RESUMEN
Many driver assistance systems require knowledge of the vehicle environment. As these systems are increasing in complexity and performance, this knowledge of the environment needs to be more complete and reliable, so sensor fusion combining long, medium and short range sensors is now being used. This paper analyzes the feasibility of using ultrasonic sensors for low cost vehicle-positioning and tracking in the lane adjacent to the host vehicle in order to identify free areas around the vehicle and provide information to an automatic avoidance collision system that can perform autonomous braking and lane change manoeuvres. A laser scanner is used for the early detection of obstacles in the direction of travel while two ultrasonic sensors monitor the blind spot of the host vehicle. The results of tests on a test track demonstrate the ability of these sensors to accurately determine the kinematic variables of the obstacles encountered, despite a clear limitation in range.
RESUMEN
A fuel cell, an energy conversion system, needs analysis for its performance at the design and off-design point conditions during its real-time operation. System performance evaluation with logical methodology is helpful in decision-making while considering efficiency and cross-correlated parameters in fuel cells. This work presents an overview and categorization of different fuel cells, leading to the developing of a method combining graph theory and matrix method for analyzing fuel cell system structure to make more informed decisions. The fuel cell system is divided into four interdependent sub-systems. The methodology developed in this work consists of a series of steps comprised of digraph representation, matrix representation, and permanent function representation. A mathematical model is evaluated quantitatively to produce a performance index numerical value. With the aid of case studies, the proposed methodology is explained, and the advantages of the proposed method are corroborated.
RESUMEN
Teleoperation virtual platforms allow people to send their skills and capacities into machines located in either relative close (few meters away) or far (different continents) locations. With the use of lightweight protocols, people can remotely control the actions and movements of robots so they can avoid physical interaction with dangerous or risky places. Oil and gas well-pads stations are working zones considered hazardous due to the various chemical substances used in their daily processes. This characteristic makes these places the perfect candidates for the implementation of teleoperation solutions in order to reduce the direct interaction of humans with different chemicals and risky situations. The following investigation focuses on the development of a base teleoperation scheme to perform inspection and maintenance tasks in the inside one of these hydrocarbon facilities. The proposed system aims to generate an easily scalable teleoperation solution using distributed control schemes and a lightweight communication protocol to remotely manipulate a KUKA mobile manipulator. As the first stage of this investigation, the main result focuses on the development of the generic control and communication functions that allow the physical testing of the system using a KUKA YouBOT mobile manipulator and the help of a qualified operator of the station.