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Worldwide wind energy generation capacity has grown rapidly over the past several decades, and wind turbines installed at the beginning of this wave of growth are approaching the end of their design lifetimes. As an increasing number of wind power plants reach their end of life, both decommissioning and repowering (i.e., dismantling or refurbishing existing turbines and commissioning new ones) will produce waste material from the retired wind turbines, foundations, and balance of plant. However, the amount and type of waste, particularly for wind blades, is often mischaracterized. Although wind turbine components are largely recyclable, the blades are typically made of fiberglass composites, which can present challenges for material recovery and reuse. Within the USA, the accumulation of wind turbine blades in landfills has raised questions about whether the continued expansion of wind energy is sustainable if it results in substantial future waste. This study compares the mass and volume of potential global wind blade waste to other waste streams. It also discusses the materials used to manufacture wind turbine blades and summarizes current options for material redesign, recycling (recovery and reuse), repurposing, and disposal of used blades. The analysis indicates that, although wind turbine blades could represent 14% of the composite market by 2027, the potential future mass and volume of wind turbine blade waste is relatively small compared to other industries. These findings suggest that although the development of scalable, economically viable, and environmentally sustainable methods for wind turbine manufacturing, repurposing, and recycling is important, it may make sense to take advantage of synergies among multiple industries in recycling composite waste, rather than focusing solely on wind turbine blades. From a global perspective, larger sustainability, recycling, and waste stream reduction impacts can be made in other industries, such as transportation and construction. 

Abstract Accurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This paper introduces a time-based nonlinear control approach that achieves accurate global-position tracking (GPT) for multi-domain bipedal walking. Deriving a tracking controller for bipedal robots is challenging due to the highly complex robot dynamics that are time-varying and hybrid, especially for multi-domain walking that involves multiple phases/domains of full actuation, over actuation, and underactuation. To tackle this challenge, we introduce a continuous-phase GPT control law for multi-domain walking, which provably ensures the exponential convergence of the entire error state within the full and over actuation domains and that of the directly regulated error state within the underactuation domain. We then construct sufficient multiple-Lyapunov stability conditions for the hybrid multi-domain tracking error system under the proposed GPT control law. We illustrate the proposed controller design through both three-domain walking with all motors activated and two-domain gait with inactive ankle motors. Simulations of a ROBOTIS OP3 bipedal humanoid robot demonstrate the satisfactory accuracy and convergence rate of the proposed control approach under two different cases of multi-domain walking as well as various walking speed and desired paths. 

Addressing resource intermittency is crucial for designing effective and economical renewable energy systems for many applications. Hydrogen as long-term energy storage medium shows promise for increasing renewables penetration into the grid. Cost-effective hybrid wind-hydrogen microgrids (HWHMs) require system-level sizing of each subcomponent. This study employs low-order HWHM component models in a system-level framework to predict HWHM performance. It introduces a novel approach to investigate the optimal sizing of HWHMs. The study uniquely addresses the impact of wind speed fluctuation amplitudes and frequency variations on system design – an area not previously explored. The model is run for 7 days using several different wind speed profiles and real load demand data from an off-grid Naval facility on an island in California. In our test cases, the findings indicate that fewer wind turbines and more hydrogen tanks are required to successfully meet demand when wind speed fluctuations increase. For example, when the wind speed fluctuation increases from 0.68 to 2.04 m/s, and the wind turbine is expected to maintain an average power equivalent to 90% of the peak load, the turbine capacity drops by 17%, requiring a 304% rise in the number of tanks. However, the frequency of wind speed variation has a negligible effect on the optimal HWHM configuration. Through a rule-based optimization algorithm, this research offers important insights for designing reliable microgrids capable of meeting critical loads despite highly variable wind conditions. 

Stereovision systems can extract full-field three-dimensional (3D) displacements of structures by processing the images collected with two synchronized cameras. To obtain accurate measurements, the cameras must be calibrated to account for lens distortion (i.e., intrinsic parameters) and compute the cameras’ relative position and orientation (i.e., extrinsic parameters). Traditionally, calibration is performed by taking photos of a calibration object (e.g., a checkerboard) with the two cameras. Because the calibration object must be similar in size to the targeted structure, measurements on large-scale structures are highly impractical. This research proposes a multi-sensor board with three inertial measurement units and a laser distance meter to compute the extrinsic parameters of a stereovision system and streamline the calibration procedure. In this paper, the performances of the proposed sensor-based calibration are compared with the accuracy of the traditional image-based calibration procedure. Laboratory experiments show that cameras calibrated with the multi-sensor board measure displacements with 95% accuracy compared to displacements obtained from cameras calibrated with the traditional procedure. The results of this study indicate that the sensor-based approach can increase the applicability of 3D digital image correlation measurements to large-scale structures while reducing the time and complexity of the calibration. 

Three-dimensional digital image correlation (3D-DIC) has become a strong alternative to traditional contact-based techniques for structural health monitoring. 3D-DIC can extract the full-field displacement of a structure from a set of synchronized stereo images. Before performing 3D-DIC, a complex calibration process must be completed to obtain the stereovision system’s extrinsic parameters (i.e., cameras’ distance and orientation). The time required for the calibration depends on the dimensions of the targeted structure. For example, for large-scale structures, the calibration may take several hours. Furthermore, every time the cameras’ position changes, a new calibration is required to recalculate the extrinsic parameters. The approach proposed in this research allows determining the 3D-DIC extrinsic parameters using the data measured with commercially available sensors. The system utilizes three Inertial Measurement Units with a laser distance meter to compute the relative orientation and distance between the cameras. In this paper, an evaluation of the sensitivity of the newly developed sensor suite is provided by assessing the errors in the measurement of the extrinsic parameters. Analytical simulations performed on a 7.5 x 5.7 m field of view using the data retrieved from the sensors show that the proposed approach provides an accuracy of ~10-6 m and a promising way to reduce the complexity of 3D-DIC calibration.