Management of a Single-User Multi-Robot Teleoperated System for Maintenance in Offshore Plants

This chapter proposes a new approach to management method of a single-user multi-robot teleoperated system for maintenance in offshore plants. The management method is designed to perform a 1:N mode (here, “1” refers to the number of operators and “N” denotes the number of slave robots), in which a single operator teleoperates a number of slave robots directly to conduct a maintenance task, or in an autonomous cooperation mode between slave robots in order to overcome the limitations of the aforementioned 1:1 teleoperation mode. The aforementioned management method is responsible for the role sharing and integration of slave robots to divide the operation mode of the slave robots into various types according to the operator’s intervention level and the characteristics of the target maintenance task beforehand and to perform the target maintenance task using the robot operation mode selected by the operator

Optimization of Post-Tensioned Box Girder Bridges with Special Reference to Use of High-Strength Concrete Using AASHTO LRFD Method

With the Federal Highway Administration-mandated implementation of the LRFD specifications, many state departments of transportation (DOTs) have already started implementing LRFD specifications as developed by the AASHTO. Many aspects of the LRFD specifications are being investigated by DOTs and researchers in order for seamless implementation for design and analysis purposes. This paper presents the investigation on several design aspects of post-tensioned box girder bridges designed by LRFD Specifications using conventional or High-Strength Concrete (HSC). A computer spreadsheet application was specifically developed for this investigation. It is capable of analysis, design, and cost evaluation of the superstructure for a cast-in-place post-tensioned box girder bridge. Optimal design of a post-tensioned box girder is achievable by correct selection of design variables. Cost evaluation of superstructures with different geometrical and material configurations has led to the development of optimum design charts for these types of superstructures. Variables used to develop these charts include, among others, span length, section depth, web spacing, tendon profile, and concrete strength. It was observed that HSC enables the achievement of significantly longer span lengths and/or longer web spacing that is not achievable when using normal strength concrete

Structural Behavior and Design of Barrier-Overhang Connection in Concrete Bridge Superstructures Using AASHTO LRFD Method

The U.S. Departments of Transportation adopted the AASHTO LRFD Bridge Design Specifications during the year 2007, which is mandated by AASHTO and FHWA. The application of LRFD specification initiated numerous research works in this field. This investigation addresses the LRFD and Standard design methodologies of concrete deck slab, deck overhang, barrier and combined barrier-bridge overhang. The purpose of this study is to propose a simplified manual design approach for the barrier-deck overhang in concrete bridges. For concrete deck slab overhang and barrier, application of National Cooperative Highway Research Program crash test is reviewed. The failure mechanism, design philosophy and load cases including extreme event limit states for barrier and overhang are discussed. The overhang design for the combined effect of bending moment and axial tension is probably the most important part of the design process. The overhang might be a critical design point of the deck with significantly higher amount of reinforcement. The design process becomes complicated due to combined force effect, LRFD crash test level requirement and the existence of several load combinations. Using this program, different LRFD load combinations are plotted together with the interaction diagram and the design is validated

Economical Auto Moment Limiter for Preventing Mobile Cargo Crane Overload

This study presents a computational method called economical auto moment limiter (eAML) that prevents a mobile cargo crane from being overloaded. The eAML detects and controls, in real time, crane overload without using boom stroke sensors and load cells, which are expensive items inevitable to existing AML systems, hence, being competitive in price. It replaces these stroke sensors and load cells that are used for the crane overload measurement with a set of mathematical formula and control logics that calculates the lifting load being handled under crane operation and the maximum lifting load. By calculating iterative them using only a pressure sensor attached under the derrick cylinder and the boom angle sensor, the mathematical model identifies the maximum descendible angle of the boom. The control logic presents the control method for preventing the crane overload by using the descendible angle obtained by the mathematical model. Both the mathematical model and the control logic are validated by rigorous simulation experiments using MATLAB on two case instances each of which eAML is used and not used, while changing the pressures on the derrick cylinder and the boom angle. The effectiveness and validity of the method are confirmed by comparing the outputs obtained by the controlled experiments performed by using a 7.6 ton crane on top of SCS887 and a straight-type maritime heavy-duty crane along with eAML. The effects attributed to the load and the wind speed are quantified to verify the reliability of eAML under the changes in external variables. © 2020 by the authors. Licensee MDPI, Basel, Switzerland.1

