scholarly journals ResQbot 2.0: An Improved Design of a Mobile Rescue Robot with an Inflatable Neck Securing Device for Safe Casualty Extraction

2021 ◽  
Vol 11 (12) ◽  
pp. 5414
Author(s):  
Roni Permana Saputra ◽  
Nemanja Rakicevic ◽  
Isabelle Kuder ◽  
Joel Bilsdorfer ◽  
Alexander Gough ◽  
...  
Keyword(s):  
Extraction Procedure ◽  
Safe Zone ◽  
Proof Of Concept ◽  
Simulation Experiments ◽  
Rescue Robot ◽  
Simulation Results ◽  
Rescue Robots ◽  
Improved Design ◽  
Novel Design ◽  
Full Body

Despite the fact that a large number of research studies have been conducted in the field of search and rescue robotics, significantly little attention has been given to the development of rescue robots capable of performing physical rescue interventions, including loading and transporting victims to a safe zone—i.e., casualty extraction tasks. The aim of this study is to develop a mobile rescue robot that could assist first responders when saving casualties from a dangerous area by performing a casualty extraction procedure whilst ensuring that no additional injury is caused by the operation and no additional lives are put at risk. In this paper, we present a novel design of ResQbot 2.0—a mobile rescue robot designed for performing the casualty extraction task. This robot is a stretcher-type casualty extraction robot, which is a significantly improved version of the initial proof-of-concept prototype, ResQbot (retrospectively referred to as ResQbot 1.0), that has been developed in our previous work. The proposed designs and development of the mechanical system of ResQbot 2.0, as well as the method for safely loading a full-body casualty onto the robot’s ‘stretcher bed’, are described in detail based on the conducted literature review, evaluation of our previous work, and feedback provided by medical professionals. We perform simulation experiments in the Gazebo physics engine simulator to verify the proposed design and the casualty extraction procedure. The simulation results demonstrate the capability of ResQbot 2.0 to carry out safe casualty extractions successfully.

Investigating the NO-dependent photooxidation of limonene by OH and O3 using the atmosphere simulation chamber SAPHIR

2021 ◽  
Author(s):  
Yat Sing Pang ◽  
Martin Kaminski ◽  
Anna Novelli ◽  
Philip Carlsson ◽  
Ismail-Hakki Acir ◽  
...  
Keyword(s):  
Organic Aerosol ◽  
Oxidation Products ◽  
Chemical Mechanism ◽  
Reaction Pathways ◽  
Oh Radicals ◽  
Oh Radical ◽  
Simulation Experiments ◽  
Master Chemical Mechanism ◽  
Simulation Results ◽  
Atmosphere Simulation Chamber

<p>Limonene is the fourth-most abundant monoterpene in the atmosphere, which upon oxidation leads to the formation of secondary organic aerosol (SOA) and thereby influences climate and air quality.</p><p>In this study, the oxidation of limonene by OH at different atmospherically relevant NO and HO<sub>2</sub> levels (NO: 0.1 – 10 ppb; HO<sub>2</sub>: 20 ppt) was investigated in simulation experiments in the SAPHIR chamber at Forschungszentrum Jülich. The analysis focuses on comparing measured radical concentrations (RO<sub>2</sub>, HO<sub>2</sub>, OH) and OH reactivity (k<sub>OH</sub>) with modeled values calculated using the Master Chemical Mechanism (MCM) version 3.3.1.</p><p>At high and medium NO concentrations, RO<sub>2</sub> is expected to quickly react with NO. An HO<sub>2</sub> radical is produced during the process that can be converted back to an OH radical by another reaction with NO. Consistently, for experiments conducted at medium NO levels (~0.5 ppb, RO<sub>2</sub> lifetime ~10 s), simulated RO<sub>2</sub>, HO<sub>2</sub>, and OH agree with observations within the measurement uncertainties, if the OH reactivity of oxidation products is correctly described.</p><p>At lower NO concentrations, the regeneration of HO<sub>2</sub> in the RO<sub>2</sub> + NO reaction is slow and the reaction of RO<sub>2</sub> with HO<sub>2</sub> gains importance in forming peroxides. However, simulation results show a large discrepancy between calculated radical concentrations and measurements at low NO levels (<0.1 ppb, RO<sub>2</sub> lifetime ~ 100 s). Simulated RO<sub>2</sub> concentrations are found to be overestimated by a factor of three; simulated HO<sub>2</sub> concentrations are underestimated by 50 %; simulated OH concentrations are underestimated by about 35%, even if k<sub>OH</sub> is correctly described. This suggests that there could be additional RO<sub>2</sub> reaction pathways that regenerate HO<sub>2</sub> and OH radicals become important, but they are not taken into account in the MCM model.</p>

