Search results for: water consumption prediction
Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 1673

Search results for: water consumption prediction

1043 Environmental Impacts of Point and Non-Point Source Pollution in Krishnagiri Reservoir: A Case Study in South India

Authors: N. K. Ambujam, V. Sudha

Abstract:

Reservoirs are being contaminated all around the world with point source and Non-Point Source (NPS) pollution. The most common NPS pollutants are sediments and nutrients. Krishnagiri Reservoir (KR) has been chosen for the present case study, which is located in the tropical semi-arid climatic zone of Tamil Nadu, South India. It is the main source of surface water in Krishnagiri district to meet the freshwater demands. The reservoir has lost about 40% of its water holding capacity due to sedimentation over the period of 50 years. Hence, from the research and management perspective, there is a need for a sound knowledge on the spatial and seasonal variations of KR water quality. The present study encompasses the specific objectives as (i) to investigate the longitudinal heterogeneity and seasonal variations of physicochemical parameters, nutrients and biological characteristics of KR water and (ii) to examine the extent of degradation of water quality in KR. 15 sampling points were identified by uniform stratified method and a systematic monthly sampling strategy was selected due to high dynamic nature in its hydrological characteristics. The physicochemical parameters, major ions, nutrients and Chlorophyll a (Chl a) were analysed. Trophic status of KR was classified by using Carlson's Trophic State Index (TSI). All statistical analyses were performed by using Statistical Package for Social Sciences programme, version-16.0. Spatial maps were prepared for Chl a using Arc GIS. Observations in KR pointed out that electrical conductivity and major ions are highly variable factors as it receives inflow from the catchment with different land use activities. The study of major ions in KR exhibited different trends in their values and it could be concluded that as the monsoon progresses the major ions in the water decreases or water quality stabilizes. The inflow point of KR showed comparatively higher concentration of nutrients including nitrate, soluble reactive phosphorus (SRP), total phosphors (TP), total suspended phosphorus (TSP) and total dissolved phosphorus (TDP) during monsoon seasons. This evidently showed the input of significant amount of nutrients from the catchment side through agricultural runoff. High concentration of TDP and TSP at the lacustrine zone of the reservoir during summer season evidently revealed that there was a significant release of phosphorus from the bottom sediments. Carlson’s TSI of KR ranged between 81 and 92 during northeast monsoon and summer seasons. High and permanent Cyanobacterial bloom in KR could be mainly due to the internal loading of phosphorus from the bottom sediments. According to Carlson’s TSI classification Krishnagiri reservoir was ranked in the hyper-eutrophic category. This study provides necessary basic data on the spatio-temporal variations of water quality in KR and also proves the impact of point and NPS pollution from the catchment area. High TSI warrants a greater threat for the recovery of internal P loading and hyper-eutrophic condition of KR. Several expensive internal measures for the reduction of internal loading of P were introduced by many scientists. However, the outcome of the present research suggests for the innovative algae harvesting technique for the removal of sediment nutrients.

Keywords: NPS pollution, nutrients, hyper-eutrophication, krishnagiri reservoir

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1042 Oncological Consequences of Heavy Metal Deposits in Jos East, Plateau State, Nigeria

Authors: Jasini Waida, Usman Rilwan, S. I. Ikpughul, E. I. Ugwu

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Carcinogenic substances are those that induce tumours (benign or malignant), increase their incidence or malignancy, or shorten the time of tumour occurrence when they get into the body through inhalation, injection, dermal application, or ingestion. Using X-Ray Fluorescence, this study reveals the accumulation of heavy metals in Jos East. The results of this study showed that the Geo-Accumulation Index (Igeo) of water for different heavy metals decreased in the order of Cd (0.15) > Cr and As (0.03) > Pb (-0.13) > Ni (-0.6). The soil content for different heavy metals decreased in the order of As and Cd (0.4) > Ni, Cr and Pb (0.2). The edible plants for different heavy metals decreased in the order of Cd (0.512) > As (0.25) > Pb (0.23) > Ni (0.01) > Ni (-0.06). 21% of these points are uncontaminated, except for a few points that are found within the uncontaminated to moderately contaminated level. It is possible to conclude that the area is uncontaminated to moderately contaminated, necessitating regulation. Hence, this study can be used as reference data for regulatory bodies like the Nigerian Nuclear Regulatory Authority (NNRA) and the rest.

Keywords: heavy metals, soil, plants, water, contamination factor

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1041 Reduction of Fermentation Duration of Cassava to Remove Hydrogen Cyanide

Authors: Jean Paul Hategekimana, Josiane Irakoze, Eugene Niyonzima, Annick Ndekezi

Abstract:

Cassava (Manihot esculenta Crantz) is a root crop comprising an anti-nutritive factor known as cyanide. The compound can be removed by numerous processing methods such as boiling, fermentation, blanching, and sun drying to avoid the possibility of cyanide poisoning. Inappropriate processing mean can lead to disease and death. Cassava-based dishes are consumed in different ways, where cassava is cultivated according to their culture and preference. However, they have been shown to be unsafe based on high cyanide levels. The current study targeted to resolve the problem of high cyanide in cassava consumed in Rwanda. This study was conducted to determine the effect of slicing, blanching, and soaking time to reduce the fermentation duration of cassava for hydrogen cyanide (HCN) in mg/g removal. Cassava was sliced into three different portions (1cm, 2cm, and 5cm). The first portions were naturally fermented for seven days, where each portion was removed every 24 hours from soaking tanks and then oven dried at a temperature of 60°C and then milled to obtain naturally fermented cassava flours. Other portions of 1cm, 2cm, and 5cm were blanched for 2, 5, 10 min, respectively, and each similarly dried at 60°C and milled to produce blanched cassava flour. Other blanched portions were used to follow the previous fermentation steps. The last portions, which formed the control, were simply chopped. Cyanide content and starch content in mg/100g were investigated. According to the conducted analysis on different cassava treatments for detoxification, found that usual fermentation can be used, but for sliced portions aimed to size reduction for the easy hydrogen cyanide diffuse out and it takes four days to complete fermentation, which has reduced at 94.44% with significantly different (p<0.05)of total hydrogen cyanide contained in cassava to safe level of consumption, and what is recommended as more effective is to apply blanching combined with fermentation due to the fact that, it takes three days to complete hydrogen cyanide removal at 95.56% on significantly different (p<0.05) of reduction to the safe level of consumption.

