Operated Vehicle Research Articles

Experimental investigation of time-dependent electrical load effects through multipoints in-situ measurement of temperature and relative humidity of PEMFC bipolar plate under transient operation

In this study, multiple micro-relative humidity and temperature (RH/T) sensors were installed in the anode and cathode channels of a proton exchange membrane fuel cell (PEMFC) bipolar plate to simultaneously observe and analyze the variation in RH/T behaviors during transient operation. In order to simulate the acceleration and deceleration process, the electrical load was ramped from 10 to 40 A and then back to 10 A, with time intervals of 0, 2, and 5 s. The data corresponding to different acceleration/deceleration time intervals were compared and analyzed to assess the time-dependent effects of load changes. The analyzed data provide visual information, including the transient voltage response, transient behavior of temperature and water distribution, and evolution of RH/T within PEMFC. The results indicate that the acceleration and deceleration interval times significantly influence the temperature and water distribution within PEMFC during transient operation. Shorter acceleration times lead to more rapid changes in temperature and humidity within the PEMFC active area, resulting in higher transient temperature and water concentration. This finding explains why the output voltage decreases more when the load changes with a short time interval. This research enhances our understanding of transient temperature and water behavior, providing a foundation for further research and development of effective operational strategies and vehicle PEMFC designs.

An Equivalent-Perceptional Intertemporal Choice Heuristics Model for Electric Operation Vehicle Charging Behavior

The inherent stochasticity of electric operation vehicle (EOV) charging poses challenges to the stability and efficiency of regional power distribution networks. Existing charging behavior decision-making models often prioritize revenue considerations, neglecting the influence of multi-time-span characteristics and the potential irrationality of EOV owners. To address these limitations, this study proposes a comprehensive framework encompassing three aspects. First, operational data are statistically analyzed to reconstruct EOV operation scenarios, establishing a dynamic charging scheme tailored to multi-time-span characteristics. Second, an improved ITCH model is developed using operational equivalent change to incorporate both gains and losses. Third, a WFL framework is employed to integrate the perceptual attenuation of revenue into the ITCH model. Simulation results show that decision-makers (DMs) demonstrate a preference for charging schemes with high equivalent perceived revenues and low time costs. Moreover, when the charging price is doubled, revenue perception attenuation leads decision-makers to postpone their charging behavior. Compared to other models, the equivalent perception intertemporal choice heuristics (EP-ITCH) charging model results in reduced load peaks, valleys, and variances on the grid side. This study highlights the model’s effectiveness and accuracy in optimizing EOV charging infrastructure.

Trajectory Tracking Control of Remotely Operated Vehicles via a Fast-Sliding Mode Controller with a Fixed-Time Disturbance Observer

Time-varying nonlinear external disturbances, as well as uncertainties in model and hydrodynamic parameters, make remotely operated vehicles (ROVs) trajectory tracking control complex and difficult. To solve this problem, this paper proposes a fast sliding mode controller with a fixed-time disturbance observer (FSMC-FDO), which consists of a sliding mode controller based on a fast reaching law and a novel fixed-time disturbance observer. The FSMC can solve the contradiction between system response time and chatter amplitude in sliding mode control. The FDO can compensate for time-varying external disturbances. The Lyapunov theory is used to prove the stability of the entire control scheme. Simulation results show that FSMC-FDO exhibits a good trajectory tracking performance with a better robustness than the conventional sliding mode control (CSMC) on the basis of exponential reaching law (ERL), while significantly reducing chatter.

An integrated approach for the benthic habitat mapping based on innovative surveying technologies and ecosystem functioning measurements

Among marine ecosystems globally, those in the Mediterranean Sea, are facing many threats. New technologies are crucial for enhancing our understanding of marine habitats and ecosystems, which can be complex and resource-intensive to analyse using traditional techniques. We tested, for the first time, an integrated multi-platform approach for mapping the coastal benthic habitat in the Civitavecchia (northern Latium, Italy) coastal area. This approach includes the use of an Unmanned Surface Vehicle (USV), a Remote Operated Vehicle (ROV), and in situ measurements of ecosystem functionality. The echosounder data allowed us to reconstruct the distribution of bottom types, as well as the canopy height and coverage of the seagrass Posidonia oceanica. Our study further involved assessing the respiration (Rd) and net primary production (NCP) rates of P. oceanica and its associated community through in situ benthic chamber incubation. By combining these findings with the results of USV surveys, we were able to develop a preliminary spatial distribution model for P. oceanica primary production (PP-SDM). The P. oceanica PP-SDM was applied between the depths of 8 and 10 m in the studied area and the obtained results showed similarities with other sites in the Mediterranean Sea. Though in the early stages, our results highlight the significance of multi-platform observation data for a thorough exploration of marine ecosystems, emphasizing their utility in forecasting biogeochemical processes in the marine environment.

