Search results for: filter circuit
316 Effect of Different Arsenic Treatments on Root Growth of Sunflower Seedlings in Rhizobox Experiment
Authors: Szilvia Várallyay, Béla Kovács, Éva Bódi, Farzeneh Garousi, Szilvia Veres
Abstract:
Arsenic (As) is a naturally occurring substance that can be present in soil, water and air. Vegetables, fruits, and other plants that grow in contaminated soils which are able to accumulate arsenic. Arsenic when presents in plant cells, has various negative physiological effects and when presents in soil will be inorgaic form, namely arsenite (As(III)) and arsenate (As(V)). These two forms of arsenic disrupt plant metabolism by inhibiting its growth and these arsenic species has negative effect on nutrient uptake. A rhizobox experiment was conducted to investigate the effect of arsenite and arsenate on root growth of sunflower seedlings. Sunflower plants were grown in climatic room under irradiance of 300 µmol m-2 s-1, 16-h day and 8-h night photoperiod, day/night temperature of 25/20°C and relative humidity of 65-75%. We applied arsenic in form of arsenite (NaAsO2) and arsenate (KH2AsO4), respectively. The applied arsenic treatments was 0, 10, 30, 90 mg.kg-1. After disinfection, seeds were germinated between moist filter papers. Seedlings with 2-3 cm coleoptils were placed into rhizoboxes. In the rhizoboxes the growing and daily growing rhythm of roots of sunflower can be followed up, moreover possible phytotoxic symptoms of roots resulting from increasing arsenic can be seen. Weights of rhizoboxes were measured daily and also evaporated water added each day. The lengths of roots were measured daily until seedlings roots get at the end of the rhizoboxes. Negative correlation was observed between the higher concentration of arsenic in the soil and the growth of sunflower seedlings roots. The effect of arsenic toxicity was more considerable in 90 mg.kg-1 arsenic treatment than lower concentration. The same arsenite concentration causes slower growth in case of sunflower plant than the same arsenate concentration produced.Keywords: arsenic, rhizobox experiment, sunflower, root growth
Procedia PDF Downloads 419315 Analysis of Grid Connected High Concentrated Photovoltaic Systems for Peak Load Shaving in Kuwait
Authors: Adel A. Ghoneim
Abstract:
Air conditioning devices are substantially utilized in the summer months, as a result maximum loads in Kuwait take place in these intervals. Peak energy consumption are usually more expensive to satisfy compared to other standard power sources. The primary objective of the current work is to enhance the performance of high concentrated photovoltaic (HCPV) systems in an attempt to minimize peak power usage in Kuwait using HCPV modules. High concentrated PV multi-junction solar cells provide a promising method towards accomplishing lowest pricing per kilowatt-hour. Nevertheless, these cells have various features that should be resolved to be feasible for extensive power production. A single diode equivalent circuit model is formulated to analyze multi-junction solar cells efficiency in Kuwait weather circumstances taking into account the effects of both the temperature and the concentration ratio. The diode shunt resistance that is commonly ignored in the established models is considered in the present numerical model. The current model results are successfully validated versus measurements from published data to within 1.8% accuracy. Present calculations reveal that the single diode model considering the shunt resistance provides accurate and dependable results. The electrical efficiency (η) is observed to increase with concentration to a specific concentration level after which it reduces. Implementing grid systems is noticed to increase with concentration to a certain concentration degree after which it decreases. Employing grid connected HCPV systems results in significant peak load reduction.Keywords: grid connected, high concentrated photovoltaic systems, peak load, solar cells
Procedia PDF Downloads 156314 Effect of Thermal Aging on Low Cycle Fatigue of Alloy 690
Authors: Kushal Gowda Jayaram, Joseph Huret, Jonathan Quibel, Walter-John Chitty, Gilbert Henaff
Abstract:
