Supervised Telemanipulation Interface for Humanoid Driving

This thesis proposes solutions for semi-autonomous driving of an Ackerman-style vehicle by an full-sized humanoid robot. A Robot Operating System based interface is developed to promote humanoid driving. The humanoid robot is also equipped with an on-board vision system which comprises of a 2D LIDAR, an inertial measurement unit and stereo cameras. Based on the visual information from the vision system, the operator speci es the operation to be performed. The operator commands the turning angle for the steering wheel and the robot takes the necessary actions to realize this task. Likewise, pressing or releasing the gas pedal is done based on the operator's request. The operator has the option of visualizing the virtual model of the robot and its work site, which facilitates command and control of the robot. Experiments are conducted on an full-sized humanoid robot DRC-Hubo, to drive a golf cart and a two-passenger utility vehicle. Previous stages of driving such as searching for the vehicle and walking towards it are also brie y discussed

Methyl 5′′-chloro-1′,1′′-dimethyl-2,2′′-dioxodispiro[indoline-3,2′-pyrrolidine-3′,3′′-indoline]-4′-carboxylate

In the title compound, C22H20ClN3O4, the central pyrrolidine ring adopts an envelope conformation on the N atom. The indolinone systems are individually roughly planar, with maximum deviations from their mean planes of 0.130 Å for the spiro C atom of the indolinone unit and 0.172 Å for the carbonyl C atom of the 5-chloro-1-methylindolinone unit. They make dihedral angles of 77.7 (8) and 86.1 (8)° with the mean plane through the central pyrrolidine ring. In the crystal, molecules are linked by N—H...O hydrogen bonds supported by C—H...O contacts into chains along the ab diagonal. The structure also features C—H...O hydrogen bonds, forming R22(8) and R22(16) rings and generating a three-dimensional array

Methyl 2-(5-chloro-1-methyl-2-oxo-2,3-dihydro-1H-indol-3-ylidene)acetate

The title compound, C12H10ClNO3, the indoline ring system is essentially planar, with a maximum deviation of 0.009 Å for the N atom. The indoline ring and acetate group are essentially coplanar, with a maximum deviation of 0.086 Å for the O atom. The mean plane through the methoxycarbonylmethyl group forms a dihedral angle of 3.68 (5)° with the plane of the indoline ring system. The molecular structure is stabilized by an intramolecular C—H...O hydrogen-bond interaction. In the crystal, π–π stacking interactions [centroid–centroid distance = 3.7677 (8) Å] occur between benzene rings, forming a chain running along the c-axis direction

Experiences with Direct Steam Generation at the Kanchanaburi Solar Thermal Power Plant

In 2011 the parabolic trough power plant TSE1 has started operation in Thailand. As a novelty it uses the direct steam generation (DSG) process, evaporating and super heating water and steam directly in the solar field. During the commissioning phase and first months of operation the start-up procedure has been optimised for the solar field and turbine system resulting in a reduced start-up time. The DSG process can be controlled well in the evaporator and super heater section securing a safe operation of the solar field and keeping live steam parameters in an acceptable range for the turbine even at fluctuating DNI. Apart from pressure control also control of the plant’s electrical power output is possible, depending on DNI and electricity demand

Algae biostimulants: A critical look at microalgal biostimulants for sustainable agricultural practices

For the growing human population to be sustained during present climatic changes, enhanced quality and quantity of crops are essential to enable food security worldwide. The current consensus is that we need to make a transition from a petroleum-based to a bio-based economy via the development of a sustainable circular economy and biorefinery approaches. Both macroalgae (seaweeds) and microalgae have been long considered a rich source of plant biostimulants with an attractive business opportunity in agronomy and agro-industries. To date, macroalgae biostimulants have been well explored. In contrast, microalgal biostimulants whilst known to have positive effects on development, growth and yields of crops, their commercial implementation is constrained by lack of research and cost of production. The present review highlights the current knowledge on potential biostimulatory compounds, key sources and their quantitative information from algae. Specifically, we provide an overview on the prospects of microalgal biostimulants to advance crop production and quality. Key aspects such as specific biostimulant effects caused by extracts of microalgae, feasibility and potential of co-cultures and later co-application with other biostimulants/biofertilizers are highlighted. An overview of the current knowledge, recent advances and achievements on extraction techniques, application type, application timing, current market and regulatory aspects are also discussed. Moreover, aspects involved in circular economy and biorefinery approaches are also covered, such as: integration of waste resources and implementation of high-throughput phenotyping and -omics tools in isolating novel strains, exploring synergistic interactions and illustrating the underlying mode of microalgal biostimulant action. Overall, this review highlights the current and future potential of microalgal biostimulants, algal biochemical components behind these traits and finally bottlenecks and prospects involved in the successful commercialisation of microalgal biostimulants for sustainable agricultural practices