In this letter, we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most methods systems contacts employ mode-scheduling, which requires an priori knowledge order and thus cannot produce complex or non-intuitive behaviors. Contact-implicit offer solution allowing make break as needed, but far have suffered from poor accuracy. Here, combine direct collocation higher polynomials...

Abstract We propose a new strategy to synthesize heat exchanger networks with detailed designs of individual exchangers. The proposed uses multistep approach by first obtaining network topology through solving modified version the mixed integer nonlinear programming (MINLP) stage‐wise superstructure Yee and Grossmann, which includes smoothed LMTD approximation pressure drops. In second (NLP) suboptimization step, we allow for nonisothermal mixing solve problems or without bypasses. selected...

Abstract A new method for the detailed design of shell and tube heat exchangers is presented through formulation coupled differential equations, along with algebraic equations variables. Heat exchanger components (tube passes, baffles, shells) are used to discretize solved simultaneously equations. The equation (DAE) system suitable numerical optimization as it replaces nonsmooth log mean temperature difference (LMTD) term. Discrete decisions regarding number shells, fluid allocation, sizes,...

With implications for hydrogen transport and decarbonization of gas electricity networks, the blending with natural via existing infrastructures is explored by computing transitions between monotonic, periodic, chaotic responses to boundary conditions.

Natural gas consumption by users of pipeline networks is subject to increasing uncertainty that originates from the intermittent nature electric power loads serviced gas-fired generators. To enable computationally efficient optimization network flows uncertainty, we develop a finite volume representation stochastic solutions hyperbolic partial differential equation (PDE) systems on graph-connected domains with nodal coupling and boundary conditions. The used express physical constraints in...

Abstract The increasing penetration of unconventional gas and liquefied natural poses an operational challenge on existing regional networks for quality problems. A new dynamic model pipeline network with multiple supplies is presented a special emphasis interchangeability control. Wobbe index serves as indicator calculated by equations derived from rigorous composition‐based partial differential equations. Disjunctive formulation applied to represent different modes blending due reversal,...

We formulate a control system model for the distributed flow of mixtures highly heterogeneous gases through large-scale pipeline networks with time-varying injections constituents, withdrawals, and actions compressors. This study is motivated by proposed blending clean hydrogen into natural gas pipelines as an interim means to reducing end use carbon emissions while utilizing existing infrastructure its planned lifetime. reformulate partial differential equations dynamics on balance...

Abstract Intelligent completions or Smart Well Completions have gained traction in recent years as they provide better control for reservoir management. Simply, intelligent consist of the two components, Flow Control and Permanent Downhole Monitoring Systems (PDHMS). While value flow systems has been heavily documented, less published regarding optimization a proactive manner by more effective utilization data obtained from monitoring systems. This paper simply outlines how can be used to...

We present an economic optimization problem for allocating the flow of natural gas and hydrogen blends through a large-scale transportation pipeline network. Physical mixture is modeled using steady-state relation between pressure decrease rate, which depends on mass concentration constituents as it varies by location in The objective reflects value provided system, accounting delivered energy withdrawn flows, cost injections, avoided carbon emissions. solved subject to physical equations,...

Data preprocessing is an important prerequisite for data mining and machine learning. In this paper, we introduce Preprocessy, a Python framework that provides customisable pipelines processing structured data. Preprocessy come with sane defaults the also low-level functions to build custom pipelines. The paper gives brief overview of features high-level APIs along performance comparison against Scikit-learn Pandas on two datasets. handling missing outliers, normalisation, feature selection...

Biodiesel is one of the most important alternate fuels that clean and has no negative environmental effects. Transesterification lipid production are main unit operations in biodiesel production. It both these processes conducted efficient manner ensuring best possible product obtained. A rigorous multiobjective nonlinear model predictive control strategy for transesterification presented. The objective to maximize concentration required products while minimizing impurities. This very...

The blending of hydrogen generated using clean energy into natural gas pipeline networks is proposed in order to utilize existing systems for their planned lifetimes while reducing reliance on fossil fuels. We formulate a system partial differential equations (PDEs) that govern the flow dynamics mixtures gases under influence time-varying compressor and regulator control actions. formulation derived general can inject or withdraw arbitrary from network at arbitrarily specified nodes. PDE...