Thermal aging is one of the concerns for the long-term operation of nuclear power plants. Indeed, components in the primary circuit undergo thermal aging while exposed to the chemically active environment of Pressurized Water Reactors (PWRs) over time. Among the materials used in the reactor components, Alloy 690 can be found in some critical components for nuclear safety. Despite its importance, research on the effect of thermal aging on the microstructural changes and low cycle fatigue (LCF) behavior of Alloy 690 remains limited. This study aims to assess the impact of thermal aging on the fatigue life of Alloy 690. The as-received sample underwent aging at 420°C for 4000 hours, representing the equivalent aging of 60 years in reactor working conditions. First, the characterization of the area and density of intergranular and intragranular precipitates was performed to understand the microstructural changes in the aged specimen. Then, low cycle fatigue tests were conducted on the as received and aged samples at varying strain amplitudes. To investigate the influence of thermal aging on the fatigue behavior of Alloy 690, fracture surfaces were analyzed to estimate fatigue crack growth rates based on striation spacing measurements. Additionally, the axially cut fractured samples have undergone analysis using Electron Backscatter Diffraction (EBSD) to understand the effect of aging on strain localization near the crack path. Results indicate that while the characterization of the area and density of intergranular precipitates in the aged specimen (for 2000 hours, approximately 30 years) showed no significant changes, there was a slight increase in the area and density of intragranular precipitates under the same conditions.Keywords: alloy 690, thermal aging, low cycle fatigue, precipitates
Procedia PDF Downloads 40313 Immune Response and Histological Alteration in the Crab Carcinus aestuarii, Due to Silver Nanoparticles
Authors: Ines Kovacic, Dijana Pavicic-Hamer, Petra Buric, Maja Levak Zorinc, Daniel M. Lyons
Abstract:
Silver nanoparticles (AgNPs), owing to their unique physical and chemical properties, have become one of the most widely used nanoparticles in consumer products. Despite the increased use of AgNPs in science and industry over the past twenty years, only relatively recently has concern been raised over their entering brackish and marine environments. However, data on their potential impact on marine organisms, especially invertebrates are very limited. This study aimed to examine the effects of 60 nm AgNPs (10, 100, 500 and 1000 µg/l) and silver ions (100, 1000 µg/l) on the Mediterranean green crab Carcinus aestuarii Nardo, 1847. The crab mortality was assessed during seven days of exposure. After the exposure, total haemocytes (THC) and differential haemocytes number (DHC) were counted (immune response), in addition to histological examination of gills stained with haematoxylin and eosin. The effect of AgNPs and silver ions resulted in a dose dependent mortality and destruction of gills epithelium with haemocytes infiltration in the gills lacuna. Total haemocyte count was greater with increasing concentration of AgNPs, at concentrations from 10 to 500 µg/l. Hyalinocytes were the most common immunological cells noted in the crab hemolymph, while granulocytes and semigranulocytes were suppressed with increasing concentration of AgNPs (500 and 1000 µg/l). Thus, as crabs are filter feeders, they are susceptible to uptake of AgNPs by direct accumulation in gills mucus or indirectly via circulation of haemocytes in their open vascular system. Results of this study on crabs add to knowledge of the effects of AgNPs in the marine environment.Keywords: crab, immune response, histological alteration, silver nanoparticles
Procedia PDF Downloads 155312 Modulating Plasmon Induced Transparency in Terahertz Metamaterials
Authors: Gagan Kumar, Koijam M. Devi, Amarendra K. Sarma, Dibakar Roy Chowdhury
Abstract:
Research in metamaterials has been gaining momentum over the past decade owing to its ability in controlling electromagnetic wave properties through careful design at the sub-wavelength scale. The metamaterials have led to several important phenomena which are useful in a variety of applications. One such phenomenon is the electromagnetically induced transparency (EIT) effect in which a narrow transparency region is created in an otherwise absorptive spectrum. In our work, we explore plasmon induced transparency (PIT) in terahertz metamaterials which is analogues to EIT effect. The PIT effect is achieved using the plasmonic metamaterials in which a unit cell is comprised of two C (2C) shaped resonators and a cut-wire (CW). When terahertz wave of a particular polarization is normally incident on the proposed metamaterials geometry, it strongly couples with the cut wire, resulting in the excitation of the bright mode. However due to the specific polarization of the incident beam, the fundamental modes of the C-shaped resonators are not excited by the incident terahertz, hence they are termed as the dark mode. The PIT effect occurs as a result of interference between the bright and the dark mode. In order to observe PIT effect, both the bright and dark modes should have similar resonant frequencies with a little deviation. We further have examined that the PIT window can be modulated by displacing the C-shaped resonators w.r.t. the cut-wire. The numerical observations for different coupling configurations can be explained through an equivalent lumped element circuit model. Moving ahead the PIT effect is further explored in a metamaterial comprising of a cross like structure and four C-shaped resonators. For such configuration, equally strong PIT effect is observed for two orthogonally polarized lights. Therefore, such metamaterials demonstrate a polarization independent PIT response w.r.t the incident terahertz radiation. The proposed study could be significant in the development of slow light devices and polarization independent sensing applications.Keywords: terahertz, metamaterial, split ring resonator, plasmon