scholarly journals Hybrid LWFA–PWFA staging as a beam energy and brightness transformer: conceptual design and simulations

2019 ◽  
Vol 377 (2151) ◽  
pp. 20180175 ◽  
Author(s):  
A. Martinez de la Ossa ◽  
R. W. Assmann ◽  
M. Bussmann ◽  
S. Corde ◽  
J. P. Couperus Cabadağ ◽  
...  
Keyword(s):  
Conceptual Design ◽  
Particle Beam ◽  
Proof Of Concept ◽  
Particle In Cell ◽  
Wakefield Acceleration ◽  
Plasma Wakefield Accelerator ◽  
Simulation Results ◽  
Set Up ◽  
Plasma Wakefield ◽  
Wakefield Accelerator

We present a conceptual design for a hybrid laser-driven plasma wakefield accelerator (LWFA) to beam-driven plasma wakefield accelerator (PWFA). In this set-up, the output beams from an LWFA stage are used as input beams of a new PWFA stage. In the PWFA stage, a new witness beam of largely increased quality can be produced and accelerated to higher energies. The feasibility and the potential of this concept is shown through exemplary particle-in-cell simulations. In addition, preliminary simulation results for a proof-of-concept experiment in Helmholtz-Zentrum Dresden-Rossendorf (Germany) are shown. This article is part of the Theo Murphy meeting issue ‘Directions in particle beam-driven plasma wakefield acceleration’.

Some Results on the Behavior of Alternate Covariance Structure Estimation Procedures in the Presence of Non-Normal Data

1989 ◽  
Vol 26 (2) ◽  
pp. 214-221 ◽  
Author(s):  
Subhash Sharma ◽  
Srinivas Durvasula ◽  
William R. Dillon
Keyword(s):  
Monte Carlo Simulation ◽  
Monte Carlo ◽  
Covariance Structure ◽  
Standard Errors ◽  
Parameter Estimates ◽  
Simulation Experiments ◽  
Estimation Techniques ◽  
Structure Estimation ◽  
Estimation Procedures ◽  
Simulation Results

The authors report some results on the behavior of alternative covariance structure estimation procedures in the presence of non-normal data. They conducted Monté Carlo simulation experiments with a factorial design involving three levels of skewness, three level of kurtosis, and three different sample sizes. For normal data, among all the elliptical estimation techniques, elliptical reweighted least squares (ERLS) was equivalent in performance to ML. However, as expected, for non-normal data parameter estimates were unbiased for ML and the elliptical estimation techniques, whereas the bias in standard errors was substantial for GLS and ML. Among elliptical estimation techniques, ERLS was superior in performance. On the basis of the simulation results, the authors recommend that researchers use ERLS for both normal and non-normal data.

Environmental Modeling and Walking Simulation of Quadruped Search-Rescue Robot Based on VRML

2014 ◽  
Vol 494-495 ◽  
pp. 1270-1273
Author(s):  
Peng Wang ◽  
Ji Xiang Li ◽  
Yuan Zhang ◽  
Wen Hao Jiang
Keyword(s):  
Simulation Model ◽  
Environmental Modeling ◽  
Modeling Language ◽  
Displacement Curve ◽  
Rescue Robot ◽  
Modeling Technology ◽  
Real Environment ◽  
Simulation Results

In order to create the virtual earthquake environment, VRML modeling language is used to build a real environment that is a 3D mountain scene after earthquake. A simulation model of quadruped search-rescue robot is established in VRML modeling technology. The walking stability of quadruped search-rescue robot is observed using the VRML model established with the change of gravity curve. Simulation results show that the gravity displacement curve of the robot is smooth.

