Search results for: single unit heavy vehicle
9000 UML Model for Double-Loop Control Self-Adaptive Braking System
Authors: Heung Sun Yoon, Jong Tae Kim
Abstract:
In this paper, we present an activity diagram model for double-loop control self-adaptive braking system. Since activity diagram helps to improve visibility of self-adaption, we can easily find where improvement is needed on double-loop control. Double-loop control is adopted since the design conditions and actual conditions can be different. The system is reconfigured in runtime by using double-loop control. We simulated to verify and validate our model by using MATLAB. We compared single-loop control model with double-loop control model. Simulation results show that double-loop control provides more consistent brake power control than single-loop control.Keywords: activity diagram, automotive, braking system, double-loop, self-adaptive, UML, vehicle
Procedia PDF Downloads 4168999 Heavy Metal Concentrations in Sediments of Sta. Maria River, Laguna
Authors: Francis Angelo A. Sta. Ana
Abstract:
Heavy metal pollutants are a major environmental concern in built-up areas in the Philippines. It causes negative effects on aquatic organisms and human health. Heavy metals concentrations of chromium, mercury, lead, copper, arsenic, zinc, cadmium, and nickel were investigated in Sta. Maria river, in Laguna. A total of 16 sediment samples were collected from the river at four stations. Atomic absorption spectroscopy (AAS) was used for element detection. It is found that copper is associated with chromium based on statistical analysis using principal component analysis (PCA). Conduct of Sediment Quality Guideline (SQG) revealed that chromium has high toxicity due to values higher than Sediment Quality Guidelines Probable Effect Level (SQG’s PEL). Copper, Nickel, and Pb fall on average toxicity while others are below PEL and effect range low (ERL).Keywords: heavy metals, pollutants, sediment quality guidelines, atomic absorption spectroscopy
Procedia PDF Downloads 1478998 Friction Estimation and Compensation for Steering Angle Control for Highly Automated Driving
Authors: Marcus Walter, Norbert Nitzsche, Dirk Odenthal, Steffen Müller
Abstract:
This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated driving. In this steering system the friction induces limit cycles which cause oscillating vehicle movement when the vehicle follows a given reference trajectory. When compensating the friction with the introduced estimator, limit cycles can be suppressed. This is demonstrated by measurements in a series vehicle.Keywords: friction estimation, friction compensation, steering system, lateral vehicle guidance
Procedia PDF Downloads 5158997 Sensitivity Parameter Analysis of Negative Moment Dynamic Load Allowance of Continuous T-Girder Bridge
Authors: Fan Yang, Ye-Lu Wang, Yang Zhao
Abstract:
The dynamic load allowance, as an application result of the vehicle-bridge coupled vibration theory, is an important parameter for bridge design and evaluation. Based on the coupled vehicle-bridge vibration theory, the current work establishes a full girder model of a dynamic load allowance, selects a planar five-degree-of-freedom three-axis vehicle model, solves the coupled vehicle-bridge dynamic response using the APDL language in the spatial finite element program ANSYS, selects the pivot point 2 sections as the representative of the negative moment section, and analyzes the effects of parameters such as travel speed, unevenness, vehicle frequency, span diameter, span number and forced displacement of the support on the negative moment dynamic load allowance through orthogonal tests. The influence of parameters such as vehicle speed, unevenness, vehicle frequency, span diameter, span number, and forced displacement of the support on the negative moment dynamic load allowance is analyzed by orthogonal tests, and the influence law of each influencing parameter is summarized. It is found that the effects of vehicle frequency, unevenness, and speed on the negative moment dynamic load allowance are significant, among which vehicle frequency has the greatest effect on the negative moment dynamic load allowance; the effects of span number and span diameter on the negative moment dynamic load allowance are relatively small; the effects of forced displacement of the support on the negative moment dynamic load allowance are negligible.Keywords: continuous T-girder bridge, dynamic load allowance, sensitivity analysis, vehicle-bridge coupling
Procedia PDF Downloads 1598996 Feasibilty and Penetration of Electric Vehicles in Indian Power Grid
Authors: Kashyap L. Mokariya, Varsha A. Shah, Makarand M. Lokhande
Abstract:
As the current status and growth of Indian automobile industry is remarkable, transportation sectors are the main concern in terms of Energy security and climate change. Rising demand of fuel and its dependency on other countries affects the GDP of nation. So in this context if the 10 percent of vehicle got operated in Electrical mode how much saving in terms of Rs and in terms of liters is achieved has been analyzed which is also a part of Nations Electric mobility mission plan. Analysis is also done for converting unit consumption of Electricity of Electric vehicle into equivalent fuel consumption in liters which shows that at present tariff rate Electrical operated vehicles are far more beneficial. It also gives benchmark to the authorities to set the tariff rate for Electrical vehicles. Current situation of Indian grid is shown and how the Gap between Generation and Demand can be reduced is analyzed in terms of increasing generation capacity and Energy Conservation measures. As the certain regions of country is facing serious deficit than how to take energy conservation measures in Industry and especially in rural areas where generally Energy Auditing is not carried out that is analyzed in context of Electric vehicle penetration in near future. Author was a part of Vishvakarma yojna where in 255 villages of Gujarat Energy losses were measured and solutions were given to mitigate them and corresponding report to the authorities of villages was delivered.Keywords: vehiclepenetration, feasibility, Energyconservation, future grid, Energy security, pf controller
