scholarly journals Novel Module-Based Design Algorithm for Intensified Membrane Reactor Systems

Processes ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 2165
Author(s):  
Brent A. Bishop ◽  
Fernando V. Lima
Keyword(s):  
Membrane Reactor ◽  
Degrees Of Freedom ◽  
Membrane Reactors ◽  
Design Approach ◽  
Computational Time ◽  
Design Algorithm ◽  
Module Design ◽  
Design Heuristics ◽  
Reactor Models ◽  
And Control

The growing interest in intensified process units that improve efficiency by combining several phenomena into one unit, has led to a loss in degrees of freedom when addressing the control scheme of these units. Previous work demonstrated that a novel module-based design approach to membrane reactors could improve the operability index of membrane reactor systems. This approach sought to decouple the phenomena to regain some degrees of freedom for the control system. However, the computational time to determine such an optimal module design made this class of design problems intractable to solve in a reasonable amount of time. This work proposes a set of design heuristics for a new module-based design approach for membrane reactors. These heuristics are used in combination with a genetic algorithm formulation to produce a novel, two-staged algorithm for the design and control of membrane reactor systems. This algorithm is developed in Python and uses rigorous membrane reactor models built in AVEVA Process Simulation. The proposed algorithm solves the original non-polynomial (NP) complexity problem in polynomial time (P), while still being able to find the optimal designs discovered in previous work through exhaustive methods.

scholarly journals Novel Module-Based Membrane Reactor Design Approach for Improved Operability Performance

Membranes ◽  
2021 ◽  
Vol 11 (2) ◽  
pp. 157
Author(s):  
Brent A. Bishop ◽  
Fernando V. Lima
Keyword(s):  
Membrane Reactor ◽  
Degrees Of Freedom ◽  
Reactor Design ◽  
Membrane Reactors ◽  
Exchange Reactions ◽  
Potential Control ◽  
Novel Approach ◽  
In Series ◽  
And Control ◽  
First Time

This work aims to address the design and control challenges caused by the integration of phenomena and the loss of degrees of freedom (DOF) that occur in the intensification of membrane reactor units. First, a novel approach to designing membrane reactor units is proposed. This approach consists of designing smaller modules based on specific phenomena such as heat exchange, reactions, and mass transport and combining them in series to produce the final modular membrane-based unit. This approach to designing membrane reactors is then assessed using a process operability analysis for the first time to maximize the operability index, as a way of quantifying the operational performance of intensified processes. This work demonstrates that by designing membrane reactors in this way, the operability of the original membrane reactor design can be significantly improved, translating to an improvement in achievability for a potential control structure implementation.

Design, Analysis, and Control of a Novel Safe Cell Micromanipulation System With IPMC Actuators

2013 ◽  
Vol 135 (6) ◽  
Author(s):  
A. J. McDaid ◽  
E. Haemmerle ◽  
S. Q. Xie ◽  
K. C. Aw
Keyword(s):  
Degrees Of Freedom ◽  
Modular Design ◽  
Vertical Motion ◽  
Design Analysis ◽  
Metal Composite ◽  
Mechanism Model ◽  
Module Design ◽  
Model Free ◽  
Polymer Metal ◽  
And Control

This paper presents the design, analysis, and control of a novel micromanipulation system to facilitate the safe handling/probing of biological cells. The robotic manipulator has a modular design, where each module provides two degrees-of-freedom (2DOF) and the overall system can be made up of a number of modules depending on the desired level of dexterity. The module design has been optimized in simulation using an integrated ionic polymer-metal composite (IPMC) model and mechanical mechanism model to ensure the best system performance from the available IPMC material. The optimal system consists of two modules with each DOF actuated by a 27.5 mm long by 10 mm wide actuator. A 1DOF control structure has been developed, which is adaptively tuned using a model-free iterative feedback tuning (IFT) algorithm to adjust the controller parameters to optimize the system tracking performance. Experimental results are presented which show the tuning of the system improves the performance by 24% and 64% for the horizontal and vertical motion, respectively. Experimental characterization has also been undertaken to show the system can accurately achieve outputs of up to 7 deg and results for position tracking in both axes are also presented.