Procedia PDF Downloads 213311 On the Qarat Kibrit Salt Dome Faulting System South of Adam, Oman: In Search of Uranium Anomalies
Authors: Alaeddin Ebrahimi, Narasimman Sundararajan, Bernhard Pracejus
Abstract:
Development of salt domes, often a rising from depths of some 10 km or more, causes an intense faulting of the surrounding host rocks (salt tectonics). The fractured rocks then present ideal space for oil that can migrate and get trapped. If such moving of hydrocarbons passes uranium-carrying rock units (e.g., shales), uranium is collected and enriched by organic carbon compounds. Brines from the salt body are also ideal carriers for oxidized uranium species and will further dislocate uranium when in contact with uranium-enriched oils. Uranium then has the potential to mineralize in the vicinity of the dome (blue halite is evidence for radiation having affected salt deposits elsewhere in the world). Based on this knowledge, the Qarat Kibrit salt dome was investigated by a well-established geophysical method like very low frequency electromagnetic (VLF-EM) along five traverses approximately 250 m in length (10 m intervals) in order to identify subsurface fault systems. In-phase and quadrature components of the VLF-EM signal were recorded at two different transmitter frequencies (24.0 and 24.9 kHz). The images of Fraser filtered response of the in-phase components indicate a conductive zone (fault) in the southeast and southwest of the study area. The Karous-Hjelt current density pseudo section delineates subsurface faults at depths between 10 and 40 m. The stacked profiles of the Fraser filtered responses brought out two plausible trends/directions of faults. However, there seems to be no evidence for uranium enrichment has been recorded in this area.Keywords: salt dome, uranium, fault, in-phase component, quadrature component, Fraser filter, Karous-Hjelt current density
Procedia PDF Downloads 240310 A Compact Extended Laser Diode Cavity Centered at 780 nm for Use in High-Resolution Laser Spectroscopy
Authors: J. Alvarez, J. Pimienta, R. Sarmiento
Abstract:
Diode lasers working in free mode present different shifting and broadening determined by external factors such as temperature, current or mechanical vibrations, and they are not more useful in applications such as spectroscopy, metrology, and cooling of atoms, among others. Different configurations can reduce the spectral width of a laser; one of the most effective is to extend the optical resonator of the laser diode and use optical feedback either with the help of a partially reflective mirror or with a diffraction grating; this latter configuration is not only allowed to reduce the spectral width of the laser line but also to coarsely adjust its working wavelength, within a wide range typically ~ 10nm by slightly varying the angle of the diffraction grating. Two settings are commonly used for this purpose, the Littrow configuration and the Littmann Metcalf. In this paper, we present the design, construction, and characterization of a compact extended laser cavity in Littrow configuration. The designed cavity is compact and was machined on an aluminum block using computer numerical control (CNC); it has a mass of only 380 g. The design was tested on laser diodes with different wavelengths, 650nm, 780nm, and 795 nm, but can be equally efficient at other wavelengths. This report details the results obtained from the extended cavity working at a wavelength of 780 nm, with an output power of around 35mW and a line width of less than 1Mhz. The cavity was used to observe the spectrum of the corresponding Rubidium D2 line. By modulating the current and with the help of phase detection techniques, a dispersion signal with an excellent signal-to-noise ratio was generated that allowed the stabilization of the laser to a transition of the hyperfine structure of Rubidium with an integral proportional controller (PI) circuit made with precision operational amplifiers.Keywords: Littrow, Littman-Metcalf, line width, laser stabilization, hyperfine structure
Procedia PDF Downloads 228309 Testing of Complicated Bus Bar Protection Using Smart Testing Methodology