Quantum Propulsion: Background and Practical Applications

This is the first introduction of new and revolutionary aerospace engines and propulsion methods. Our organization is currently developing quantum propulsion systems and space vehicles that will be capable of flying with enormous speed (potentially reaching and exceeding the speed of light) and will have unseen-before manoeuvrability and lifting capacity. They will provide 100% crew protection from deadly sun and space radiation which is essential for safe deep space travel and manned space exploration. They will also provide spacecraft with protection against space particles. To date, we have managed to crack the main secret of practical quantum engine design and we are ready to develop it further into fully operational aerospace vehicles. Quantum propulsion systems are the only systems that can facilitate realistic prospects of space mining on the industrial scale and deep space colonisation, including colonisation of habitable planets in the future. The cost efficiency of this new technology is going to be enormous. Development and production costs of quantum aerospace vehicles compared to production costs of chemical fuel jet spacecraft allow to reduce price per kilo space launch ratio hundreds of times, making deep space exploration and commercialisation more accessible and practically feasible at last. Manufacturing and maintenance of quantum-propelled flying machines that can reach the age of our solar system within hours will be no more expensive than manufacturing jet planes or helicopters of the same size. Quantum propulsion systems are going to replace outdated chemical fuel rocket and jet engines in the near future and will become the mainstay of air travel and space exploration.

General hospital preparedness in facing flood disasters

Hospitals had a very important function in disaster management, especially in providing health services to reduce the suffering of disaster victims in the form of deceases and injuries. Hospital preparedness in facing disasters was contained in the Hospital Disaster Plan which was prepared based on the Safe Hospital Framework [1], and the Hospital Safety Index[2]. The purpose of this study was to analyze the preparedness of Aceh Tamiang General Hospital in facing flood disasters from 4 (four) aspects or evaluation modules namely, Hazard Affecting, Structural Safety, Non-Structural Safety, Emergency and Disaster Management, specifically analyzing the aspect of “Emergency and Disaster Management” according to the research focus namely, hospital policies, human resources preparedness and hospital infrastructure readiness in facing flood disasters. The research methodology was qualitative with a phenomenological design by 7 (seven) informants. The results of the study showed that the policies of the hospital leadership had been good, with the existence of a Leadership Decree concerning the Formation of a Hospital Disaster Management Team, since 2019 ago. However, there were still hospital personnel who did not know about the organizational structures, goals and functions as team members. Many hospital health workers could not go to work because their homes and access to the hospital were flooded. Besides that, hospital infrastructure, especially motorized vehicles such as ambulances and other operational vehicles, could not operate due to flood conditions that reached up to 1 meter. Therefore it was suggested that the socialization of the Disaster Management Team and Disaster Management Simulation should be carried out periodically, for example, twice a year. It should be suggested that the hospital proposed procuring an ambulance with certain specifications and a rescue boat, so that it could break through the floods that occur almost every year.

The Haidou‐1 hybrid underwater vehicle for the Mariana Trench science exploration to 10,908 m depth

AbstractAn unmanned Autonomous and Remotely Operated Vehicle (ARV), Haidou‐1, visited the Challenger Deep in the Mariana Trench, and performed observation, sampling and bathymetric mapping explorations at the trench bottom. The Haidou‐1 vehicle reached a depth of 10,908 m in the west pool of the Challenger Deep and probed a depth of 10,909 m in the east pool. The 2600 kg underwater robotic vehicle could conduct survey missions with full autonomy and can also be remotely operated through a light fiber tether. Haidou‐1 carries an electric manipulator to implement lightweight intervention tasks. The fiber‐optical tether enables long‐distance real‐time high‐bandwidth communication at full‐ocean depth, thereby providing situational awareness and remote intervention. The hybrid concept we defined for the Haidou‐1 vehicle refers to three typical working modes: Autonomous Underwater Vehicle mode, Remotely Operated Vehicle mode, and ARV mode. There is no need to change any structural configuration at sea to meet the needs of multidisciplinary oceanographic investigation. This paper reports the overview design of Haidou‐1. Practical field trials at the Challenger Deep were conducted to validate the feasibility and performance of the developed system. In the aggregate, eight dives exceeded 10,000 m counting all three operation modes. Some of the initial results are presented including the high‐resolution bathymetric map created by Haidou‐1 onboard sonar, and no similar results have been found yet.

