquid for saturations in the funicular regime

Advanced Gas Cleaning using Chemical-Looping Reforming (CLR)

When using a fluidized bed gasification technology to gasify biomass for the downstream synthesis to biofuels or chemicals, the biggest challenge is associated with the reforming of hydrocarbons into desirable gas components. These unwanted hydrocarbons are formed during the primary conversion step of the biomass. They range from ethylene to larger aromatic components or even methane if it is not the desired product, and introduce numerous problems to the operation, but also require additional process steps that significantly influence the competitiveness of the overall process. An efficient way to tackle this problem is to provide catalytic surfaces for hydrocarbon reforming directly inside the gasifier by using a catalytic bed material and/or in one or several secondary reactors. In this work, a concept based on this principle and named Chemical-Looping Reforming (CLR) is presented and it is discussed how this concept has the potential to be implemented for both primary and secondary reforming of hydrocarbons

Impact of comorbidity in prevention of adolescent depressive symptoms.

Despite the well-known relevance of comorbidity, few studies have examined the impact of comorbid anxiety or externalizing symptoms on the prevention of depressive symptoms in adolescents. To replicate earlier positive effects of a cognitive-behavioral prevention program of depressive symptoms and to test the hypothesis that the prevention program would be less effective in adolescents with comorbid anxiety and externalizing symptoms, a study was conducted involving 301 8th-grade students, randomly divided into an intervention group and a non-intervention control group. The randomized design included baseline, post-intervention, and 6-month follow-up. The prevention program included 10 sessions held in a regular school setting. The prevention program showed positive effects on depressive symptoms, independent of comorbid symptoms. These effects were found mainly with girls independent of their depressive symptoms at baseline, and in part with boys with less severe depressive symptoms at baseline. Surprisingly, negative effects of the prevention program on depressive symptoms were found on the depression of boys with more severe depressive symptoms at baseline. The prevention program’s low rate of attrition and high recruitment rate support the generalizability of the results

EVALUATION OF FLUID DYNAMICS IN A HOT AND A COLD SYSTEM OF INTERCONNECTING FLUIDISED BEDS

Operation controllability and fluid dynamics were evaluated in a system of interconnecting fluidised beds. Results indicate that the solid circulation is controllable and possible to determine from pressure measurements. Sufficient gas tightness of the loop-seals and flexibility in controlling of solid fluxes was indicated

Testing the causal mediation component of Dodge’s social information processing model of social competence and depression.

In Dodge’s model of “social information processing” depression is the result of a linear sequence of five stages of information processing (Dodge, 1993). These stages follow a person’s reaction to situational stimuli, such that each stage of information processing mediates the relationship between earlier and later stages. Because support for the social information processing model of depression has mainly come from retrospective examination of the literature (Dodge, 1993), we conducted a three wave prospective study including 92 adolescents without lifetime or current depression. Depressive symptoms and information processing were assessed by using well established measures employed in previous studies. The social information processing model was supported by cross-sectional results of our study. Based on prospective data we could only partially support the mediation hypotheses of the model. We discuss our unexpected results in light of limitation, including applied measures and sample characteristics

Comparing Active Bed Materials in a Dual Fluidized Bed Biomass Gasifier: Olivine, Bauxite, Quartz-Sand, and Ilmenite

Active bed materials are in this work investigated for in situ gas upgrading of biomass-derived gas. Previous research on in situ gas upgrading has focused on assessing gas quality, in terms of the concentrations of tar and permanent gases. Other aspects of fuel conversion, such as char conversion and the impact of oxygen transport on the final gas, are not as well documented in the literature on gasification. In this paper, the overall biomass conversion in a dual fluidized bed biomass gasifier is investigated in the presence of the catalytic material olivine and the alkali-binding material bauxite. The impact of these materials on fuel conversion is described as the combination of four effects, which are induced by the bed material: thermal, catalytic, ash-enhanced catalytic effect, and oxygen transport. Quartz-sand and ilmenite are here used as the reference materials for the thermal and the oxygen transport effects, respectively. Olivine and bauxite show activity toward tar species compared to quartz-sand. After 1 week of operation and exposure to biomass ash, the activities of olivine and bauxite toward tar species increase further, and the water gas shift reaction is catalyzed by both materials. Additionally, bauxite shows a stronger ability to increase char conversion than olivine. Under the conditions tested, olivine and bauxite have some degree of oxygen transport capacity, which is between those of quartz-sand and ilmenite. The oxygen transport effect is higher for bauxite than for olivine; nevertheless, the catalytic activities of the materials result in higher yields of H-2 than in a similar case with quartz-sand. The implications of the findings for the operation of dual fluidized bed gasifiers are discussed