Keywords: cassava, cyanide, blanching, drying, fermentation

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1040 Heavy Oil Recovery with Chemical Viscosity-Reduction: An Innovative Low-Carbon and Low-Cost Technology

Authors: Lin Meng, Xi Lu, Haibo Wang, Yong Song, Lili Cao, Wenfang Song, Yong Hu

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China has abundant heavy oil resources, and thermal recovery is the main recovery method for heavy oil reservoirs. However, high energy consumption, high carbon emission and high production costs make heavy oil thermal recovery unsustainable. It is urgent to explore a replacement for developing technology. A low Carbon and cost technology of heavy oil recovery, chemical viscosity-reduction in layer (CVRL), is developed by the petroleum exploration and development research institute of Sinopec via investigated mechanisms, synthesized products, and improved oil production technologies, as follows: (1) Proposed a cascade viscous mechanism of heavy oil. Asphaltene and resin grow from free molecules to associative structures further to bulk aggregations by π - π stacking and hydrogen bonding, which causes the high viscosity of heavy oil. (2) Aimed at breaking the π - π stacking and hydrogen bond of heavy oil, the copolymer of N-(3,4-dihydroxyphenethyl) acryl amide and 2-Acrylamido-2-methylpropane sulfonic acid was synthesized as a viscosity reducer. It achieves a viscosity reduction rate of>80% without shearing for heavy oil (viscosity < 50000 mPa‧s), of which fluidity is evidently improved in the layer. (3) Synthesized hydroxymethyl acrylamide-maleic acid-decanol ternary copolymer self-assembly plugging agent. The particle size is 0.1 μm-2 mm adjustable, and the volume is 10-500 times controllable, which can achieve the efficient transportation of viscosity reducer to enriched oil areas. CVRL has applied 400 wells until now, increasing oil production by 470000 tons, saving 81000 tons of standard coal, reducing CO2 emissions by 174000 tons, and reducing production costs by 60%. It promotes the transformation of heavy oil towards low energy consumption, low carbon emissions, and low-cost development.

Keywords: heavy oil, chemical viscosity-reduction, low carbon, viscosity reducer, plugging agent

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1039 Determination of the Effective Economic and/or Demographic Indicators in Classification of European Union Member and Candidate Countries Using Partial Least Squares Discriminant Analysis

Authors: Esra Polat

Abstract:

Partial Least Squares Discriminant Analysis (PLSDA) is a statistical method for classification and consists a classical Partial Least Squares Regression (PLSR) in which the dependent variable is a categorical one expressing the class membership of each observation. PLSDA can be applied in many cases when classical discriminant analysis cannot be applied. For example, when the number of observations is low and when the number of independent variables is high. When there are missing values, PLSDA can be applied on the data that is available. Finally, it is adapted when multicollinearity between independent variables is high. The aim of this study is to determine the economic and/or demographic indicators, which are effective in grouping the 28 European Union (EU) member countries and 7 candidate countries (including potential candidates Bosnia and Herzegovina (BiH) and Kosova) by using the data set obtained from database of the World Bank for 2014. Leaving the political issues aside, the analysis is only concerned with the economic and demographic variables that have the potential influence on country’s eligibility for EU entrance. Hence, in this study, both the performance of PLSDA method in classifying the countries correctly to their pre-defined groups (candidate or member) and the differences between the EU countries and candidate countries in terms of these indicators are analyzed. As a result of the PLSDA, the value of percentage correctness of 100 % indicates that overall of the 35 countries is classified correctly. Moreover, the most important variables that determine the statuses of member and candidate countries in terms of economic indicators are identified as 'external balance on goods and services (% GDP)', 'gross domestic savings (% GDP)' and 'gross national expenditure (% GDP)' that means for the 2014 economical structure of countries is the most important determinant of EU membership. Subsequently, the model validated to prove the predictive ability by using the data set for 2015. For prediction sample, %97,14 of the countries are correctly classified. An interesting result is obtained for only BiH, which is still a potential candidate for EU, predicted as a member of EU by using the indicators data set for 2015 as a prediction sample. Although BiH has made a significant transformation from a war-torn country to a semi-functional state, ethnic tensions, nationalistic rhetoric and political disagreements are still evident, which inhibit Bosnian progress towards the EU.

Keywords: classification, demographic indicators, economic indicators, European Union, partial least squares discriminant analysis

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1038 Using Vertical Electrical Soundings Data to Investigate and Assess Groundwater Resources for Irrigation in the Canal Command Area

Authors: Vijaya Pradhan, S. M. Deshpande, D. G. Regulwar

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Intense hydrogeological research has been prompted by the rising groundwater demand in typical hard rock terrain. In the current study, groundwater resources for irrigation in the canal command of the Jayakwadi Reservoir in the Indian state of Maharashtra are located using Vertical Electrical Soundings (VES). A Computer Resistivity Monitor is used to monitor the geoelectric field (CRM). Using Schlumberger setups, the investigation was carried out at seven different places in the region. Plotting of the sounding curves is the outcome of the data processing. The underlying layers and groundwater potential in the research region have been examined by analyzing these curves using curve-matching techniques, also known as partial curve matching. IPIWin2 is used to examine the relationship between resistivity and electrode spacing. The resistivity value in a geological formation is significantly reduced when groundwater is present. Up to a depth of 35 meters, the resistivity readings are minimal; beyond that, they continuously increase, suggesting a lack of water in deeper strata. As a result, the wells may only receive water up to a depth of 35 meters. In addition, the trap may occasionally fracture at deeper depths, retaining a limited amount of water in the cracks and producing a low yield. According to the findings, weathered basalt or soil make up the top layer (5–10 m), which is followed by a layer of amygdaloidal basalt (10–35 m) that is somewhat cracked and either hard basalt or compact basalt underneath.

Keywords: vertical electrical soundings (VES), resistivity, electrode spacing, Schlumberger configurations, partial curve matching.