Greenhouse Gasses Inventory on Textile Finishing Industry PT X

The textile industry has the biggest impact on environmental pollution in the world, and is responsible for 10% of global carbon production. Most of the waste in the textile industry, is generated from the dyeing process and textile processing. PT X is a textile finishing industry, that focuses on finishing processes like dyeing and textile processing. In this research, GHG (greenhouse gasses) emission inventory was carried out to see how much GHG generated in the textile finishing industry. The inventory will focus on CO2, CH4, and N2O from generator, curing machine, operational vehicle, and electricity usage. The inventory methodology was based on IPCC 2006, that stated to determine GHG emission, an activity data and emission factor from that source is needed. This emission inventory results on the total emissions of 666.38 tonCO2eq or 258.629 kgCO2eq/tonproduct GHG emission from PT X in 2021. The GHG emission in PT X are dominated by CO2 gas. Which most of comes from electricity usage source. GHG emission produce by PT X are not high compared with similar industries, but can be improved further more with mitigation measures such as installing a solar panel, and constructed wetland.

Adaptive neural network anti-disturbance control of a cable-driven flexible-joint-based underwater vehicle manipulator system with dead-zone input nonlinearities via multiple neural observers

To achieve the requirements of lightweight, low energy consumption, and low inertia of an underwater vehicle manipulator system, a cable-driven manipulator is installed on the underwater vehicle to form a cable-driven flexible-joint-based underwater vehicle manipulator system (CDFJ–UVMS). The CDFJ–UVMS is a complex nonlinear system subject to model uncertainties, complex marine environment disturbances, and actuator dead-zone nonlinearity. To design track controllers, the CDFJ–UVMS dynamics is divided into two parts: known and unknown. Subsequently, a radial basis function neural network is adopted to approximate the unknown nonlinearity. A neural network performance observer is constructed, whose estimation error is then used to design a novel neural disturbance observer (NDO) to estimate the total disturbance. Finally, an adaptive neural network control method is proposed for the CDFJ–UVMS based on the NDO, neural network compensator, and neural performance observer. The stability of the closed-loop system is analyzed using the Lyapunov method. The proposed control algorithm is applied to a CDFJ–UVMS with two cable-driven joints and compared with other control methods to show the effectiveness of the proposed control algorithm.

Adaptive ANCF method described by arbitrary Lagrange-Euler formulation with application in variable-length underwater tethered systems moving in limited spaces

The nonlinear effect of the variable-length cable may dominate the design of Remotely Operated Vehicles (ROVs) due to the interaction between the flexible cable and surroundings, especially when moving in limited spaces. This paper develops a novel adaptive Absolute Nodal Coordinate Formulation (ANCF) described by Arbitrary Lagrange-Euler (ALE) formulation to investigate the nonlinear dynamics of variable-length underwater tethered systems going across obstacles. The adaptive element techniques are adopted to efficiently simulate the moving contact. Fine meshes are generated autonomously to capture the detailed contact behaviors in contact areas while coarse meshes emerge in non-contact areas, thus significantly reducing DOFs and contact pairs. Additionally, the precontact searching algorithm based on the axis-aligned bounding box (AABB) is employed for the acceleration of the contact detection, which is crucial when element number increases as the mass flow. Combined with the experimental records and analytical solutions in two numerical examples, the accuracy and efficiency of the proposed methodology are further assessed by a comprehensive comparison among the fine, coarse, and adaptive mesh results. The numerical algorithm provides an efficient means for developing a feed-forward controller to compensate the nonlinear cable effects on ROVs when moving in limited space.

Remote-Access Marine Robotics Infrastructure and Experiments at LABUST

Marine robotics is a complex field with a potentially high demanding logistics and high deployment cost. This is a barrier to many research groups. On the other hand, some research groups have substantial equipment and infrastructure that are typically underutilized. The push for sharing infrastructures was recently accentuated due to the COVID-19 pandemic. In particular, remote access experiments became the norm during the lockdown periods. LABUST completed new infrastructure during the COVID-19 pandemic and prepared it for state-of-the-art remote access from anywhere in the globe. This is important both for research and educational purposes. This article describes the infrastructure, equipment, and methods used for implementing the remote access including the calibration procedures. It also reports on real remote access trials for different applications such as Autonomous ships, diver–robot interaction, and Remotely Operated Vehicle (ROV) pilots. These examples include both pool and at-sea remote trials, proving the capabilities of the infrastructure.