Energy dissipation in sheared wet granular assemblies

Energy dissipation in sheared dry and wet granulates is considered in the presence of an externally applied confining pressure. Discrete element simulations reveal that for sufficiently small confining pressures, the energy dissipation is dominated by the effects related to the presence of cohesive forces between the particles. The residual resistance against shear can be quantitatively explained by a combination of two effects arising in a wet granulate: (i) enhanced friction at particle contacts in the presence of attractive capillary forces and (ii) energy dissipation due to the rupture and reformation of liquid bridges. Coulomb friction at grain contacts gives rise to an energy dissipation which grows linearly with increasing confining pressure for both dry and wet granulates. Because of a lower Coulomb friction coefficient in the case of wet grains, as the confining pressure increases the energy dissipation for dry systems is faster than for wet ones

Mapping the effects of potassium on fuel conversion in industrial-scale fluidized bed gasifiers and combustors

Potassium (K) is a notorious villain among the ash components found in the biomass, being the cause of bed agglomeration and contributing to fouling and corrosion. At the same time, K is known to have catalytic properties towards fuel conversion in combustion and gasification environments. Olivine (MgFe silicate) used as gasifier bed material has a higher propensity to form catalytically active K species than traditional silica sand beds, which tend to react with K to form stable and inactive silicates. In a dual fluidized bed (DFB) gasifier, many of those catalytic effects are expected to be relevant, given that the bed material becomes naturally enriched with ash elements from the fuel. However, a comprehensive overview of how enrichment of the bed with alkali affects fuel conversion in both parts of the DFB system is lacking. In this work, the effects of ash-enriched olivine on fuel conversion in the gasification and combustion parts of the process are mapped. The work is based on a dedicated experimental campaign in a Chalmers DFB gasifier, wherein enrichment of the bed material with K is promoted by the addition of a reaction partner, i.e., sulfur, which ensures K retention in the bed in forms other than inactive silicates. The choice of sulfur is based on its affinity for K under combustion conditions. The addition of sulfur proved to be an efficient strategy for capturing catalytic K in olivine particles. In the gasification part, K-loaded olivine enhanced the char gasification rate, decreased the tar concentration, and promoted the WGS equilibrium. In the combustion part, K prevented full oxidation of CO, which could be mitigated by the addition of sulfur to the cyclone outlet

Production of negative-emissions steel using a reducing gas derived from dfb gasification

A dual fluidized bed (DFB) gasification process is proposed to produce sustainable reducing gas for the direct reduction (DR) of iron ore. This novel steelmaking route is compared with the established process for DR, which is based on natural gas, and with the emerging DR technology using electrolysis-generated hydrogen as the reducing gas. The DFB-DR route is found to produce reducing gas that meets the requirement of the DR reactor, based on existing MIDREX plants, and which is produced with an energetic efficiency comparable with the natural gas route. The DFB-DR path is the only route considered that allows negative CO2 emissions, enabling a 145% decrease in emissions relative to the traditional blast furnace–basic oxygen furnace (BF–BOF) route. A reducing gas cost between 45–60 EUR/MWh is obtained, which makes it competitive with the hydrogen route, but not the natural gas route. The cost estimation for liquid steel production shows that, in Sweden, the DFB-DR route cannot compete with the natural gas and BF–BOF routes without a cost associated with carbon emissions and a revenue attributed to negative emissions. When the cost and revenue are set as equal, the DFB-DR route becomes the most competitive for a carbon price >60 EUR/tCO2