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1037 Physical, Chemical and Mineralogical Characterization of Construction and Demolition Waste Produced in Greece

Authors: C. Alexandridou, G. N. Angelopoulos, F. A. Coutelieris

Abstract:

Construction industry in Greece consumes annually more than 25 million tons of natural aggregates originating mainly from quarries. At the same time, more than 2 million tons of construction and demolition waste are deposited every year, usually without control, therefore increasing the environmental impact of this sector. A potential alternative for saving natural resources and minimize landfilling, could be the recycling and re-use of Concrete and Demolition Waste (CDW) in concrete production. Moreover, in order to conform to the European legislation, Greece is obliged to recycle non-hazardous construction and demolition waste to a minimum of 70% by 2020. In this paper characterization of recycled materials - commercially and laboratory produced, coarse and fine, Recycled Concrete Aggregates (RCA) - has been performed. Namely, X-Ray Fluorescence and X-ray diffraction (XRD) analysis were used for chemical and mineralogical analysis respectively. Physical properties such as particle density, water absorption, sand equivalent and resistance to fragmentation were also determined. This study, first time made in Greece, aims at outlining the differences between RCA and natural aggregates and evaluating their possible influence in concrete performance. Results indicate that RCA’s chemical composition is enriched in Si, Al, and alkali oxides compared to natural aggregates. X-ray diffraction (XRD) analyses results indicated the presence of calcite, quartz and minor peaks of mica and feldspars. From all the evaluated physical properties of coarse RCA, only water absorption and resistance to fragmentation seem to have a direct influence on the properties of concrete. Low Sand Equivalent and significantly high water absorption values indicate that fine fractions of RCA cannot be used for concrete production unless further processed. Chemical properties of RCA in terms of water soluble ions are similar to those of natural aggregates. Four different concrete mixtures were produced and examined, replacing natural coarse aggregates with RCA by a ratio of 0%, 25%, 50% and 75% respectively. Results indicate that concrete mixtures containing recycled concrete aggregates have a minor deterioration of their properties (3-9% lower compression strength at 28 days) compared to conventional concrete containing the same cement quantity.

Keywords: chemical and physical characterization, compressive strength, mineralogical analysis, recycled concrete aggregates, waste management

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1036 Groundwater Arsenic Contamination in Brahmaputra River Basin: A Water Quality Assessment in Jorhat (Assam), India

Authors: Kruti Jaruriya

Abstract:

Distribution of arsenic (As) and its compound and related toxicology are serious concerns. This is particularly so since millions worldwide are suffering from toxicity due to drinking of As-contaminated groundwater. The Bengal delta plain, formed by the Ganga– Padma–Meghna–Brahmaputra river basin, covering several districts of West Bengal, India and Bangladesh is considered as the worst As affected alluvial basin. However, some equally affected, if not more, areas are emerging in upper Brahmaputra plains. The present study was carried out to examine As contamination trends in the worst affected part of Assam, India. Arsenic (As) mobilization to the groundwater of Brahmaputra floodplains was investigated in Titabor, Jorhat District, located in the North Eastern part of India. The groundwater and the aquifer geochemistry were characterized. The groundwater is characterized by high dissolved Fe, Mn, and HCO-3 and low concentrations of NO-3 and SO2-4 indicating anoxic conditions prevailing in the groundwater. Fifty groundwater samples collected from shallow and deep tubewells of Titabor, Jorhat district (Assam) were examined. Along with total As, examination of concentration levels of other key parameters, viz., pH, EC, Fe, Mn , Mg2+, Ca2+, Na+, K+, PO43- , HCO-3 , NO3- ,Cl - and SO42- was also carried out. In respect to the permissible guideline of World Health Organization (WHO: As 0.01 ppm, Fe 1.0 ppm, and Mn 0.3 ppm for potable water), the range of As concentration in the groundwater varied from 0.014 to 0.604 mg/L with mean concentration 0.184 mg/L. The present study showed that out of the 50 groundwater samples,100%, 54%, and 42% were found contaminated with higher metal contents (for total As, Fe, and Mn, respectively). The results of hydrogeochemical study revealed that the reductive dissolution of MnOOH and FeOOH represents an important mechanism of arsenic release in the study area along with major cations playing an important role in leaching of As into the groundwater. Arsenic released by oxidation of pyrite, as water levels are drawn down and air enters the aquifer, contributes negligibly to the problem of As pollution. Identification of the mechanism of As release to groundwater helps to provide a framework to guide the placement of new water wells so that they will have acceptable concentrations of As.

Keywords: arsenic, assam, brahmaputra floodplain, groundwater, hydrogeochemistry

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1035 The Proposal of Modification of California Pipe Method for Inclined Pipe

Authors: Wojciech Dąbrowski, Joanna Bąk, Laurent Solliec

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Nowadays technical and technological progress and constant development of methods and devices applied to sanitary engineering is indispensable. Issues related to sanitary engineering involve flow measurements for water and wastewater. The precise measurement is very important and pivotal for further actions, like monitoring. There are many methods and techniques of flow measurement in the area of sanitary engineering. Weirs and flumes are well–known methods and common used. But also there are alternative methods. Some of them are very simple methods, others are solutions using high technique. The old–time method combined with new technique could be more useful than earlier. Paper describes substitute method of flow gauging (California pipe method) and proposal of modification of this method used for inclined pipe. Examination of possibility of improving and developing old–time methods is direction of the investigation.

Keywords: California pipe, sewerage, flow rate measurement, water, wastewater, improve, modification, hydraulic monitoring, stream

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1034 Planning Water Reservoirs as Complementary Habitats for Waterbirds

Authors: Tamar Trop, Ido Izhaki

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Small natural freshwater bodies (SNFWBs), which are vital for many waterbird species, are considered endangered habitats due to their progressive loss and extensive degradation. While SNFWBs are becoming extinct, studies have indicated that many waterbird species may greatly benefit from various types of small artificial waterbodies (SAWBs), such as floodwater and treated water reservoirs. If designed and managed with care, SAWBs hold significant potential to serve as alternative or complementary habitats for birds, and thus mitigate the adverse effects of SNFWBs loss. Currently, most reservoirs are built as infrastructural facilities and designed according to engineering best practices and site-specific considerations, which do not include catering for waterbirds' needs. Furthermore, as things stand, there is still a lack of clear and comprehensive knowledge regarding the additional factors that should be considered in tackling the challenge of attracting waterbirds' to reservoirs, without compromising on the reservoirs' original functions. This study attempts to narrow this knowledge gap by performing a systematic review of the various factors (e.g., bird attributes; physical, structural, spatial, climatic, chemical, and biological characteristics of the waterbody; and anthropogenic activities) affecting the occurrence, abundance, richness, and diversity of waterbirds in SNFWBs. The methodical review provides a concise and relatively unbiased synthesis of the knowledge in the field, which can inform decision-making and practice regarding the planning, design, and management of reservoirs with birds in mind. Such knowledge is especially beneficial for arid and semiarid areas, where natural water sources are deteriorating and becoming extinct even faster due to climate change.