Procedia PDF Downloads 3608995 Validation of Electrical Field Effect on Electrostatic Desalter Modeling with Experimental Laboratory Data
Authors: Fatemeh Yazdanmehr, Iulian Nistor
Abstract:
The scope of the current study is the evaluation of the electric field effect on electrostatic desalting mathematical modeling with laboratory data. This research study was focused on developing a model for an existing operation desalting unit of one of the Iranian heavy oil field with a 75 MBPD production capacity. The high temperature of inlet oil to dehydration unit reduces the oil recovery, so the mathematical modeling of desalter operation parameters is very significant. The existing production unit operating data has been used for the accuracy of the mathematical desalting plant model. The inlet oil temperature to desalter was decreased from 110 to 80°C, and the desalted electrical field was increased from 0.75 to 2.5 Kv/cm. The model result shows that the desalter parameter changes meet the water-oil specification and also the oil production and consequently annual income is increased. In addition to that, changing desalter operation conditions reduces environmental footprint because of flare gas reduction. Following to specify the accuracy of selected electrostatic desalter electrical field, laboratory data has been used. Experimental data are used to ensure the effect of electrical field change on desalter. Therefore, the lab test is done on a crude oil sample. The results include the dehydration efficiency in the presence of a demulsifier and under electrical field (0.75 Kv) conditions at various temperatures. Comparing lab experimental and electrostatic desalter mathematical model results shows 1-3 percent acceptable error which confirms the validity of desalter specification and operation conditions changes.Keywords: desalter, electrical field, demulsification, mathematical modeling, water-oil separation
Procedia PDF Downloads 1408994 Effect of Fractional Flow Curves on the Heavy Oil and Light Oil Recoveries in Petroleum Reservoirs
Authors: Abdul Jamil Nazari, Shigeo Honma
Abstract:
This paper evaluates and compares the effect of fractional flow curves on the heavy oil and light oil recoveries in a petroleum reservoir. Fingering of flowing water is one of the serious problems of the oil displacement by water and another problem is the estimation of the amount of recover oil from a petroleum reservoir. To address these problems, the fractional flow of heavy oil and light oil are investigated. The fractional flow approach treats the multi-phases flow rate as a total mixed fluid and then describes the individual phases as fractional of the total flow. Laboratory experiments are implemented for two different types of oils, heavy oil, and light oil, to experimentally obtain relative permeability and fractional flow curves. Application of the light oil fractional curve, which exhibits a regular S-shape, to the water flooding method showed that a large amount of mobile oil in the reservoir is displaced by water injection. In contrast, the fractional flow curve of heavy oil does not display an S-shape because of its high viscosity. Although the advance of the injected waterfront is faster than in light oil reservoirs, a significant amount of mobile oil remains behind the waterfront.Keywords: fractional flow, relative permeability, oil recovery, water fingering
Procedia PDF Downloads 3038993 Histopathological Changes in Liver and Muscle of Tilapia Fish from QIRE Exposed to Concentrations of Heavy Metals
Authors: Justina I. R. Udotong, Ofonime U. M. John
Abstract:
Toxicity of copper (Cu), lead (Pb) and iron (Fe) to Tilapia guinensis was carried out for 4 days with a view to determining their effects on the liver and muscle tissues. Tilapia guinensis samples of about 10 - 14cm length and 0.2 – 0.4kg weight each were obtained from University of Calabar fish ponds and acclimated for three (3) days before the experimental set up. Survivors after the 96-hr LC50 test period were selected from test solutions of the heavy metals for the histopathological studies. Histological preparations of liver and muscle tissues were randomly examined for histopathological lesions. Results of the histological examinations showed gross abnormalities in the liver tissues due to pathological and degenerative changes compared to liver and muscle tissues from control samples (tilapia fishes from aquaria without heavy metals). Extensive hepatocyte necrosis with chronic inflammatory changes was observed in the liver of fishes exposed to Cu solution. Similar but less damaging effects were observed in the liver of fishes exposed to Pb and Fe. The extent of lesion observed was therefore heavy metal-related. However, no pathologic changes occurred in the muscle tissues.Keywords: degenerative changes, heavy metal, hepatocyte necrosis, histopathology, toxicity