Control of processing at multi-tool two-support setup

2020 ◽  
pp. 67-73
Author(s):  
N.D. YUsubov ◽  
G.M. Abbasova
Keyword(s):  
Degrees Of Freedom ◽  
Factor Model ◽  
Angular Displacement ◽  
Factor Models ◽  
Technological System ◽  
Displacement Control ◽  
Model Accuracy ◽  
Six Degrees Of Freedom ◽  
Angular Displacements ◽  
And Control

The accuracy of two-tool machining on automatic lathes is analyzed. Full-factor models of distortions and scattering fields of the performed dimensions, taking into account the flexibility of the technological system on six degrees of freedom, i. e. angular displacements in the technological system, were used in the research. Possibilities of design and control of two-tool adjustment are considered. Keywords turning processing, cutting mode, two-tool setup, full-factor model, accuracy, angular displacement, control, calculation [email protected]

Restoring and Controlling the Water Pollution of Endangered River in Bangladesh: A Case Study in Pabna City

2020 ◽  
Vol 3 (2) ◽  
pp. 68-81
Author(s):  
Abu Sadath ◽  
Farhana Afroz ◽  
Hosne Ara ◽  
Abdulla-Al Kafy
Keyword(s):  
Water Pollution ◽  
Local Community ◽  
River Flow ◽  
Low Cost ◽  
Design Approach ◽  
Government Officials ◽  
Conservation Plan ◽  
Policy Measures ◽  
And Control ◽  
Riverfront Development

Rivers are the lifeline of Bangladesh economy and serve as the source of water supply, fisheries, irrigation for agriculture, low-cost transport, generate electricity and conserve biodiversity. The Ichamati River situated in Pabna, Bangladesh is also a blessing for the city. However, recently, due to the irregular and unplanned activities adjacent to the riverside, the life, flow and water quality of the river is in a vulnerable condition. This study aims to identify the present status of the Ichamati River and provide an effective design approach and policy measures in restoring the river flow and control water pollution. The data was collected from the questioner surveys, key informant interviews and focus group discussions. Results suggest that several factors such as the construction of an illegal settlement, unplanned waste dumping, disposal of fiscal sludge through sewerage connection, lack of awareness among people regarding the importance of river biodiversity and absence of riverfront development and conservation plan are responsible for water pollution, inconsistent water flow and damaging the life cycle of Ichamati river. The design approach and policy measures were developed based on the perceptions of local community people, experts and government officials. The suggested policy measures will help to restore the flow of the river and reduce the water pollution, and the design approach will ensure the economic benefit of the riverfront development in future.

scholarly journals Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator

2021 ◽  
Vol 11 (5) ◽  
pp. 2346
Author(s):  
Alessandro Tringali ◽  
Silvio Cocuzza
Keyword(s):  
Kinetic Energy ◽  
Real Time ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Computational Time ◽  
Redundant Manipulators ◽  
Space Robotics ◽  
Optimal Method ◽  
End Effector ◽  
Global Optimal

The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On the one hand, these methods are suitable for real-time implementation; nevertheless, on the other hand, they often provide solutions quite far from the globally optimal one and, moreover, are prone to singularities. In this paper, a novel inverse kinematics method for redundant manipulators is presented, which overcomes the above mentioned issues and is suitable for real-time implementation. The proposed method is based on the optimization of the kinetic energy integral on a limited subset of future end-effector path points, making the manipulator joints to move in the direction of minimum kinetic energy. The proposed method is tested by simulation of a three degrees of freedom (DOF) planar manipulator in a number of test cases, and its performance is compared to the classical pseudoinverse solution and to a global optimal method. The proposed method outperforms the pseudoinverse-based one and proves to be able to avoid singularities. Furthermore, it provides a solution very close to the global optimal one with a much lower computational time, which is compatible for real-time implementation.

Zeolite membrane reactors: from preparation to application in heterogeneous catalytic reactions

2021 ◽  
Author(s):  
I. G. Wenten ◽  
K. Khoiruddin ◽  
R. R. Mukti ◽  
W. Rahmah ◽  
Z. Wang ◽  
...  
Keyword(s):  
Chemical Reaction ◽  
Membrane Reactor ◽  
Membrane Separation ◽  
Process Intensification ◽  
Catalytic Reactions ◽  
Membrane Reactors ◽  
Zeolite Membrane ◽  
Heterogeneous Catalytic

Coupling chemical reaction with membrane separation or known as membrane reactor (MR) has been demonstrated by numerous studies and showed that this strategy has successfully addressed the goal of process intensification.