Keywords: artificial waterbodies, reservoirs, small waterbodies, waterbirds

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1033 An Overview of Sludge Utilization into Fired Clay Brick

Authors: Aeslina Binti Abdul Kadir, Ahmad Shayuti Bin Abdul Rahim

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Brick is one of the most common masonry units used as building material. Due to the demand, different types of waste have been investigated to be incorporated into the bricks. Many types of sludge have been incorporated in fired clay brick for example marble sludge, stone sludge, water sludge, sewage sludge, and ceramic sludge. The utilization of these waste materials in fired clay bricks usually has positive effects on the properties such as lightweight bricks with improved shrinkage, porosity, and strength. This paper reviews on utilization of different types of sludge wastes into fired clay bricks. Previous investigations have demonstrated positive effects on the physical and mechanical properties as well as less impact towards the environment. Thus, the utilizations of sludge waste could produce a good quality of brick and could be one of alternative disposal methods for the sludge wastes.

Keywords: fired clay brick, sludge waste, compressive strength, shrinkage, water absorption

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1032 Regional Flood Frequency Analysis in Narmada Basin: A Case Study

Authors: Ankit Shah, R. K. Shrivastava

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Flood and drought are two main features of hydrology which affect the human life. Floods are natural disasters which cause millions of rupees’ worth of damage each year in India and the whole world. Flood causes destruction in form of life and property. An accurate estimate of the flood damage potential is a key element to an effective, nationwide flood damage abatement program. Also, the increase in demand of water due to increase in population, industrial and agricultural growth, has let us know that though being a renewable resource it cannot be taken for granted. We have to optimize the use of water according to circumstances and conditions and need to harness it which can be done by construction of hydraulic structures. For their safe and proper functioning of hydraulic structures, we need to predict the flood magnitude and its impact. Hydraulic structures play a key role in harnessing and optimization of flood water which in turn results in safe and maximum use of water available. Mainly hydraulic structures are constructed on ungauged sites. There are two methods by which we can estimate flood viz. generation of Unit Hydrographs and Flood Frequency Analysis. In this study, Regional Flood Frequency Analysis has been employed. There are many methods for estimating the ‘Regional Flood Frequency Analysis’ viz. Index Flood Method. National Environmental and Research Council (NERC Methods), Multiple Regression Method, etc. However, none of the methods can be considered universal for every situation and location. The Narmada basin is located in Central India. It is drained by most of the tributaries, most of which are ungauged. Therefore it is very difficult to estimate flood on these tributaries and in the main river. As mentioned above Artificial Neural Network (ANN)s and Multiple Regression Method is used for determination of Regional flood Frequency. The annual peak flood data of 20 sites gauging sites of Narmada Basin is used in the present study to determine the Regional Flood relationships. Homogeneity of the considered sites is determined by using the Index Flood Method. Flood relationships obtained by both the methods are compared with each other, and it is found that ANN is more reliable than Multiple Regression Method for the present study area.

Keywords: artificial neural network, index flood method, multi layer perceptrons, multiple regression, Narmada basin, regional flood frequency

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1031 Hidden Markov Model for the Simulation Study of Neural States and Intentionality

Authors: R. B. Mishra

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Hidden Markov Model (HMM) has been used in prediction and determination of states that generate different neural activations as well as mental working conditions. This paper addresses two applications of HMM; one to determine the optimal sequence of states for two neural states: Active (AC) and Inactive (IA) for the three emission (observations) which are for No Working (NW), Waiting (WT) and Working (W) conditions of human beings. Another is for the determination of optimal sequence of intentionality i.e. Believe (B), Desire (D), and Intention (I) as the states and three observational sequences: NW, WT and W. The computational results are encouraging and useful.

Keywords: hiden markov model, believe desire intention, neural activation, simulation

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1030 A Review on Artificial Neural Networks in Image Processing

Authors: B. Afsharipoor, E. Nazemi

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Artificial neural networks (ANNs) are powerful tool for prediction which can be trained based on a set of examples and thus, it would be useful for nonlinear image processing. The present paper reviews several paper regarding applications of ANN in image processing to shed the light on advantage and disadvantage of ANNs in this field. Different steps in the image processing chain including pre-processing, enhancement, segmentation, object recognition, image understanding and optimization by using ANN are summarized. Furthermore, results on using multi artificial neural networks are presented.

Keywords: neural networks, image processing, segmentation, object recognition, image understanding, optimization, MANN

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1029 Urban Change Detection and Pattern Analysis Using Satellite Data

Authors: Shivani Jha, Klaus Baier, Rafiq Azzam, Ramakar Jha

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In India, generally people migrate from rural area to the urban area for better infra-structural facilities, high standard of living, good job opportunities and advanced transport/communication availability. In fact, unplanned urban development due to migration of people causes seriou damage to the land use, water pollution and available water resources. In the present work, an attempt has been made to use satellite data of different years for urban change detection of Chennai metropolitan city along with pattern analysis to generate future scenario of urban development using buffer zoning in GIS environment. In the analysis, SRTM (30m) elevation data and IRS-1C satellite data for the years 1990, 2000, and 2014, are used. The flow accumulation, aspect, flow direction and slope maps developed using SRTM 30 m data are very useful for finding suitable urban locations for industrial setup and urban settlements. Normalized difference vegetation index (NDVI) and Principal Component Analysis (PCA) have been used in ERDAS imagine software for change detection in land use of Chennai metropolitan city. It has been observed that the urban area has increased exponentially in Chennai metropolitan city with significant decrease in agriculture and barren lands. However, the water bodies located in the study regions are protected and being used as freshwater for drinking purposes. Using buffer zone analysis in GIS environment, it has been observed that the development has taken place in south west direction significantly and will do so in future.