Procedia PDF Downloads 4158992 Evaluation of Traffic Noise Level: A Case Study in Residential Area of Ishbiliyah , Kuwait
Authors: Jamal Almatawah, Hamad Matar, Abdulsalam Altemeemi
Abstract:
The World Health Organization (WHO) has recognized environmental noise as harmful pollution that causes adverse psychosocial and physiologic effects on human health. The motor vehicle is considered to be one of the main source of noise pollution. It is a universal phenomenon, and it has grown to the point that it has become a major concern for both the public and policymakers. The aim of this paper, therefore, is to investigate the Traffic noise levels and the contributing factors that affect its level, such as traffic volume, heavy-vehicle Speed and other metrological factors in Ishbiliyah as a sample of a residential area in Kuwait. Three types of roads were selected in Ishbiliyah expressway, major arterial and collector street. The other source of noise that interferes the traffic noise has also been considered in this study. Traffic noise level is measured and analyzed using the Bruel & Kjaer outdoor sound level meter 2250-L (2250 Light). The Count-Cam2 Video Camera has been used to collect the peak and off-peak traffic count. Ambient Weather WM-5 Handheld Weather Station is used for metrological factors such as temperature, humidity and wind speed. Also, the spot speed was obtained using the radar speed: Decatur Genesis model GHD-KPH. All the measurement has been detected at the same time (simultaneously). The results showed that the traffic noise level is over the allowable limit on all types of roads. The average equivalent noise level (LAeq) for the Expressway, Major arterial and Collector Street was 74.3 dB(A), 70.47 dB(A) and 60.84 dB(A), respectively. In addition, a Positive Correlation coefficient between the traffic noise versus traffic volume and between traffic noise versus 85th percentile speed was obtained. However, there was no significant relation and Metrological factors. Abnormal vehicle noise due to poor maintenance or user-enhanced exhaust noise was found to be one of the highest factors that affected the overall traffic noise reading.Keywords: traffic noise, residential area, pollution, vehicle noise
Procedia PDF Downloads 678991 Deep Learning Framework for Predicting Bus Travel Times with Multiple Bus Routes: A Single-Step Multi-Station Forecasting Approach
Authors: Muhammad Ahnaf Zahin, Yaw Adu-Gyamfi
Abstract:
Bus transit is a crucial component of transportation networks, especially in urban areas. Any intelligent transportation system must have accurate real-time information on bus travel times since it minimizes waiting times for passengers at different stations along a route, improves service reliability, and significantly optimizes travel patterns. Bus agencies must enhance the quality of their information service to serve their passengers better and draw in more travelers since people waiting at bus stops are frequently anxious about when the bus will arrive at their starting point and when it will reach their destination. For solving this issue, different models have been developed for predicting bus travel times recently, but most of them are focused on smaller road networks due to their relatively subpar performance in high-density urban areas on a vast network. This paper develops a deep learning-based architecture using a single-step multi-station forecasting approach to predict average bus travel times for numerous routes, stops, and trips on a large-scale network using heterogeneous bus transit data collected from the GTFS database. Over one week, data was gathered from multiple bus routes in Saint Louis, Missouri. In this study, Gated Recurrent Unit (GRU) neural network was followed to predict the mean vehicle travel times for different hours of the day for multiple stations along multiple routes. Historical time steps and prediction horizon were set up to 5 and 1, respectively, which means that five hours of historical average travel time data were used to predict average travel time for the following hour. The spatial and temporal information and the historical average travel times were captured from the dataset for model input parameters. As adjacency matrices for the spatial input parameters, the station distances and sequence numbers were used, and the time of day (hour) was considered for the temporal inputs. Other inputs, including volatility information such as standard deviation and variance of journey durations, were also included in the model to make it more robust. The model's performance was evaluated based on a metric called mean absolute percentage error (MAPE). The observed prediction errors for various routes, trips, and stations remained consistent throughout the day. The results showed that the developed model could predict travel times more accurately during peak traffic hours, having a MAPE of around 14%, and performed less accurately during the latter part of the day. In the context of a complicated transportation network in high-density urban areas, the model showed its applicability for real-time travel time prediction of public transportation and ensured the high quality of the predictions generated by the model.Keywords: gated recurrent unit, mean absolute percentage error, single-step forecasting, travel time prediction.