A Data-Driven Approach to Identify Major Air Pollutants in Shanghai Port Area and Their Contributing Factors

Air pollution is a growing concern in metropolitan areas worldwide, and Shanghai, as one of the world’s busiest ports, faces significant challenges in local air pollution control. Assessing the contribution of a specific port to air pollution is essential for effective environmental management and public health improvement, making the analysis of air pollution contributions at a selected port in Shanghai a pertinent research focus. This study aims to delve into the distribution patterns of atmospheric pollutants in port areas and their influencing factors, utilizing a data-driven approach to unveil the relationship between pollution sources and dispersion. Through a comparative analysis of pollution levels in the port’s interior, surrounding regions, and urban area concentrations, we ascertain that carbon monoxide (CO) and nitric oxide (NO) are the primary pollutants in the port, with concentrations significantly exceeding those of the surrounding areas and urban area levels. These two pollutants exhibit an hourly pattern, with lower levels during the day and higher concentrations at night. Employing a random forest model, this study quantitatively analyzes the contribution rates of different factors to pollutant concentrations. The results indicate that NO concentration is primarily influenced by operational intensity and wind speed, while CO concentration is mainly affected by meteorological factors. Further, an orthogonal experiment reveals that maintaining daily operational vehicle numbers within 5000 effectively controls NO pollution, especially at low wind speeds. Additionally, humidity and temperature exhibit similar trends in influencing NO and CO, with heightened pollution occurring within the range of 75% to 90% humidity and 6 °C to 10 °C temperature. Severe pollution accumulates under stagnant wind conditions with wind speeds below 0.2 m/s. The results help to explore the underlying mechanisms of port pollution further and use machine learning for early pollution prediction, aiding timely warnings and emission reduction strategy formulation.

Automated Deployment of an Underwater Tether Equipped with a Compliant Buoy–Ballast System for Remotely Operated Vehicle Intervention

Underwater remotely operated vehicles (ROVs) are linked to the surface through a tether that is usually controlled by a human operator. The length of the tether being deployed in the water in real time is a critical determinant of the success of the mission, and the problems of entanglement and cable stretching must be anticipated to the greatest possible extent. This paper describes a low-cost and setup-friendly solution for managing the length of a neutrally buoyant tether using a balanced buoy–ballast system implemented on the part of the tether proximal to the ROV. Embedded in the system is a curvature sensor that helps to control the cable feeder on the surface. This represents a useful solution for smoothing tether movements and to damp external disturbances. The results of experiments carried out in water tanks demonstrate the benefits of this solution in allowing the cable to maintain a semi-stretched shape while ensuring that the ROV avoids being pulled by the cable. Possible applications for a surface vehicle linked to an ROV through a tether equipped with this compliant buoy–ballast system include exploration or cartography missions in shallow waters.

Management Analysis of Sleman Regency Local Government Operational Asset Management

The background of this research is the management of operational vehicle assets for the Government of Sleman Regency and according to previous research there is a phenomenon of official vehicles that are still lacking in management, especially in maintenance, their use has not been carried out regularly. The Sleman Regency Government also has phenomena regarding operational service vehicle assets that are stalled or are no longer used. This study aims to determine whether the operational service vehicle asset management is in accordance with the Minister of Home Affairs Regulation number 19 of 2016 concerning the management of regional property. The research method uses descriptive research methods and qualitative approaches. Using primary data and data collection techniques are literature/documentation studies, interviews and drawing conclusions. The results of the research show that it is not in accordance with the management of official vehicle assets in accordance with the Minister of Home Affairs Regulation number 19 of 2016 concerning the management of regional property. It can be seen from the limited human resources so that management is lacking. Suggestions that can be given are to increase human resources and complete administration in the management of operational official vehicles.

Trends in scrappage and survival of U.S. light-duty vehicles

The rate at which new vehicles replace the existing stock of used vehicles affects the rate at which the benefits of regulations requiring safety technologies, controls on pollutant emissions, and energy efficiency improvements are fully realized. A review of past estimates of the life expectancies of U.S. light-duty vehicles indicates they have been increasing by 0.5 % to 1.5 % per year for the last half a century. We estimate models of scrappage rates and survival probabilities as a function of vehicle age for U.S. passenger cars, SUVs and vans, and pickup trucks, using population counts of vehicles in operation by vehicle type and model year for calendar years 2002–2020. Our results indicate that life expectancies for all three vehicle types continued to increase over this recent time period, by 2–3 years for passenger cars, 3–4 years for SUVs and Vans, and 5–6 years for pickup trucks. By 2020, median expected lifetimes ranged from about 17 years for passenger cars to 20 years for SUVs and vans, and 25 years for pickup trucks. The content and durability of new vehicles is likely to continue to increase as the market transitions to more electrified and automated vehicles, with important implications for policies aimed at reducing emissions, increasing fuel economy and improving safety.