Keywords: urban change, satellite data, the Chennai metropolis, change detection

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1028 Designing of Induction Motor Efficiency Monitoring System

Authors: Ali Mamizadeh, Ires Iskender, Saeid Aghaei

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Energy is one of the important issues with high priority property in the world. Energy demand is rapidly increasing depending on the growing population and industry. The useable energy sources in the world will be insufficient to meet the need for energy. Therefore, the efficient and economical usage of energy sources is getting more importance. In a survey conducted among electric consuming machines, the electrical machines are consuming about 40% of the total electrical energy consumed by electrical devices and 96% of this consumption belongs to induction motors. Induction motors are the workhorses of industry and have very large application areas in industry and urban systems like water pumping and distribution systems, steel and paper industries and etc. Monitoring and the control of the motors have an important effect on the operating performance of the motor, driver selection and replacement strategy management of electrical machines. The sensorless monitoring system for monitoring and calculating efficiency of induction motors are studied in this study. The equivalent circuit of IEEE is used in the design of this study. The terminal current and voltage of induction motor are used in this motor to measure the efficiency of induction motor. The motor nameplate information and the measured current and voltage are used in this system to calculate accurately the losses of induction motor to calculate its input and output power. The efficiency of the induction motor is monitored online in the proposed method without disconnecting the motor from the driver and without adding any additional connection at the motor terminal box. The proposed monitoring system measure accurately the efficiency by including all losses without using torque meter and speed sensor. The monitoring system uses embedded architecture and does not need to connect to a computer to measure and log measured data. The conclusion regarding the efficiency, the accuracy and technical and economical benefits of the proposed method are presented. The experimental verification has been obtained on a 3 phase 1.1 kW, 2-pole induction motor. The proposed method can be used for optimal control of induction motors, efficiency monitoring and motor replacement strategy.

Keywords: induction motor, efficiency, power losses, monitoring, embedded design

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1027 Evaluation of Drained Shear Strength of Bentonite-Sand Mixtures

Authors: Navid Khayat

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Drained shear strength of saturated soils is fully understood. Shear strength of unsaturated soils is usually expressed in terms of soil suction. Evaluation of shear strength of compacted mixtures of sand-bentonite at optimum water content is main purpose of this research. To prepare the required samples, first, bentonite and sand are mixed in 10, 30, 50 and 70 percent by dry weight and then compacted at the proper optimum water content according to the standard proctor test. The samples were sheared in direct shear machine. Stress-strain relationship of samples indicated a ductile behavior. Most of the samples showed a dilatancy behavior during the shear and the tendency for dilatancy increased with the increase in sand proportion. The results show that with the increase in percentage of sand a decrease in cohesion intercept c' for mixtures and an increase in the angle of internal friction Φ’is observed.

Keywords: bentonite, sand, drained shear strength, cohesion intercept

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1026 Eco-Products in Day-to-Day Life: A Catalyst for Achieving Sustainability

Authors: Rani Fernandez

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As global concerns regarding environmental degradation and climate change intensify, the imperative for sustainable living has never been more critical. This research delves into the role of eco-products in everyday life as a pivotal strategy for achieving sustainability. The study investigates the awareness, adoption, and impact of eco-friendly products on individual and community levels. The research employs a mixed-methods approach, combining surveys, interviews, and case studies to explore consumer perceptions, behaviours, and motivations surrounding the use of eco-products. Additionally, life cycle assessments are conducted to evaluate the environmental footprint of selected eco-products, shedding light on their tangible contributions to sustainability. The findings reveal the diverse range of eco-products available in the market, from biodegradable packaging to energy-efficient appliances, and the extent to which consumers integrate these products into their daily routines. Moreover, the research examines the challenges and opportunities associated with widespread adoption, considering factors such as cost, accessibility, and efficacy. In addition to individual consumption patterns, the study investigates the broader societal impact of eco-product integration. It explores the potential for eco-products to drive systemic change by influencing supply chains, corporate practices, and government policies. The research highlights successful case studies of communities or businesses that have effectively incorporated eco-products, providing valuable insights into scalable models for sustainability. Ultimately, this research contributes to the discourse on sustainable living by elucidating the pivotal role of eco-products in shaping environmentally conscious behaviours. By understanding the dynamics of eco-product adoption, policymakers, businesses, and individuals can collaboratively work towards a more sustainable future. The implications of this study extend beyond academia, informing practical strategies for fostering a global shift towards sustainable consumption and production.

Keywords: eco-friendly, sustainablity, environment, climate change

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1025 Experimental Field for the Study of Soil-Atmosphere Interaction in Soft Soils

Authors: Andres Mejia-Ortiz, Catalina Lozada, German R. Santos, Rafael Angulo-Jaramillo, Bernardo Caicedo

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The interaction between atmospheric variables and soil properties is a determining factor when evaluating the flow of water through the soil. This interaction situation directly determines the behavior of the soil and greatly influences the changes that occur in it. The atmospheric variations such as changes in the relative humidity, air temperature, wind velocity and precipitation, are the external variables that reflect a greater incidence in the changes that are generated in the subsoil, as a consequence of the water flow in descending and ascending conditions. These environmental variations have a major importance in the study of the soil because the conditions of humidity and temperature in the soil surface depend on them. In addition, these variations control the thickness of the unsaturated zone and the position of the water table with respect to the surface. However, understanding the relationship between the atmosphere and the soil is a somewhat complex aspect. This is mainly due to the difficulty involved in estimating the changes that occur in the soil from climate changes; since this is a coupled process where act processes of mass transfer and heat. In this research, an experimental field was implemented to study in-situ the interaction between the atmosphere and the soft soils of the city of Bogota, Colombia. The soil under study consists of a 60 cm layer composed of two silts of similar characteristics at the surface and a deep soft clay deposit located under the silky material. It should be noted that the vegetal layer and organic matter were removed to avoid the evapotranspiration phenomenon. Instrumentation was carried on in situ through a field disposal of many measuring devices such as soil moisture sensors, thermocouples, relative humidity sensors, wind velocity sensor, among others; which allow registering the variations of both the atmospheric variables and the properties of the soil. With the information collected through field monitoring, the water balances were made using the Hydrus-1D software to determine the flow conditions that developed in the soil during the study. Also, the moisture profile for different periods and time intervals was determined by the balance supplied by Hydrus 1D; this profile was validated by experimental measurements. As a boundary condition, the actual evaporation rate was included using the semi-empirical equations proposed by different authors. In this study, it was obtained for the rainy periods a descending flow that was governed by the infiltration capacity of the soil. On the other hand, during dry periods. An increase in the actual evaporation of the soil induces an upward flow of water, increasing suction due to the decrease in moisture content. Also, cracks were developed accelerating the evaporation process. This work concerns to the study of soil-atmosphere interaction through the experimental field and it is a very useful tool since it allows considering all the factors and parameters of the soil in its natural state and real values of the different environmental conditions.