Authors: K. N. Dinesh Babu
Abstract:
In this paper, the protection of a complicated bus arrangement with a dual bus coupler and bus sectionalizer using low impedance differential protection applicable for very high voltages like 220kV and 400kV is discussed. In many power generation stations, several operational procedures are implemented to utilize the transfer bus as the main bus and to facilitate the maintenance of circuit breakers and current transformers (in each section) without shutting down the bay(s). Owing to this fact, the complications in operational philosophy have thrown challenges for the bus bar protection implementation. Many bus topologies allow any one of the main buses available in the station to be used as an auxiliary bus. In such a system, pre-defined precautions and procedures are made as guidelines, which are followed before assigning any bus as an auxiliary bus. The procedure involves shifting of links, changing rotary switches, insertion of test block, and so on, thereby causing unreliable operation. This kind of unreliable operation or inadvertent procedural lapse may result in the isolation of the bus bar from the grid due to the unpredictable operation of the bus bar protection relay, which is a commonly occurring phenomenon due to manual mistakes. With the sophisticated configuration and implementation of logic in modern intelligent electronic devices, the operator is free to select the transfer arrangement without sacrificing the protection required by a bus differential system for a reliable operation, and labor-intensive processes are completely eliminated. This paper deals with the procedure to test the security logic for such special scenarios using Megger make SMRT, bus bar protection relay to assure system stability and get rid of all the specific operational precautions/procedure.Keywords: bus bar protection, by-pass isolator, blind spot, breaker failure, intelligent electronic device, end fault, bus unification, directional principle, zones of protection, breaker re-trip, under voltage security, smart megger relay tester
Procedia PDF Downloads 69308 Accumulation of PM10 and Associated Metals Due to Opencast Coal Mining Activities and Their Impact on Human Health
Authors: Arundhuti Devi, Gitumani Devi, Krishna G. Bhattacharyya
Abstract:
The goal of this study was to assess the characteristics of the airborne dust created by opencast coal mining and its relation to population hospitalization risk for skin and lung diseases in Margherita Coalfield, Assam, India. Air samples were collected for 24 h in three 8-h periods. For the collection of particulate matter (PM10) and total suspended particulate matter (SPM) samples, respiratory dust samplers with glass microfiber filter papers were used. PM10 was analyzed for Cu, Cd, Cr, Mn, Zn, Ni, Fe and Pb with Flame Atomic Absorption Spectrophotometer (FAAS). SPM and PM10 concentrations were respectively found to be as high as 1,035 and 265.85 μg/m³ in work zone air. The concentration of metals associated with PM10 showed values higher than the permissible limits. It was observed that the average concentrations of the metals Fe, Pb, Ni, Zn, and Cu were very high during the winter month of December, those of Cd and Cr were high during the month of May and Mn was high during February. The morphology of the particles studied with scanning electron microscopy (SEM) gave significant results. Due to opencast coal mining, the air in the work zone, as well as the general ambient air, was found to be highly polluted with respect to dust. More than 8000 patient records maintained by the hospital authority were collected from three hospitals in the area. The highest percentage of people suffering from lung diseases are found in Margherita Civil Hospital (~26.77%) whereas most people suffering from skin diseases reported for treatment in the ESIC hospital (47.47%). Both PM10 and SPM were alarmingly high, and the results were in conformity with the high incidence of lung and other respiratory diseases in the study area.Keywords: heavy metals, open cast coal mining, PM10, respiratory diseases
Procedia PDF Downloads 318307 Ecotoxicity Evaluation Methodology for Metallurgical and Steel Wastes
Authors: G. Pelozo, N. Quaranta
Abstract:
The assessment of environmental hazard and ecotoxicological potential of industrial wastes has become an issue of concern in many countries. Therefore, the aim of this work is to develop a methodology, adapting an Argentinian standard, which allows analyze the ecotoxicological effect of various metallurgical and steel wastes. Foundry sand, white mud, red mud, electric arc furnace dust, converter slag, among others, are the studied wastes. The species used to analyze the ecotoxicological effects of wastes is rye grass (Lolium Perenne). The choice of this kind lies, among other things, in its easy and rapid germination making it possible to develop the test in a few days. Moreover, since the processes involved are general for most seeds, the obtained results with this kind are representative, in general, of the effects on seeds or seedlings. Since the studied residues are solids, prior to performing the assay, an eluate is obtained by stirring for 2 hours and subsequent filtration of a solution of waste in water in a relationship of 1:4. This represents 100% of eluate from which two dilutions in water (25% and 50%) are prepared. A sample with untreated solid waste and water is also performed. The test is performed by placing two filter papers in a Petri dish that are saturated with 3.5ml of the prepared dilutions. After that 20 rye grass seeds are placed, and the Petri dishes are covered and the seeds are incubated for 120 hours at 24 °C. Reference controls are carried out by distilled water. Three replicates are performed for each concentration. Once the exposure period is finished, inhibiting elongation of the root is measured (IR). The results of this test show that all the studied wastes produce an unfavorable effect on the development of the seedlings, being the electric arc furnace dust which more affects the germination.Keywords: ecotoxicity, industrial wastes, environmental hazard, seeds
Procedia PDF Downloads 403306 Raman Scattering Broadband Spectrum Generation in Compact Yb-Doped Fiber Laser
Authors: Yanrong Song, Zikai Dong, Runqin Xu, Jinrong Tian, Kexuan Li
Abstract:
Nonlinear polarization rotation (NPR) technique has become one of the main techniques to achieve mode-locked fiber lasers for its compactness, implementation, and low cost. In this paper, we demonstrate a compact mode-locked Yb-doped fiber laser based on NPR technique in the all normal dispersion (ANDi) regime. In the laser cavity, there are no physical filter and polarization controller in laser cavity. Mode-locked pulse train is achieved in ANDi regime based on NPR technique. The fiber birefringence induced filtering effect is the mainly reason for mode-locking. After that, an extra 20 m long single-mode fiber is inserted in two different positions, dissipative soliton operation and noise like pulse operations are achieved correspondingly. The nonlinear effect is obviously enhanced in the noise like pulse regime and broadband spectrum generated owing to enhanced stimulated Raman scattering effect. When the pump power is 210 mW, the central wavelength is 1030 nm, and the corresponding 1st order Raman scattering stokes wave generates and locates at 1075 nm. When the pump power is 370 mW, the 1st and 2nd order Raman scattering stokes wave generate and locate at 1080 nm, 1126 nm respectively. When the pump power is 600 mW, the Raman continuum is generated with cascaded multi-order stokes waves, and the spectrum extends to 1188 nm. The total flat spectrum is from 1000nm to 1200nm. The maximum output average power and pulse energy are 18.0W and 14.75nJ, respectively.Keywords: fiber laser, mode-locking, nonlinear polarization rotation, Raman scattering
Procedia PDF Downloads 221305 Synthesis and Characterization of Chiral Dopant Based on Schiff's Base Structure
Authors: Hong-Min Kim, Da-Som Han, Myong-Hoon Lee
Abstract:
CLCs (Cholesteric liquid crystals) draw tremendous interest due to their potential in various applications such as cholesteric color filters in LCD devices. CLC possesses helical molecular orientation which is induced by a chiral dopant molecules mixed with nematic liquid crystals. The efficiency of a chiral dopant is quantified by the HTP (helical twisting power). In this work, we designed and synthesized a series of new chiral dopants having a Schiff’s base imine structure with different alkyl chain lengths (butyl, hexyl and octyl) from chiral naphthyl amine by two-step reaction. The structures of new chiral dopants were confirmed by 1H-NMR and IR spectroscopy. The properties were investigated by DSC (differential scanning calorimetry calorimetry), POM (polarized optical microscopy) and UV-Vis spectrophotometer. These solid state chiral dopants showed excellent solubility in nematic LC (MLC-6845-000) higher than 17wt%. We prepared the CLC(Cholesteric Liquid Crystal) cell by mixing nematic LC (MLC-6845-000) with different concentrations of chiral dopants and injecting into the sandwich cell of 5μm cell gap with antiparallel alignment. The cholesteric liquid crystal phase was confirmed from POM, in which all the samples showed planar phase, a typical phase of the cholesteric liquid crystals. The HTP (helical twisting power) is one of the most important properties of CLC. We measured the HTP values from the UV-Vis transmittance spectra of CLC cells with varies chiral dopant concentration. The HTP values with different alkyl chains are as follows: butyl chiral dopant=29.8μm-1; hexyl chiral dopant= 31.8μm-1; octyl chiral dopant=27.7μm-1. We obtained the red, green and blue reflection color from CLC cells, which can be used as color filters in LCDs applications.Keywords: cholesteric liquid crystal, color filter, display, HTP