Procedia PDF Downloads 728990 Implementation and Modeling of a Quadrotor
Authors: Ersan Aktas, Eren Turanoğuz
Abstract:
In this study, the quad-electrical rotor driven unmanned aerial vehicle system is designed and modeled using fundamental dynamic equations. After that, mechanical, electronical and control system of the air vehicle are designed and implemented. Brushless motor speeds are altered via electronic speed controllers in order to achieve desired controllability. The vehicle's fundamental Euler angles (i.e., roll angle, pitch angle, and yaw angle) are obtained via AHRS sensor. These angles are provided as an input to the control algorithm that run on soft the processor on the electronic card. The vehicle control algorithm is implemented in the electronic card. Controller is designed and improved for each Euler angles. Finally, flight tests have been performed to observe and improve the flight characteristics.Keywords: quadrotor, UAS applications, control architectures, PID
Procedia PDF Downloads 3658989 Standard Model-Like Higgs Decay into Displaced Heavy Neutrino Pairs in U(1)' Models
Authors: E. Accomando, L. Delle Rose, S. Moretti, E. Olaiya, C. Shepherd-Themistocleous
Abstract:
Heavy sterile neutrinos are almost ubiquitous in the class of Beyond Standard Model scenarios aimed at addressing the puzzle that emerged from the discovery of neutrino flavour oscillations, hence the need to explain their masses. In particular, they are necessary in a U(1)’ enlarged Standard Model (SM). We show that these heavy neutrinos can be rather long-lived producing distinctive displaced vertices and tracks. Indeed, depending on the actual decay length, they can decay inside a Large Hadron Collider (LHC) detector far from the main interaction point and can be identified in the inner tracking system or the muon chambers, emulated here through the Compact Muon Solenoid (CMS) detector parameters. Among the possible production modes of such heavy neutrino, we focus on their pair production mechanism in the SM Higgs decay, eventually yielding displaced lepton signatures following the heavy neutrino decays into weak gauge bosons. By employing well-established triggers available for the CMS detector and using the data collected by the end of the LHC Run 2, these signatures would prove to be accessible with negligibly small background. Finally, we highlight the importance that the exploitation of new triggers, specifically, displaced tri-lepton ones, could have for this displaced vertex search.Keywords: beyond the standard model, displaced vertex, Higgs physics, neutrino physics
Procedia PDF Downloads 1458988 An Investigation of Water Atomizer in Ejected Gas of a Vehicle Engine
Authors: Chun-Wei Liu, Feng-Tsai Weng
Abstract:
People faced pollution threaten in modern age although the standard of exhaust gas of vehicles has been established. The goal of this study is to investigate the effect of water atomizer in a vehicle emission system. Diluted 20% ammonia water was used in spraying system. Micro particles produced by exhausted gas from engine of vehicle which were cumulated through atomized spray in a self-development collector. In experiments, a self-designed atomization model plate and a gas tank controlled by the micro-processor using Pulse Width Modulation (PWM) logic was prepared for exhaust test. The gas from gasoline-engine of vehicle was purified with the model panel collector. A soft well named ANSYS was utilized for analyzing the distribution condition of rejected gas. Micro substance and percentage of CO, HC, CO2, NOx in exhausted gas were investigated at different engine speed, and atomizer vibration frequency. Exceptional results in the vehicle engine emissions measurement were obtained. The temperature of exhausted gas can be decreased 3oC. Micro substances PM10 can be decreased and the percentage of CO can be decreased more than 55% at 2500RPM by proposed system. Value of CO, HC, CO2 and NOX was all decreased when atomizers were used with water.Keywords: atomizer, CO, HC, NOx, PM2.5
Procedia PDF Downloads 4578987 Health Risk Assessment of Heavy Metals in Clarias gariepinus (Burchell, 1822) from Fish Mongers within Akure Metropolis, Ondo State, Nigeria
Authors: O. O. Olawusi-Peters, K. I. Adejugbagbe
Abstract:
The concentration of heavy metal (Cd, Pb, Fe, Zn, Cu) in Clarias gariepinus collected from fish markets; Fanibi (Station I) and Fiwasaye (Station II) in Akure metropolis, Ondo state, Nigeria were investigated to ascertain the safety for the consumers. 60 samples were collected from the two markets in three batches (I, II, III) for a period of six months and analyzed for heavy metals in the gills and muscles of the fish. Also, the Health Risk Index (HRI) was used to determine the health risk of these metals to the consumer. The results showed that the investigated metal concentration was higher in station I than station II, except Pb having higher concentration in station II than station I. In both stations, the highest concentration of Fe was recorded in the gills (12.60 ± 1.51; 6.94 ± 1.38) and muscles (3.72 ± 0.09; 3.86 ± 0.33) of samples in batch I. Also, the HRI revealed that consumption of Clarias gariepinus from these study areas did not pose any health risk (HRI < 1). In addition, concentrations of the heavy metals were all below the permissible limits recommended by FAO/WHO.Keywords: health risk index, heavy metals, clarias gariepinus, akure metropolis, fish monger