Keywords: field monitoring, soil-atmosphere, soft soils, soil-water balance

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1024 Estimation and Removal of Chlorophenolic Compounds from Paper Mill Waste Water by Electrochemical Treatment

Authors: R. Sharma, S. Kumar, C. Sharma

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A number of toxic chlorophenolic compounds are formed during pulp bleaching. The nature and concentration of these chlorophenolic compounds largely depends upon the amount and nature of bleaching chemicals used. These compounds are highly recalcitrant and difficult to remove but are partially removed by the biochemical treatment processes adopted by the paper industry. Identification and estimation of these chlorophenolic compounds has been carried out in the primary and secondary clarified effluents from the paper mill by GCMS. Twenty-six chorophenolic compounds have been identified and estimated in paper mill waste waters. Electrochemical treatment is an efficient method for oxidation of pollutants and has successfully been used to treat textile and oil waste water. Electrochemical treatment using less expensive anode material, stainless steel electrodes has been tried to study their removal. The electrochemical assembly comprised a DC power supply, a magnetic stirrer and stainless steel (316 L) electrode. The optimization of operating conditions has been carried out and treatment has been performed under optimized treatment conditions. Results indicate that 68.7% and 83.8% of cholorphenolic compounds are removed during 2 h of electrochemical treatment from primary and secondary clarified effluent respectively. Further, there is a reduction of 65.1, 60 and 92.6% of COD, AOX and color, respectively for primary clarified and 83.8%, 75.9% and 96.8% of COD, AOX and color, respectively for secondary clarified effluent. EC treatment has also been found to increase significantly the biodegradability index of wastewater because of conversion of non- biodegradable fraction into biodegradable fraction. Thus, electrochemical treatment is an efficient method for the degradation of cholorophenolic compounds, removal of color, AOX and other recalcitrant organic matter present in paper mill waste water.

Keywords: chlorophenolics, effluent, electrochemical treatment, wastewater

Procedia PDF Downloads 387
1023 Nondestructive Prediction and Classification of Gel Strength in Ethanol-Treated Kudzu Starch Gels Using Near-Infrared Spectroscopy

Authors: John-Nelson Ekumah, Selorm Yao-Say Solomon Adade, Mingming Zhong, Yufan Sun, Qiufang Liang, Muhammad Safiullah Virk, Xorlali Nunekpeku, Nana Adwoa Nkuma Johnson, Bridget Ama Kwadzokpui, Xiaofeng Ren

Abstract:

Enhancing starch gel strength and stability is crucial. However, traditional gel property assessment methods are destructive, time-consuming, and resource-intensive. Thus, understanding ethanol treatment effects on kudzu starch gel strength and developing a rapid, nondestructive gel strength assessment method is essential for optimizing the treatment process and ensuring product quality consistency. This study investigated the effects of different ethanol concentrations on the microstructure of kudzu starch gels using a comprehensive microstructural analysis. We also developed a nondestructive method for predicting gel strength and classifying treatment levels using near-infrared (NIR) spectroscopy, and advanced data analytics. Scanning electron microscopy revealed progressive network densification and pore collapse with increasing ethanol concentration, correlating with enhanced mechanical properties. NIR spectroscopy, combined with various variable selection methods (CARS, GA, and UVE) and modeling algorithms (PLS, SVM, and ELM), was employed to develop predictive models for gel strength. The UVE-SVM model demonstrated exceptional performance, with the highest R² values (Rc = 0.9786, Rp = 0.9688) and lowest error rates (RMSEC = 6.1340, RMSEP = 6.0283). Pattern recognition algorithms (PCA, LDA, and KNN) successfully classified gels based on ethanol treatment levels, achieving near-perfect accuracy. This integrated approach provided a multiscale perspective on ethanol-induced starch gel modification, from molecular interactions to macroscopic properties. Our findings demonstrate the potential of NIR spectroscopy, coupled with advanced data analysis, as a powerful tool for rapid, nondestructive quality assessment in starch gel production. This study contributes significantly to the understanding of starch modification processes and opens new avenues for research and industrial applications in food science, pharmaceuticals, and biomaterials.

Keywords: kudzu starch gel, near-infrared spectroscopy, gel strength prediction, support vector machine, pattern recognition algorithms, ethanol treatment

Procedia PDF Downloads 37
1022 Effect of Alkaline Activator, Water, Superplasticiser and Slag Contents on the Compressive Strength and Workability of Slag-Fly Ash Based Geopolymer Mortar Cured under Ambient Temperature

Authors: M. Al-Majidi, A. Lampropoulos, A. Cundy

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Geopolymer (cement-free) concrete is the most promising green alternative to ordinary Portland cement concrete and other cementitious materials. While a range of different geopolymer concretes have been produced, a common feature of these concretes is heat curing treatment which is essential in order to provide sufficient mechanical properties in the early age. However, there are several practical issues with the application of heat curing in large-scale structures. The purpose of this study is to develop cement-free concrete without heat curing treatment. Experimental investigations were carried out in two phases. In the first phase (Phase A), the optimum content of water, polycarboxylate based superplasticizer contents and potassium silicate activator in the mix was determined. In the second stage (Phase B), the effect of ground granulated blast furnace slag (GGBFS) incorporation on the compressive strength of fly ash (FA) and Slag based geopolymer mixtures was evaluated. Setting time and workability were also conducted alongside with compressive tests. The results showed that as the slag content was increased the setting time was reduced while the compressive strength was improved. The obtained compressive strength was in the range of 40-50 MPa for 50% slag replacement mixtures. Furthermore, the results indicated that increment of water and superplasticizer content resulted to retarding of the setting time and slight reduction of the compressive strength. The compressive strength of the examined mixes was considerably increased as potassium silicate content was increased.

