SUMMARY The work presented in this paper aims at providing a unified modelling framework for the reactive control of wheeled mobile manipulators (WMM). Where most literature often provides models, sometimes simplified, given type WMM, an extensive description obtaining explicit kinematic and dynamic models those systems is given. This particularly well suited approaches, which, case manipulation missions, are necessary to handle complexity tasks be fulfilled, aspect extended workspace...

Inland navigation systems are large scale networks that used for transport. The can be accommodated if the condition gathered, i.e. there is enough volume of water in each part network. Thus, it necessary to supply inland with and well dispatch available on whole system. This aim generally achieved without difficulty normal condition. However, during drought periods, decreasing conditions would not reached everytime. These situations expected more current future specially a global change...

ABSTRACT An industrial waste liquid containing organonitrile compounds and nitrate ion has been injected into the lower limestone of Floridan aquifer near Pensacola, Florida since June 1975. Chemical analyses water from monitor wells backflow injection well indicate that organic carbon are converted to CO 2 is N . These transformations caused by bacteria immediately after injection, virtually completed within 100 m well. The zone behaves like an anaerobic filter with respiring dominating...

This paper proposes the use of predictive optimal control as a suitable methodology to manage efficiently transport water networks. The controller is implemented using MPC techniques. Arrêt-Darré/Arros dam-river system located in Southwest region France proposed case study. A high-fidelity dynamic simulator based on full Saint-Venant equations and able reproduce this developed MATLAB/SIMULINK validate performance system. objective guarantee an ecological flow rate at point downstream...

Over the last few years, frequency and intensity of floods has become more marked due to influence climate change. The engendered problems are related safety goods persons. These considerations require predictive management that will limit water height downstream. In literature, numerous works have described flow modeling management. work presented in this paper is interested quantitative by means flood expansion areas placed along river for which we size location. performance system depends...

Real-time management of hydraulic systems composed multi-reservoir involves conflicting objectives. Its representation requires complex variables to consider all the dynamics. Interfacing simulation model with optimization algorithm permits integrate flow routing into reservoir operation decisions and consists in solving separately operational constraints, but it that water resource is based on an evolutionary algorithm. Considering channel can be done using conceptual models such as...

The T-Ten European program aims at optimizing the transport logistics in Europe by promoting alternative modes. Navigation offers a competitive and environmentally friendly alternative. Hence, it is foresaw an increase of navigation demand that will be necessary to accommodate. This very challenging particularly global change context where less available water resource expected. A constraint satisfaction problem based on flow graph proposed this paper study resilience inland networks against...

Repetitive motion on industrial workstations is at the origin of musculoskeletal disorders (MSD). There a need for new simulation tools that allows human prediction. This paper addresses problem realistic workstations. It based analysis and control synthesis kinematics basis. Literature captures are compared. Then, scheme optimization in Cartesian motor space proposed tested 2 significant examples. Singular Value theory used determining shape hand paths. Finally, an application simulated....

In this paper, a method for designing supervised internal multi-model controller (SIMMC) is proposed. The structure well-adapted regulating non-linear plants which some operating modes can be represented. A multimodeling making possible to represent the supervision of mode carried out online and combined with control accommodation switches best controller. considered plant dam-gallery open-channel system supplying river water permitting all downstream uses. effectiveness performances SIMMC...

The flood lamination has for principal objective to maintain a downstream flow at fixed level. For this goal, it is necessary proceed the dimensioning of river system capacity and make sure its management by taking into account socio-economic environmental constraints. use diversion areas on main interest protect inhabited areas. In paper, strategy aiming deforming wave entrance zone be protected presented. A transportation network modeling optimization method are proposed. method, based...

We are interested in "human-like" automatic motion generation. The apparent redundancy of the humanoid wrt its explicit tasks lead to problem choosing a plausible movement framework redundant kinematics. Some results have been obtained human literature for reach that involves position hands. discuss these and generation scheme associated. When orientation is also explicitly required, very few works available even methods analysis not defined. choice metrics adapted orientation, problems...

The organization of the production leads very often to define repetitive sequences movements for human operators. This working type is at origin musculoskeletal disorders and professional diseases in a certain number cases. paper presents work on simulation operator its workplace software tool developed from it. goal these studies provide designers with realistic prediction order evaluate tasks workplaces ergonomic viewpoint. Main contribution automatic motion generation this specific context.

The Ochlockonee River area comprises about 1,420 square miles in the panhandle of northwest Florida. In 1975, population was 48,000. Water use averaged 11.4 million gallons per day; half pumped from wells and streams.The receives 57 inches precipitation year on average. Much this water enters surficial sand aquifer, seeps to streams, or underlying water-bearing zone upper confining unit Floridan aquifer.The is used for rural domestic supplies also important because it stores a source...

Flood is a natural phenomenon, usually sudden and calamitous event with devastating consequences serious effects on the society, environment economy. Thus, more research efforts have been carried out many solutions implemented in aim to control their impact. In order divert or block excess water due flooding, hydraulic structures such as retaining walls, retention ponds, dams, etc. are necessary require use of operation strategies manage complex system. this paper, flood decrease strategy...

Flood events are expected more frequent with biggest magnitude in the near future. They have potential big impacts on human economic activity and property, health life of man, environment. One possibility to mitigate flood impact consists using storage areas designing a control strategy dispatch volumes water reducing flow peak. The designed mitigation is based prediction hydrographs estimation that be stored. It leads optimal peak reduction according capacity areas. This paper details steps...

Inundations due to river overflows are becoming more frequent; management of flood is thus an important task belonging the set preventive measures allowing protection people and goods downstream. The situation method proposed in this paper was designed reduce impact at its early arising stage. supposed be equipped with reservoirs which water excesses stored then released only when episode ends. supervisory control scheme allows calculation volumes through use a network flow. Management...

ABSTRACT More than 10 billion gallons (38 × 6 m 3 ) of acid industrial liquid waste has been injected in about 11 years under high pressure into a saline‐water‐filled part limestone aquifer low transmissivity between 1,400 and 1,700 feet (430 520 m) below land surface near Pensacola, Florida. A similar disposal system is planned for the same zone at site 8.5 miles (13.7 km) to east. The injection lower Floridan aquifer. overlain by confining layer plastic clay 220 (67 thick active underlain...