Procedia PDF Downloads 1478986 Overhead Reduction by Channel Estimation Using Linear Interpolation for Single Carrier Frequency Domain Equalization Transmission
Authors: Min-Su Song, Haeng-Bok Kil, Eui-Rim Jeong
Abstract:
This paper proposes a new method to reduce the overhead by pilots for single carrier frequency domain equalization (SC-FDE) transmission. In the conventional SC-FDE transmission structure, the overhead by transmitting pilot is heavy because the pilot are transmitted at every SC-FDE block. The proposed SC-FDE structure has fewer pilots and many SC-FCE blocks are transmitted between pilots. The channel estimation and equalization is performed at the pilot period and the channels between pilots are estimated through linear interpolation. This reduces the pilot overhead by reducing the pilot transmission compared with the conventional structure, and enables reliable channel estimation and equalization.Keywords: channel estimation, linear interpolation, pilot overhead, SC-FDE
Procedia PDF Downloads 2738985 Managing Truck Drivers’ Fatigue: A Critical Review of the Literature and Recommended Remedies
Authors: Mozhgan Aliakbari, Sara Moridpour
Abstract:
In recent years, much attention has been given to truck drivers’ fatigue management. Long working hours negatively influence truck drivers’ physiology, health, and safety. However, there is little empirical research in the heavy vehicle transport sector in Australia to identify the influence of working hours’ management on drivers’ fatigue and consequently, on the risk of crashes and injuries. There is no national legislation regulating the number of hours or kilometres travelled by truck drivers. Consequently, it is almost impossible to define a standard number of hours or kilometres for truck drivers in a safety management system. This paper reviews the existing studies concerning safe system interventions such as tachographs in relation to fatigue caused by long working hours. This paper also reviews the literature to identify the influence of frequency of rest breaks on the reduction of work-related road transport accidents involving trucks. A framework is presented to manage truck drivers’ fatigue, which may result in the reduction of injuries and fatalities involving heavy vehicles.Keywords: fatigue, time management, trucks, traffic safety
Procedia PDF Downloads 2888984 On the Inequality between Queue Length and Virtual Waiting Time in Open Queueing Networks under Conditions of Heavy Traffic
Authors: Saulius Minkevicius, Edvinas Greicius
Abstract:
The paper is devoted to the analysis of queueing systems in the context of the network and communications theory. We investigate the inequality in an open queueing network and its applications to the theorems in heavy traffic conditions (fluid approximation, functional limit theorem, and law of the iterated logarithm) for a queue of customers in an open queueing network.Keywords: fluid approximation, heavy traffic, models of information systems, open queueing network, queue length of customers, queueing theory
Procedia PDF Downloads 2868983 Levels of Selected Heavy Metals in Varieties of Vegetable oils Consumed in Kingdom of Saudi Arabia and Health Risk Assessment of Local Population
Authors: Muhammad Waqar Ashraf
Abstract:
Selected heavy metals, namely Cu, Zn, Fe, Mn, Cd, Pb, and As, in seven popular varieties of edible vegetable oils collected from Saudi Arabia, were determined by graphite furnace atomic absorption spectrometry (GF-AAS) using microwave digestion. The accuracy of procedure was confirmed by certified reference materials (NIST 1577b). The concentrations for copper, zinc, iron, manganese, lead and arsenic were observed in the range of 0.035 - 0.286, 0.955 - 3.10, 17.3 - 57.8, 0.178 - 0.586, 0.011 - 0.017 and 0.011 - 0.018 µg/g, respectively. Cadmium was found to be in the range of 2.36 - 6.34 ng/g. The results are compared internationally and with standards laid down by world health agencies. A risk assessment study has been carried out to assess exposure to these metals via consumption of vegetable oils. A comparison has been made with safety intake levels for these heavy metals recommended by Institute of Medicine of the National Academies (IOM), US Environmental Protection Agency (US EPA) and Joint FAO/WHO Expert Committee on Food Additives (JECFA). The results indicated that the dietary intakes of the selected heavy metals from daily consumption of 25 g of edible vegetable oils for a 70 kg individual should pose no significant health risk to local population.Keywords: vegetable oils, heavy metals, contamination, health risk assessment
Procedia PDF Downloads 4528982 Bio-Estimation of Selected Heavy Metals in Shellfish and Their Surrounding Environmental Media
Authors: Ebeed A. Saleh, Kadry M. Sadek, Safaa H. Ghorbal
Abstract:
