Fast multipole networks

Two prerequisites for robotic multiagent systems are mobility and communication. Fast multipole networks (FMNs) enable both ends within a unified framework. FMNs can be organized very efficiently in a distributed way from local information and are ideally suited for motion planning using artificial potentials. We compare FMNs to conventional communication topologies, and find that FMNs offer competitive communication performance (including higher network efficiency per edge at marginal energy cost) in addition to advantages for mobility

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Coupling of CFD and semiempirical methods for designing three-phase condensate separator: case study and experimental validation

This study presents an approach to determine the dimensions of three-phase separators. First, we designed different vessel configurations based on the fluid properties of an Iranian gas condensate field. We then used a comprehensive computational fluid dynamic (CFD) method for analyzing the three-phase separation phenomena. For simulation purposes, the combined volume of fluid–discrete particle method (DPM) approach was used. The discrete random walk (DRW) model was used to include the effect of arbitrary particle movement due to variations caused by turbulence. In addition, the comparison of experimental and simulated results was generated using different turbulence models, i.e., standard k–ε, standard k–ω, and Reynolds stress model. The results of numerical calculations in terms of fluid profiles, separation performance and DPM particle behavior were used to choose the optimum vessel configuration. No difference between the dimensions of the optimum vessel and the existing separator was found. Also, simulation data were compared with experimental data pertaining to a similar existing separator. A reasonable agreement between the results of numerical calculation and experimental data was observed. These results showed that the used CFD model is well capable of investigating the performance of a three-phase separator