The Use of Remote Sensing in the Study of Open-pit Mining and the Ecology of Disturbed Lands in Deposits of Cement Raw Materials in the Regions of Russia

Based on the results of remote monitoring, the state of mining operations in quarries for the extraction of mineral raw materials consumed by cement plants in Russia was investigated. The fleet of mining and transport vehicles in operation in cement quarries was studied. The production capacity of each quarry in terms of rock mass and the total production potential of quarries in Russia, estimated at 210 million tons per year, have been determined. The environmental indicators of disturbed lands during the development of mineral deposits for use in the cement industry as a whole are presented.

Methods for the verification of protective measures for safety of DC charging stations for electric vehicles

Due to the rising number of electric vehicles in operation the handling of charging stations concerning testing and personal safety has been becoming more and more a focus of interest in practice. Currently there are still open questions concerning safe installation, inspection and operation of such charging stations. This paper focuses on protective measures for safety and initial as well as periodic testing of DC charging stations. At the beginning of the work an overview of legal regulations and technical standards for charging stations is compiled. Further on different DC charging processes (of charging stations from different manufacturers in normal operation and in cases of faults) are measured as well as analysed. It shows that DC charging stations of different manufacturers react differently with regard to switch-off behaviour or switch-off times to various fault scenarios.

Upaya Pengelolaan Dan Pemanfaatan Dalam Air Limbah Domestik Tekstil Pencetakan Kain di PT X

The fabric printing industry makes a major contribution to various kinds of textile products, its by-products, liquid waste, require special attention in environmental management. Most of the liquid waste originating from the fabric printing industry consists of dyes, solvents and other processing chemicals. To prevent negative effects on water quality and the surrounding environment, managing this waste is very important. To achieve sustainability, advances in liquid waste processing technology are very important. The solution to reduce the impact of liquid waste from the fabric printing industry is an advanced purification process. PT. X to reduce polutan parameter such BOD, COD , TSS, Ammonia and Total Colidform by. 90%, 95%, 95%, 85%, 20%, 90% And meets the specified quality standards. Because the pH parameters still meet existing quality standards, processing is focused on reducing the organic parameters which are quite high. The results of the process will be used again for flushing activities in green open spaces and for washing operational vehicles.

A kick monitoring method for deepwater open-circuit drilling based on convolutional neural network

In the case of shallow drilling in deepwater without installation of riser and subsea BOP, open-circuit drilling is usually used. In the process of open-circuit drilling, drilling fluid is directly returned to the seabed. Therefore, observing the return of seabed drilling fluid through Remotely Operated Vehicle (ROV) has become one of the main methods for monitoring the kick in open-circuit drilling. However, the current ROV monitoring method only relies on the professional technical personnel to observe the video screen, which is difficult to identify the kick quickly and accurately in the early stage. In view of this problem, an intelligent kick monitoring method based on deep learning image recognition technology is proposed in this paper. By collecting the actual video image data shot by ROV and simulating the drilling fluid return morphology under different gas influx using Ansys Fluent software, a typical sample database is constructed. Then, the pretrained GoogLeNet neural network model is used for transfer learning, and the video images shot by ROV on site are used to test the trained model. The results show that this method can identify the kick more quickly and accurately, and the model has good robustness. Using this method can greatly reduce the economic losses in the process of deepwater open-circuit drilling, and provides technical support for safe and efficient drilling of deepwater open-circuit drilling.

Strategi meningkatkan pendapatan asli Daerah Kota Manado melalui pengelolaan pajak

The aim of this research is to 1) Analyze strategies for increasing Original Regional Income in Manado City through the management of Parking Tax; 2) Analyze the factors that hinder the Manado City Regional Revenue Agency in managing Parking Tax. The author uses qualitative research methods with SWOT analysis as a data analysis tool. The research results show that the Manado City Regional Revenue Agency has Strength and Opportunity (SO), so that its strengths and opportunities can be an advantage for the Manado City Regional Revenue Agency in increasing Original Regional Income through parking taxes. There are four strategic recommendations, namely: 1) Be firm in implementing parking tax sanctions and fines, 2) Improve parking tax services, 3) Improve parking tax communication and education, and 4) Increase parking tax supervision. Meanwhile, the inhibiting factors are: (1) Low discipline/compliance of parking taxpayers in paying taxes, 2) Low honesty/awareness of parking taxpayers in manipulating the amount of income turnover so that tax payments are low, (3) Limited number of human resources working and ineffectiveness of the joint task force in carrying out its main duties (4) Ineffective application of administrative sanctions such as fines, closure and sealing for tax objects that are late, in arrears or even do not pay parking tax, 5) Lack of supporting facilities such as operational vehicles, computers, laptops and printers.