Due to the determination of the pollution status of fresh resources in the Egyptian territorial waters is very important for public health, this study was carried out to reveal the levels of heavy metals in the shellfish and their environment and its relation to the highly developed industrial activities in those areas. A total of 100 shellfish samples from the Rosetta, Edku, El-Maadiya, Abo-Kir and El-Max coasts [10 crustaceans (shrimp) and 10 mollusks (oysters)] were randomly collected from each coast. Additionally, 10 samples from both the water and the sediment were collected from each coast. Each collected sample was analyzed for cadmium, chromium, copper, lead and zinc residues using a Perkin Elmer atomic absorption spectrophotometer (AAS). The results showed that the levels of heavy metals were higher in the water and sediment from Abo-Kir. The heavy metal levels decreased successively for the Rosetta, Edku, El-Maadiya, and El-Max coasts, and the concentrations of heavy metals, except copper and zinc, in shellfish exhibited the same pattern. For the concentration of heavy metals in shellfish tissue, the highest was zinc and the concentrations decreased successively for copper, lead, chromium and cadmium for all coasts, except the Abo-Kir coast, where the chromium level was highest and the other metals decreased successively for zinc, copper, lead and cadmium. In Rosetta, chromium was higher only in the mollusks, while the level of this metal was lower in the crustaceans; this trend was observed at the Edku, El-Maadiya and El-Max coasts as well. Herein, we discuss the importance of such contamination for public health and the sources of shellfish contamination with heavy metals. We suggest measures to minimize and prevent these pollutants in the aquatic environment and, furthermore, how to protect humans from excessive intake.Keywords: atomic absorption, heavy metals, sediment, shellfish, water
Procedia PDF Downloads 3198981 Trajectory Planning Algorithms for Autonomous Agricultural Vehicles
Authors: Caner Koc, Dilara Gerdan Koc, Mustafa Vatandas
Abstract:
The fundamental components of autonomous agricultural robot design, such as having a working understanding of coordinates, correctly constructing the desired route, and sensing environmental elements, are the most important. A variety of sensors, hardware, and software are employed by agricultural robots to find these systems.These enable the fully automated driving system of an autonomous vehicle to simulate how a human-driven vehicle would respond to changing environmental conditions. To calculate the vehicle's motion trajectory using data from the sensors, this automation system typically consists of a sophisticated software architecture based on object detection and driving decisions. In this study, the software architecture of an autonomous agricultural vehicle is compared to the trajectory planning techniques.Keywords: agriculture 5.0, computational intelligence, motion planning, trajectory planning
Procedia PDF Downloads 788980 Coagulation-Flocculation of Palm Oil Mill Effluent from Pertubuhan Peladang Negeri Johor, Malaysia
Authors: A. H. Jagaba, Musa Babayo, Ab Aziz Abdul Latiff, Sule Abubakar, I. M. Lawal, Isa Zubairu, M. A. Nasara
Abstract:
Wastewater containing heavy metals is of extreme importance globally because of its potential threat to both the aquatic ecosystem and the soil environment. Heavy metal is hazardous even at low concentration and thereby causing various forms of diseases. One method which has been tested and found to be effective for heavy metals removal is coagulation-flocculation. For the coagulation process of POME obtained from Pertubuhan Peladang Negeri Johor (PPNJ), Oil Palm Mill Company located in Kahang area of Kluang, Johor Darul Takzim, Malaysia, diffèrent coagulants would be used to absorb and then separate the metals from wastewater. The determination of heavy metals concentration in POME was carried out using an inductively coupled plasma (ICP) and an Atomic Absorption Spectrometer (AAS). Results of the study showed that alum coagulant was successful in effectively reducing Cu, Cd, and Mn from 0.840 mg/l, 0.00509 mg/l and 8.191 mg/l to as low as 0.107 mg/l, 0.000270 mg/l and 0.612 mg/l respectively. All were obtained at a dose of 1000 mg/l. 1000 mg/l dose of ferric chloride reduced Pb concentration from 0.0248 mg/l to 0.00151 mg/l. Chitosan was best at reducing Fe and Zn from 62.91 mg/l and 3.616 mg/l to 6.003 mg/l and 0.595 mg/l all at a dose of 400 mg/l.Keywords: palm oil mill effluent, coagulation, heavy metals, Pertubuhan Peladang Negeri Johor, Malaysia
Procedia PDF Downloads 2268979 Modelling and Technical Assessment of Multi-Motor for Electric Vehicle Drivetrains by Using Electric Differential
Authors: Mohamed Abdel-Monem, Gamal Sowilam, Omar Hegazy
Abstract:
This paper presents a technical assessment of an electric vehicle with two independent rear-wheel motor and an improved traction control system. The electric differential and the control strategy have been implemented to assure that in a straight trajectory, the two rear-wheels run exactly at the same speed, considering the same/different road conditions under the left and right side of the wheels. In case of turning to right/left, the difference between the two rear-wheels speeds assures a vehicle trajectory without sliding, thanks to a harmony between the electric differential and the control strategy. The present article demonstrates a complete model and analysis of a traction control system, considering four different traction scenarios, for two independent rear-wheels motors for electric vehicles. Furthermore, the vehicle model, including wheel dynamics, load forces, electric differential, and control strategy, is designed and verified by using MATLAB/Simulink environment.Keywords: electric vehicle, energy saving, multi-motor, electric differential, simulation and control
