This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics

https://hal.inria.fr/inria-00350638/document

Visual servo control. II. Advanced approaches [Tutorial]

Knocking combustion in spark-ignition engines

Internal combustion engines fueled by natural gas—hydrogen mixtures

The engine knock analysis – An overview

Effect of hydrogen addition on the performance of methane-fueled vehicles. Part I: effect on S.I. engine performance

A hydrogen and natural gas fuel mixture for internal combustion engines is provided for vehicle engines such as those used in standard production engines for automobiles, trains and lawn mowers The gaseous fuel for operating a vehicle combustion engines includes approximately 21 to 50% Hydrogen and the rest natural gas constituents such as combinations of Methane, Carbon Dioxide, Nitrogen, Ethane, Propane, Iso-Butane, N-Butane, Iso Pentane, N-Pentane, and Hexanes Plus A fuel mixture of approximately 28 to 36 percent Hydrogen and a air fuel equivalence ratio of approximately 0625 is an extreme lean burn condition that yields hydrocarbon emission levels of less than approximately 104 ppm (084 hm/hp hr) Current internal combustion engines that are in mass production can take this alternative fuel without any substantial modifications to their systems This alternative fuel is lean burning and emits emissions that are below current legal standards The novel fuel mixture can be used in internal combustion engines for automobiles, lawnmowers, and trains A control system for allowing the internal combustion engines to operate at extreme lean burn conditions is also provided for use with both a carburetor and fuel injection system For a carburetor system, a secondary demand regulator system can kick in when a throttle is wide open and will allow additional fuel to pass through the system to meet instantaneous power demands such that occur when full throttle depression is insufficient for severe grade climbing, expressway merging, passing and the like The fuel injection system can also be programed with a control algorithm that will select air fuel ratios The computer control can increase fuel with respect to air when the throttle reaches a selected point of travel The computer control can also dynamically change the hydrogen and natural gas fuel mixture ratio dynamically while the vehicle is being operated based on engine power demands and emissions

Hydrogen enriched natural gas as a motor fuel with variable air fuel ratio and fuel mixture ratio control

NOx Emissions and Efficiency of Hydrogen, Natural Gas, and Hydrogen/Natural Gas Blended Fuels

Experimental study of a clean burning vehicle fuel

Untreated Exhaust Emissions of a Hydrogen-Enriched CNG Production Engine Conversion

A fuel mixture is disclosed. In a preferred embodiment, an alternative gaseous fuel for operating a combustion engine includes approximately 21 to 50% Hydrogen and the rest natural gas constituants such as combinations of Methane, Carbon Dioxide, Nitrogen, Ethane, Propane, Iso-Butane, N-Butane, Iso Pentane, N-Pentane, and Hexanes Plus. Current production engines without any substantial modifications can take this alternative fuel. This alternative fuel is lean burning and emits emissions that are below current legal standards.

Robert Hoekstra

Papers

Hydrogen enriched natural gas as a motor fuel with variable air fuel ratio and fuel mixture ratio control

NOx Emissions and Efficiency of Hydrogen, Natural Gas, and Hydrogen/Natural Gas Blended Fuels

Experimental study of a clean burning vehicle fuel

Untreated Exhaust Emissions of a Hydrogen-Enriched CNG Production Engine Conversion

Hydrogen enriched natural gas as a clean motor fuel