An Efficient Software Architecture for Automated Coupling of Convection and Thermal Radiation Tools

2008 ◽  
Author(s):  
Christian Rauch ◽  
Thomas Ho¨rmann ◽  
Sebastian Jagsch ◽  
Raimund Almbauer
Keyword(s):  
Software Architecture ◽  
Large Scale ◽  
Exhaust System ◽  
Industrial Applications ◽  
Proof Of Concept ◽  
Speed Up ◽  
Simulation Results ◽  
Improved Performance ◽  
New System ◽  
Efficient Software

Much attention has been paid recently by research and development engineers on performing multi-physics calculations. One way to do this is to couple commercial tools for examining complex systems. Since the proposal of an software architecture for coupling programs as published in a previous paper significant changes have led to an improved performance for large-scale industrial applications. This architecture is being described and as a proof of concept a simulation is being conducted by coupling two commercial solvers. The speed-up of the new system is being presented. The simulation results are then compared with measurements of surface temperatures of an exhaust system of an actual sports utilities vehicle (SUV) and conclusions are being drawn. The proposed architecture is easily adaptable to various programs as it is implemented in C++ and changes for a specific code can be restricted to a view classes.

scholarly journals A dynamic macroeconomic model of the Nigerian economy with emphasis on the monetary sector

2011 ◽  
Vol 12 (1) ◽  
pp. 28-47
Author(s):  
Enang Bassey Udah
Keyword(s):  
Money Supply ◽  
Inflation Rate ◽  
Government Expenditure ◽  
Banking System ◽  
Domestic Economy ◽  
Economic Literature ◽  
Simulation Experiments ◽  
Exchange Rate Management ◽  
Stabilization Policies ◽  
Simulation Results

The dynamic nexus between money supply, fiscal deficit, inflation, output and exchange rate management has recently generated much debate in economic literature in Nigeria. To contribute to this debate, this paper uses the co-integration and error correction framework of analysis and also conducts policy simulation experiments to investigate how monetary variables interact with aggregate supply, demand and prices in order to aid stabilization policies. The results show that monetary variables and government finance are linked through government’s net indebtedness to the banking system. The simulation results show that a 20 per cent monetary squeeze would reduce the inflation rate faster than if the reduction in money supply were 10 per cent. This reduction in money supply would also lead to a reduction in output, employment and government expenditure, which may hurt the domestic economy. The paper thus concludes that there is a trade-off between higher GDP growth and inflation in Nigeria.

Modeling and Simulation of Microgrid with Small Hydropower and Wind Generator on Island Operation Mode

2012 ◽  
Vol 614-615 ◽  
pp. 1841-1845
Author(s):  
Yong Wei Zheng ◽  
Min You Chen ◽  
Chuang Li ◽  
Rui Lin Xu ◽  
Xin Xu
Keyword(s):  
Modeling And Simulation ◽  
Distributed Generation ◽  
Power Supply ◽  
Control Strategies ◽  
Operation Mode ◽  
Wind Generation ◽  
Small Hydropower ◽  
Simulation Experiments ◽  
Load Power ◽  
Simulation Results

A microgrid model with distributed generation including small hydropower source and wind generation source is presented in this paper. The corresponding control strategies for this microgrid are developed. Simulation experiments on island operation mode using Matlab/Simulink software program have been conducted. The simulation results show that the microgrid can operate stably and reliably for load power supply.