Procedia PDF Downloads 3518978 An MIPSSTWM-based Emergency Vehicle Routing Approach for Quick Response to Highway Incidents
Authors: Siliang Luan, Zhongtai Jiang
Abstract:
The risk of highway incidents is commonly recognized as a major concern for transportation authorities due to the hazardous consequences and negative influence. It is crucial to respond to these unpredictable events as soon as possible faced by emergency management decision makers. In this paper, we focus on path planning for emergency vehicles, one of the most significant processes to avoid congestion and reduce rescue time. A Mixed-Integer Linear Programming with Semi-Soft Time Windows Model (MIPSSTWM) is conducted to plan an optimal routing respectively considering the time consumption of arcs and nodes of the urban road network and the highway network, especially in developing countries with an enormous population. Here, the arcs indicate the road segments and the nodes include the intersections of the urban road network and the on-ramp and off-ramp of the highway networks. An attempt in this research has been made to develop a comprehensive and executive strategy for emergency vehicle routing in heavy traffic conditions. The proposed Cuckoo Search (CS) algorithm is designed by imitating obligate brood parasitic behaviors of cuckoos and Lévy Flights (LF) to solve this hard and combinatorial problem. Using a Chinese city as our case study, the numerical results demonstrate the approach we applied in this paper outperforms the previous method without considering the nodes of the road network for a real-world situation. Meanwhile, the accuracy and validity of the CS algorithm also show better performances than the traditional algorithm.Keywords: emergency vehicle, path planning, cs algorithm, urban traffic management and urban planning
Procedia PDF Downloads 808977 Mechanic and Thermal Analysis on an 83 kW Electric Motorcycle: A First-Principles Study
Authors: Martín Felipe García Romero, Nancy Mondragón Escamilla, Ismael Araujo Vargas, Viviana Basurto Rios, Kevin Cano Pulido, Pedro Enrique Velázquez Elisondo
Abstract:
This paper presents a preliminary prototype of an 83 kW all-electric motorbike since, nowadays, electric motorbikes have advanced drastically in their technology in such a way that lately, there has been a boom in the field of competition of medium power electric vehicles. The field of electric vehicle racing mainly pursues the aim of obtaining an optimal performance of all the motorbike components in order to obtain a safe racing vehicle fast enough while looking for the stability of all the systems onboard. A general description of the project is given up to date, detailing the parts of the system, integration, numerical estimations, and a rearrangement proposal of the actual prototype with the aim to mechanically and thermally improve the vehicle.Keywords: electric motorcycle, thermal analysis, mechanic analysis, electric vehicle
Procedia PDF Downloads 1178976 Health Risk Assessment According to Exposure with Heavy Metals and Physicochemical Parameters; Water Quality Index and Contamination Degree Evaluation in Bottled Water
Authors: Samaneh Abolli, Mahmood Alimohammadi
Abstract:
The survey analyzed 71 bottled water brands in Tehran, Iran, examining 10 physicochemical parameters and 16 heavy metals. The water quality index (WQI) approach was used to assess water quality, and methods such as carcinogen risk (CR) and hazard index (HI) were employed to evaluate health risks. The results indicated that the bottled water had good quality overall, but some brands were of poor or very poor quality. The study also revealed significant human health risks, especially for children, due to the presence of minerals and heavy metals in bottled water. Correlation analyses and risk assessments for various substances were conducted, providing valuable insights into the potential health impacts of the analyzed bottled water.Keywords: bottled wate, rwater quality index, health risk assessment, contamination degree, heavy metal evaluation index
Procedia PDF Downloads 538975 Investigating the Potential of Spectral Bands in the Detection of Heavy Metals in Soil
Authors: Golayeh Yousefi, Mehdi Homaee, Ali Akbar Norouzi
Abstract:
Ongoing monitoring of soil contamination by heavy metals is critical for ecosystem stability and environmental protection, and food security. The conventional methods of determining these soil contaminants are time-consuming and costly. Spectroscopy in the visible near-infrared (VNIR) - short wave infrared (SWIR) region is a rapid, non-destructive, noninvasive, and cost-effective method for assessment of soil heavy metals concentration by studying the spectral properties of soil constituents. The aim of this study is to derive spectral bands and important ranges that are sensitive to heavy metals and can be used to estimate the concentration of these soil contaminants. In other words, the change in the spectral properties of spectrally active constituents of soil can lead to the accurate identification and estimation of the concentration of these compounds in soil. For this purpose, 325 soil samples were collected, and their spectral reflectance curves were evaluated at a range of 350-2500 nm. After spectral preprocessing operations, the partial least-squares regression (PLSR) model was fitted on spectral data to predict the concentration of Cu and Ni. Based on the results, the spectral range of Cu- sensitive spectra were 480, 580-610, 1370, 1425, 1850, 1920, 2145, and 2200 nm, and Ni-sensitive ranges were 543, 655, 761, 1003, 1271, 1415, 1903, 2199 nm. Finally, the results of this study indicated that the spectral data contains a lot of information that can be applied to identify the soil properties, such as the concentration of heavy metals, with more detail.Keywords: heavy metals, spectroscopy, spectral bands, PLS regression