Glazed Panel Construction with Human-Robot Cooperation

by Seungyeol LeeIntroduction -- Control Algorithm for Human-Robot Cooperation -- Conceptual Design of Human-Robot Cooperative System -- Prototype for Glazed Panel Construction Robot -- Glazed Ceiling Panel Construction Robot -- Conclusion and Future works

Experimental study on evaporation characteristics of urea-water-solution droplets for scr applications

Paper presented at the 7th International Conference on Heat Transfer, Fluid Mechanics and Thermodynamics, Turkey, 19-21 July, 2010.The evaporation behavior of urea-water-solution (UWS) droplet was investigated for application to urea-selective catalytic reduction (SCR) systems. A number of experiments were perfomed with single UWS droplet suspended on the tip of a fine quartz fiber. To cover the temperature range of real-world diesel exhausts, droplet ambient temperature was regulated from 373 to 873K using an electrical furnace. As a result of this study, UWS droplet revealed different evaporation characteristics depending on its ambient temperature. At high temperatures, it showed quite complicated behaviors such as bubble formation, distortion, and partial rupture after a linear D2-law period. However, as temperature decreases, these phenomena became weak and finally disappeared. Also, droplet diminishment coefficients were extracted from transient evaporation histories for various ambient temperatures, which yields a quantitative evaluation on evaporation characteristics of UWS droplet as well as provides valuable empirical data required for modeling or simulation works on urea-SCR systems.ksb201

The Role of ε-Fe2O3 Nano-Mineral and Domains in Enhancing Magnetic Coercivity: Implications for the Natural Remanent Magnetization

A natural ε-Fe2O3 nano-mineral (luogufengite) has been discovered in young basaltic rocks around the world. Transmission electron microscopy (TEM) observed euhedral or subhedral luogufengite nano-minerals with crystal sizes ranging from 10 to 120 nm in the basaltic rocks. The magnetic property of treated scoria sample (containing 75.3(5) wt % luogufengite) showed a saturation remanence of 11.3 emu g−1 with a coercive field of 0.17 tesla (T) at room temperature. Luogufengite-like nano-domains were also observed in natural permanent magnets (lodestone) and Fe-Ti oxides (ilmenite-magnetite series) with strong remanent magnetization. The structure of luogufengite-like domains (double hexagonal close-packing) is associated with the interfaces between the (111) plane of cubic magnetite and the (0001) plane of rhombohedral hematite or ilmenite. Stacking faults and twin boundaries of magnetite/maghemite can also produce the luogufengite-like domains. The nano-domains oriented along the magnetic easy axis play an essential role in enhancing the magnetic coercivity of lodestone and Fe-Ti oxide. We conclude that the luogufengite nano-minerals and nano-domains provide an explanation for coercivity and strong remanent magnetization in igneous, metamorphic rocks and even some reported Martian rocks. These nano-scaled multilayer structures extend our knowledge of magnetism and help us to understand the diverse magnetic anomalies occurring on Earth and other planetary bodies

Case studies on glazing robot technology on construction sites

Glass panel (curtain-wall, glass ceiling etc.) is a type of building material for interior/exterior finishing. The demand for larger glass panel has increased along with the number of high-rise buildings and an increased interest in interior design. Typical construction machineries are, however, not adequate for installing the glass panel and most of the construction works have been still managed by a human operator. Construction processes are, therefore, fraught with a number of problems. The objective of this paper to introduce case studies on glazing robot technology for installing glass panel on construction sites. The first case is related to robot technology for installing curtain-walls in a high-rise building construction site. To satisfy curtain-walls installing needs for precise and safe work, especially, a hybrid motion typed curtain-wall glazing robot (HCGR) has been developed and applied to real construction sites. After applying HCGR to a real construction site, the second case study is directly planned to apply glazing robot technology to glass ceiling installing process. In all cases, a novel control strategy of glazing robot is proposed for installation of heavy glass panels in cooperation between a human operator and a glazing robot