Design, Construction and Control of a Remotely Operated Vehicle (ROV)

2011 ◽  
Author(s):  
Alireza Marzbanrad ◽  
Jalil Sharafi ◽  
Mohammad Eghtesad ◽  
Reza Kamali
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Remotely Operated Vehicle ◽  
Six Degrees Of Freedom ◽  
Depth Sensors ◽  
Control Schemes ◽  
On Line ◽  
Operation Unit ◽  
And Control ◽  
Design Construction

This is report of design, construction and control of “Ariana-I”, an Underwater Remotely Operated Vehicle (ROV), built in Shiraz University Robotic Lab. This ROV is equipped with roll, pitch, heading, and depth sensors which provide sufficient feedback signals to give the system six degrees-of-freedom actuation. Although its center of gravity and center of buoyancy are positioned in such a way that Ariana-I ROV is self-stabilized, but the combinations of sensors and speed controlled drivers provide more stability of the system without the operator involvement. Video vision is provided for the system with Ethernet link to the operation unit. Control commands and sensor feedbacks are transferred on RS485 bus; video signal, water leakage alarm, and battery charging wires are provided on the same multi-core cable. While simple PI controllers would improve the pitch and roll stability of the system, various control schemes can be applied for heading to track different paths. The net weight of ROV out of water is about 130kg with frame dimensions of 130×100×65cm. Ariana-I ROV is designed such that it is possible to be equipped with different tools such as mechanical arms, thanks to microprocessor based control system provided with two directional high speed communication cables for on line vision and operation unit.

scholarly journals Soft Spherical Tensegrity Robot Design Using Rod-Centered Actuation and Control

2016 ◽  
Author(s):  
Lee-Huang Chen ◽  
Kyunam Kim ◽  
Ellande Tang ◽  
Kevin Li ◽  
Richard House ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Low Cost ◽  
Space Exploration ◽  
Robot Design ◽  
The Novel ◽  
Flexible Design ◽  
Spherical Robot ◽  
Potential Benefits ◽  
And Performance ◽  
And Control

This paper presents the design, analysis and testing of a fully actuated modular spherical tensegrity robot for co-robotic and space exploration applications. Robots built from tensegrity structures (composed of pure tensile and compression elements) have many potential benefits including high robustness through redundancy, many degrees of freedom in movement and flexible design. However to fully take advantage of these properties a significant fraction of the tensile elements should be active, leading to a potential increase in complexity, messy cable and power routing systems and increased design difficulty. Here we describe an elegant solution to a fully actuated tensegrity robot: The TT-3 (version 3) tensegrity robot, developed at UC Berkeley, in collaboration with NASA Ames, is a lightweight, low cost, modular, and rapidly prototyped spherical tensegrity robot. This robot is based on a ball-shaped six-bar tensegrity structure and features a unique modular rod-centered distributed actuation and control architecture. This paper presents the novel mechanism design, architecture and simulations of TT-3, the first untethered, fully actuated cable-driven six-bar tensegrity spherical robot ever built and tested for mobility. Furthermore, this paper discusses the controls and preliminary testing performed to observe the system’s behavior and performance.

Overview of Path-Planning and Obstacle Avoidance Algorithms for UAVs: A Comparative Study

2018 ◽  
Vol 06 (02) ◽  
pp. 95-118 ◽  
Author(s):  
Mohammadreza Radmanesh ◽  
Manish Kumar ◽  
Paul H. Guentert ◽  
Mohammad Sarim
Keyword(s):  
Path Planning ◽  
Comparative Study ◽  
Operating Conditions ◽  
Computational Time ◽  
Safe Operation ◽  
Sense And Avoid ◽  
Planning Algorithms ◽  
And Control ◽  
Global And Local ◽  
Further Development

Unmanned aerial vehicles (UAVs) have recently attracted the attention of researchers due to their numerous potential civilian applications. However, current robot navigation technologies need further development for efficient application to various scenarios. One key issue is the “Sense and Avoid” capability, currently of immense interest to researchers. Such a capability is required for safe operation of UAVs in civilian domain. For autonomous decision making and control of UAVs, several path-planning and navigation algorithms have been proposed. This is a challenging task to be carried out in a 3D environment, especially while accounting for sensor noise, uncertainties in operating conditions, and real-time applicability. Heuristic and non-heuristic or exact techniques are the two solution methodologies that categorize path-planning algorithms. The aim of this paper is to carry out a comprehensive and comparative study of existing UAV path-planning algorithms for both methods. Three different obstacle scenarios test the performance of each algorithm. We have compared the computational time and solution optimality, and tested each algorithm with variations in the availability of global and local obstacle information.

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