Procedia PDF Downloads 848974 Real-Time Recognition of the Terrain Configuration to Improve Driving Stability for Unmanned Robots
Authors: Bongsoo Jeon, Jayoung Kim, Jihong Lee
Abstract:
Methods for measuring or estimating of ground shape by a laser range finder and a vision sensor (exteroceptive sensors) have critical weakness in terms that these methods need prior database built to distinguish acquired data as unique surface condition for driving. Also, ground information by exteroceptive sensors does not reflect the deflection of ground surface caused by the movement of UGVs. Therefore, this paper proposes a method of recognizing exact and precise ground shape using Inertial Measurement Unit (IMU) as a proprioceptive sensor. In this paper, firstly this method recognizes attitude of a robot in real-time using IMU and compensates attitude data of a robot with angle errors through analysis of vehicle dynamics. This method is verified by outdoor driving experiments of a real mobile robot.Keywords: inertial measurement unit, laser range finder, real-time recognition of the ground shape, proprioceptive sensor
Procedia PDF Downloads 2878973 Unauthorized License Verifier and Secure Access to Vehicle
Authors: G. Prakash, L. Mohamed Aasiq, N. Dhivya, M. Jothi Mani, R. Mounika, B. Gomathi
Abstract:
In our day to day life, many people met with an accident due to various reasons like over speed, overload in the vehicle, violation of the traffic rules, etc. Driving license system is difficult task for the government to monitor. To prevent non-licensees from driving who are causing most of the accidents, a new system is proposed. The proposed system consists of a smart card capable of storing the license details of a particular person. Vehicles such as cars, bikes etc., should have a card reader capable of reading the particular license. A person, who wishes to drive the vehicle, should insert the card (license) in the vehicle and then enter the password in the keypad. If the license data stored in the card and database about the entire license holders in the microcontroller matches, he/she can proceed for ignition after the automated opening of the fuel tank valve, otherwise the user is restricted to use the vehicle. Moreover, overload detector in our proposed system verifies and then prompts the user to avoid overload before driving. This increases the security of vehicles and also ensures safe driving by preventing accidents.Keywords: license, verifier, EEPROM, secure, overload detection
Procedia PDF Downloads 2428972 Assessment of the Soils Pollution Level of the Open Mine and Tailing Dump of Surrounding Territories of Akhtala Ore Processing Combine by Heavy Metals
Authors: K. A. Ghazaryan, T. H. Derdzyan
Abstract:
For assessment of the soils pollution level of the open mine and tailing dump of surrounding territories of Akhtala ore processing combine by heavy metals in 2013 collected soil samples and analyzed for different heavy metals, such as Cu, Zn, Pb, Ni and Cd. The main soil type in the study sites was the mountain cambisol. To classify soil pollution level contamination indices like Contamination factors (Cf), Degree of contamination (Cd), Pollution load index (PLI) and Geoaccumulation index (I-geo) are calculated. The distribution pattern of trace metals in the soil profile according to I geo, Cf and Cd values shows that the soil is very polluted. And also the PLI values for the 19 sites were >1, which indicates deterioration of site quality.Keywords: soils pollution, heavy metal, geoaccumulation index, pollution load index, contamination factor
Procedia PDF Downloads 4348971 Comparison of Different Machine Learning Models for Time-Series Based Load Forecasting of Electric Vehicle Charging Stations
Authors: H. J. Joshi, Satyajeet Patil, Parth Dandavate, Mihir Kulkarni, Harshita Agrawal
Abstract:
As the world looks towards a sustainable future, electric vehicles have become increasingly popular. Millions worldwide are looking to switch to Electric cars over the previously favored combustion engine-powered cars. This demand has seen an increase in Electric Vehicle Charging Stations. The big challenge is that the randomness of electrical energy makes it tough for these charging stations to provide an adequate amount of energy over a specific amount of time. Thus, it has become increasingly crucial to model these patterns and forecast the energy needs of power stations. This paper aims to analyze how different machine learning models perform on Electric Vehicle charging time-series data. The data set consists of authentic Electric Vehicle Data from the Netherlands. It has an overview of ten thousand transactions from public stations operated by EVnetNL.Keywords: forecasting, smart grid, electric vehicle load forecasting, machine learning, time series forecasting
Procedia PDF Downloads 106