Keywords: fly ash, geopolymer, potassium silicate, slag

Procedia PDF Downloads 223
1021 Review of Life-Cycle Analysis Applications on Sustainable Building and Construction Sector as Decision Support Tools

Authors: Liying Li, Han Guo

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Considering the environmental issues generated by the building sector for its energy consumption, solid waste generation, water use, land use, and global greenhouse gas (GHG) emissions, this review pointed out to LCA as a decision-support tool to substantially improve the sustainability in the building and construction industry. The comprehensiveness and simplicity of LCA make it one of the most promising decision support tools for the sustainable design and construction of future buildings. This paper contains a comprehensive review of existing studies related to LCAs with a focus on their advantages and limitations when applied in the building sector. The aim of this paper is to enhance the understanding of a building life-cycle analysis, thus promoting its application for effective, sustainable building design and construction in the future. Comparisons and discussions are carried out between four categories of LCA methods: building material and component combinations (BMCC) vs. the whole process of construction (WPC) LCA,attributional vs. consequential LCA, process-based LCA vs. input-output (I-O) LCA, traditional vs. hybrid LCA. Classical case studies are presented, which illustrate the effectiveness of LCA as a tool to support the decisions of practitioners in the design and construction of sustainable buildings. (i) BMCC and WPC categories of LCA researches tend to overlap with each other, as majority WPC LCAs are actually developed based on a bottom-up approach BMCC LCAs use. (ii) When considering the influence of social and economic factors outside the proposed system by research, a consequential LCA could provide a more reliable result than an attributional LCA. (iii) I-O LCA is complementary to process-based LCA in order to address the social and economic problems generated by building projects. (iv) Hybrid LCA provides a more superior dynamic perspective than a traditional LCA that is criticized for its static view of the changing processes within the building’s life cycle. LCAs are still being developed to overcome their limitations and data shortage (especially data on the developing world), and the unification of LCA methods and data can make the results of building LCA more comparable and consistent across different studies or even countries.

Keywords: decision support tool, life-cycle analysis, LCA tools and data, sustainable building design

Procedia PDF Downloads 121
1020 Gravity and Geodetic Control of Geodynamic Activity near Aswan Lake, Egypt

Authors: Anwar H. Radwan, Jan Mrlina, El-Sayed A. Issawy, Ali Rayan, Salah M. Mahmoud

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Geodynamic investigations in the Aswan Lake region were started after the M=5.5 earthquake in 1981, triggered by the lake water fluctuations. Besides establishing the seismological networks, also the geodetic observations focused on the Kalabsha and Sayal fault zones were started. It was found that the Kalabsha fault is an active dextral strike-slip with normal component indicating uplift on its southern side. However, the annual velocity rates in both components do not exceed 2 mm/y, and do not therefore represent extremely active faulting. We also launched gravity monitoring in 1997, and performed another two campaigns in 2000 and 2002. The observed non- tidal temporal gravity changes indicate rather the flood water infiltration into the porous Nubian sandstone, than tectonic stress effect. The station nearest to the lake exhibited about 60 μGal positive gravity change within the 1997-2002 period.

Keywords: gravity monitoring, surface movements, Lake Aswan, groundwater change

Procedia PDF Downloads 503
1019 Ray Tracing Modified 3D Image Method Simulation of Picocellular Propagation Channel Environment

Authors: Fathi Alwafie

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In this paper we present the simulation of the propagation characteristics of the picocellular propagation channel environment. The first aim has been to find a correct description of the environment for received wave. The result of the first investigations is that the environment of the indoor wave significantly changes as we change the electric parameters of material constructions. A modified 3D ray tracing image method tool has been utilized for the coverage prediction. A detailed analysis of the dependence of the indoor wave on the wide-band characteristics of the channel: Root Mean Square (RMS) delay spread characteristics and mean excess delay, is also investigated.

Keywords: propagation, ray tracing, network, mobile computing

Procedia PDF Downloads 400
1018 The Study of Climate Change Effects on the Performance of Thermal Power Plants in Iran

Authors: Masoud Soltani Hosseini, Fereshteh Rahmani, Mohammad Tajik Mansouri, Ali Zolghadr

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Climate change is accompanied with ambient temperature increase and water accessibility limitation. The main objective of this paper is to investigate the effects of climate change on thermal power plants including gas turbines, steam and combined cycle power plants in Iran. For this purpose, the ambient temperature increase and water accessibility will be analyzed and their effects on power output and efficiency of thermal power plants will be determined. According to the results, the ambient temperature has high effect on steam power plants with indirect cooling system (Heller). The efficiency of this type of power plants decreases by 0.55 percent per 1oC ambient temperature increase. This amount is 0.52 and 0.2 percent for once-through and wet cooling systems, respectively. The decrease in power output covers a range of 0.2% to 0.65% for steam power plant with wet cooling system and gas turbines per 1oC air temperature increase. Based on the thermal power plants distribution in Iran and different scenarios of climate change, the total amount of power output decrease falls between 413 and 1661 MW due to ambient temperature increase. Another limitation incurred by climate change is water accessibility. In optimistic scenario, the power output of steam plants decreases by 1450 MW in dry and hot climate areas throughout next decades. The remaining scenarios indicate that the amount of decrease in power output would be by 4152 MW in highlands and cold climate. Therefore, it is necessary to consider appropriate solutions to overcome these limitations. Considering all the climate change effects together, the actual power output falls in range of 2465 and 7294 MW and efficiency loss covers the range of 0.12 to .56 % in different scenarios.

Keywords: climate, change, thermal, power plants

Procedia PDF Downloads 82
1017 Effect of Pollutions on Mangrove Forests of Nayband National Marine Park

Authors: Esmaeil Kouhgardi, Elaheh Shakerdargah

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The mangrove ecosystem is a complex of various inter-related elements in the land-sea interface zone which is linked with other natural systems of the coastal region such as corals, sea-grass, coastal fisheries and beach vegetation. The mangrove ecosystem consists of water, muddy soil, trees, shrubs, and their associated flora, fauna and microbes. It is a very productive ecosystem sustaining various forms of life. Its waters are nursery grounds for fish, crustacean, and mollusk and also provide habitat for a wide range of aquatic life, while the land supports a rich and diverse flora and fauna, but pollutions may affect these characteristics. Iran has the lowest share of Persian Gulf pollution among the eight littoral states; environmental experts are still deeply concerned about the serious consequences of the pollution in the oil-rich gulf. Prolongation of critical conditions in the Persian Gulf has endangered its aquatic ecosystem. Water purification equipment, refineries, wastewater emitted by onshore installations, especially petrochemical plans, urban sewage, population density and extensive oil operations of Arab states are factors contaminating the Persian Gulf waters. Population density has been the major cause of pollution and environmental degradation in the Persian Gulf. Persian Gulf is a closed marine environment which is connected to open waterways only from one way. It usually takes between three and four years for the gulf's water to be completely replaced. Therefore, any pollution entering the water will remain there for a relatively long time. Presently, the high temperature and excessive salt level in the water have exposed the marine creatures to extra threats, which mean they have to survive very tough conditions. The natural environment of the Persian Gulf is very rich with good fish grounds, extensive coral reefs and pearl oysters in abundance, but has become increasingly under pressure due to the heavy industrialization and in particular the repeated major oil spillages associated with the various recent wars fought in the region. Pollution may cause the mortality of mangrove forests by effect on root, leaf and soil of the area. Study was showed the high correlation between industrial pollution and mangrove forests health in south of Iran and increase of population, coupled with economic growth, inevitably caused the use of mangrove lands for various purposes such as construction of roads, ports and harbors, industries and urbanization.