Design of a Microfluidic Chip for Enrichment of Circulating Tumor Cells

2015 ◽  
Vol 645-646 ◽  
pp. 1320-1325
Author(s):  
Xi Xin Ling ◽  
Da Hai Ren ◽  
Zheng You
Keyword(s):  
Tumor Cells ◽  
Circulating Tumor Cells ◽  
Microfluidic Chip ◽  
Comsol Multiphysics ◽  
Enrichment Method ◽  
Cancer Metastases ◽  
Simulation Results ◽  
Novel Design ◽  
Identification And Characterization

Identification and characterization of CTCs can be used as a tool for the study of cancer metastases. A novel design of microfluidic chip used for enrichment of circulating tumor cells is presented in this paper. An integration of DLD method and negative enrichment method were designed to improve the throughput and recovery rate while getting intact CTCs. The DLD stage is used to separate CTCs from blood cells preliminarily, and the negative enrichment stage is used to acquire purified CTCs. Both of them were simulated with COMSOL Multiphysics. Simulation results showed that triangular micro-posts have better performance in DLD stage, and wave structures could generate better disturbance effect than herringbone structures. This chip provides a potential approach with high throughput and purity for the enrichment of CTCs.

scholarly journals Modeling and Kinematics Simulation of a Mecanum Wheel Platform in RecurDyn

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Yunwang Li ◽  
Sumei Dai ◽  
Yuwei Zheng ◽  
Feng Tian ◽  
Xucong Yan
Keyword(s):  
Virtual Prototype ◽  
Mobile System ◽  
Design Quality ◽  
Simulation Experiments ◽  
Motion Models ◽  
Kinematics Simulation ◽  
Simulation Results ◽  
Mecanum Wheel ◽  
Motion Characteristics ◽  
Theoretical Results

The innovative method of modeling and kinematics simulation in RecurDyn are proposed, taking a Mecanum wheel platform(MWP) for omnidirectional wheelchair as research object. In order to study the motion characteristics and mobile performance of the MWP, the virtual prototype simulation model is established in SolidWorks, and virtual prototype simulation is carried out in RecurDyn. The experience of simulation for the MWP in RecurDyn is introduced, and the simulation steps and points for attention are described detailedly. The working states of the mobile system in real environment have been simulated through virtual simulation experiments. Four typical motion models including moving forward, moving laterally, moving laterally in the direction of 45°, and rotation have been simulated in RecurDyn. The simulation results exactly reflect the motion of the MWP. By comparing the simulation results with the theoretical results, there are acceptable errors that are relatively less overall in the simulation results. The simulation results can be used to predict the performance of the platform and evaluate the design rationality, and design quality can be improved according to the exposed problem. This paper can provide reference for the simulation of mobile platform by using RecurDyn.

Improved Design of Thermal Airflow Process for the Annular Cooler and Fluent Simulation

2010 ◽  
Vol 43 ◽  
pp. 351-356
Author(s):  
Xi Liang Zhang ◽  
Wen Xiang Gao ◽  
Li Qiang Chen ◽  
Jun Xu ◽  
Ai Xin Feng
Keyword(s):  
Heat Transfer ◽  
Low Temperature ◽  
Heat Recovery ◽  
Cooling Zone ◽  
Recovery Efficiency ◽  
Gas Emission ◽  
Fluent Simulation ◽  
Fluent Software ◽  
Simulation Results ◽  
Improved Design

Considering the current problems of low temperature of recovered gas, the direct gas emission of the fourth cooling zone in the operation of the annular cooler, thermal airflow process for the annular cooler is improved by analyzing the thermal airflow process and the structure of the annular cooler and using the principle of repeated convective heat transfer. Thus the above-mentioned problem can be solved. Simulation model of its thermal airflow process is established and the simulation results, obtained by using Fluent software, are as follows: the temperature of the gas in the first cooling zone entering the rotary kiln of the improved is about 110°C higher than that of the unimproved, the temperature of the gas in the second cooling zone entering the preheat zone I of the chain grate of the improved is about 150°C higher than that of the unimproved, and the temperature of the gas in the fourth cooling zone entering the downdraft drying zone of the chain grate of the improved is about 50°C higher than that of the unimproved. Pellet heat recovery efficiency is increased significantly.

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