Keywords: Mangrove forest, pollution, Persian Gulf, population, environment

Procedia PDF Downloads 399
1016 Numerical Investigation of the Effects of Surfactant Concentrations on the Dynamics of Liquid-Liquid Interfaces

Authors: Bamikole J. Adeyemi, Prashant Jadhawar, Lateef Akanji

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Theoretically, there exist two mathematical interfaces (fluid-solid and fluid-fluid) when a liquid film is present on solid surfaces. These interfaces overlap if the mineral surface is oil-wet or mixed wet, and therefore, the effects of disjoining pressure are significant on both boundaries. Hence, dewetting is a necessary process that could detach oil from the mineral surface. However, if the thickness of the thin water film directly in contact with the surface is large enough, disjoining pressure can be thought to be zero at the liquid-liquid interface. Recent studies show that the integration of fluid-fluid interactions with fluid-rock interactions is an important step towards a holistic approach to understanding smart water effects. Experiments have shown that the brine solution can alter the micro forces at oil-water interfaces, and these ion-specific interactions lead to oil emulsion formation. The natural emulsifiers present in crude oil behave as polyelectrolytes when the oil interfaces with low salinity water. Wettability alteration caused by low salinity waterflooding during Enhanced Oil Recovery (EOR) process results from the activities of divalent ions. However, polyelectrolytes are said to lose their viscoelastic property with increasing cation concentrations. In this work, the influence of cation concentrations on the dynamics of viscoelastic liquid-liquid interfaces is numerically investigated. The resultant ion concentrations at the crude oil/brine interfaces were estimated using a surface complexation model. Subsequently, the ion concentration parameter is integrated into a mathematical model to describe its effects on the dynamics of a viscoelastic interfacial thin film. The film growth, stability, and rupture were measured after different time steps for three types of fluids (Newtonian, purely elastic and viscoelastic fluids). The interfacial films respond to exposure time in a similar manner with an increasing growth rate, which resulted in the formation of more droplets with time. Increased surfactant accumulation at the interface results in a higher film growth rate which leads to instability and subsequent formation of more satellite droplets. Purely elastic and viscoelastic properties limit film growth rate and consequent film stability compared to the Newtonian fluid. Therefore, low salinity and reduced concentration of the potential determining ions in injection water will lead to improved interfacial viscoelasticity.

Keywords: liquid-liquid interfaces, surfactant concentrations, potential determining ions, residual oil mobilization

Procedia PDF Downloads 143
1015 Optimization of Water Pipeline Routes Using a GIS-Based Multi-Criteria Decision Analysis and a Geometric Search Algorithm

Authors: Leon Mortari

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The Metropolitan East region of Rio de Janeiro state, Brazil, faces a historic water scarcity. Among the alternatives studied to solve this situation, the possibility of adduction of the available water in the reservoir Lagoa de Juturnaíba to supply the region's municipalities stands out. The allocation of a linear engineering project must occur through an evaluation of different aspects, such as altitude, slope, proximity to roads, distance from watercourses, land use and occupation, and physical and chemical features of the soil. This work aims to apply a multi-criteria model that combines geoprocessing techniques, decision-making, and geometric search algorithm to optimize a hypothetical adductor system in the scenario of expanding the water supply system that serves this region, known as Imunana-Laranjal, using the Lagoa de Juturnaíba as the source. It is proposed in this study, the construction of a spatial database related to the presented evaluation criteria, treatment and rasterization of these data, and standardization and reclassification of this information in a Geographic Information System (GIS) platform. The methodology involves the integrated analysis of these criteria, using their relative importance defined by weighting them based on expert consultations and the Analytic Hierarchy Process (AHP) method. Three approaches are defined for weighting the criteria by AHP: the first treats all criteria as equally important, the second considers weighting based on a pairwise comparison matrix, and the third establishes a hierarchy based on the priority of the criteria. For each approach, a distinct group of weightings is defined. In the next step, map algebra tools are used to overlay the layers and generate cost surfaces, that indicates the resistance to the passage of the adductor route, using the three groups of weightings. The Dijkstra algorithm, a geometric search algorithm, is then applied to these cost surfaces to find an optimized path within the geographical space, aiming to minimize resources, time, investment, maintenance, and environmental and social impacts.

Keywords: geometric search algorithm, GIS, pipeline, route optimization, spatial multi-criteria analysis model

Procedia PDF Downloads 33
1014 Integrated Steering Method for Mitigating Performance Degradation in Six-Wheel Robot Caused by Obstacle Traversing

Authors: Saleh Kasiri Bidhendi, Shiva Tashakori

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With the increasing application of six-wheel robots in various industries, including agriculture and environmental monitoring, there is a growing demand for efficient and reliable control systems that can improve manoeuvrability and at the same time reduce energy consumption. Moving on uneven terrains, various factors such as obstacles or soil heterogeneity can cause the robot to slip. There is limited research addressing this issue. Although the robot is supposed to track a predetermined path, sudden lateral deviation necessitates path planning. To further address this issue, explicit steering is added by activating actuators on steerable wheels, while the SMC controller still commands differential traction forces on all wheels. This integration improves energy efficiency and obstacle traversability while maintaining the merits of skid-steering, such as tight turning manoeuvrability. However, achieving the desired steer angles presents certain challenges. Inverse kinematics was initially employed to achieve the needed steering angles from the desired position, but this approach led to excessive steering without yawing the body. Switching to desired velocity values instead of position limited over-steering but caused zero lateral velocity on horizontal paths, which was problematic for unforeseen skidding. To overcome this, a proportional controller has been employed, using lateral error as its input and providing a proportional yaw angle as output, the P-controller contributes to modifying the steering angles. The controller's robustness has been verified through sensitivity analyses under critical speeds and turning radius conditions. Our findings offer valuable insights into designing more efficient steering controls for rocker-bogie mechanisms in challenging situations, emphasizing the importance of reducing energy¬ consumption.

Keywords: six-wheel robots, inverse kinematics, integrated steering, path following, manoeuvrability, energy efficiency, uneven terrains

Procedia PDF Downloads 32