Procedia PDF Downloads 267304 Computer-Aided Detection of Liver and Spleen from CT Scans using Watershed Algorithm
Authors: Belgherbi Aicha, Bessaid Abdelhafid
Abstract:
In the recent years a great deal of research work has been devoted to the development of semi-automatic and automatic techniques for the analysis of abdominal CT images. The first and fundamental step in all these studies is the semi-automatic liver and spleen segmentation that is still an open problem. In this paper, a semi-automatic liver and spleen segmentation method by the mathematical morphology based on watershed algorithm has been proposed. Our algorithm is currency in two parts. In the first, we seek to determine the region of interest by applying the morphological to extract the liver and spleen. The second step consists to improve the quality of the image gradient. In this step, we propose a method for improving the image gradient to reduce the over-segmentation problem by applying the spatial filters followed by the morphological filters. Thereafter we proceed to the segmentation of the liver, spleen. The aim of this work is to develop a method for semi-automatic segmentation liver and spleen based on watershed algorithm, improve the accuracy and the robustness of the liver and spleen segmentation and evaluate a new semi-automatic approach with the manual for liver segmentation. To validate the segmentation technique proposed, we have tested it on several images. Our segmentation approach is evaluated by comparing our results with the manual segmentation performed by an expert. The experimental results are described in the last part of this work. The system has been evaluated by computing the sensitivity and specificity between the semi-automatically segmented (liver and spleen) contour and the manually contour traced by radiological experts. Liver segmentation has achieved the sensitivity and specificity; sens Liver=96% and specif Liver=99% respectively. Spleen segmentation achieves similar, promising results sens Spleen=95% and specif Spleen=99%.Keywords: CT images, liver and spleen segmentation, anisotropic diffusion filter, morphological filters, watershed algorithm
Procedia PDF Downloads 325303 Construction of Microbial Fuel Cells from Local Benthic Zones
Authors: Maria Luiza D. Ramiento, Maria Lissette D. Lucas
Abstract:
Electricity is said to serve as the backbone of modern technology. Considering this, electricity consumption has dynamically grown due to the continuous demand. An alternative producer of energy concerning electricity must therefore be given focus. Microbial fuel cell wholly characterizes a new method of renewable energy recovery: the direct conversion of organic matter to electricity using bacteria. Electricity is produced as fuel or new food is given to the bacteria. The study concentrated in determining the feasibility of electricity production from local benthic zones. Microbial fuel cells were constructed to harvest the possible electricity and to test the presence of electricity producing microorganisms. Soil samples were gathered from Calumpang River, Palawan Mangrove Forest, Rosario River and Batangas Port. Eleven modules were constructed for the different trials of the soil samples. These modules were made of cathode and anode chambers connected by a salt bridge. For 85 days, the harvested voltage was measured daily. No parameter is added for the first 24 days. For the next 61 days, acetic acid was included in the first and second trials of the modules. Each of the trials of the soil samples gave a positive result in electricity production.There were electricity producing microbes in local benthic zones. It is observed that the higher the organic content of the soil sample, the higher the electricity harvested from it. It is recommended to identify the specific species of the electricity-producing microorganism present in the local benthic zone. Complement experiments are encouraged like determining the kind of soil particles to test its effect on the amount electricity that can be harvested. To pursue the development of microbial fuel cells by building a closed circuit in it is also suggested.Keywords: microbial fuel cell, benthic zone, electricity, reduction-oxidation reaction, bacteria
Procedia PDF Downloads 400302 Texture Characterization and Mineralogical Composition of the 1982-1983 Second Phase Galunggung Eruption, West Java Regency, Indonesia
Authors: M. Hanif Irsyada, Rifaldy, Arif Lutfi Namury, Syahreza S. Angkasa, Khalid Rizky, Ricky Aryanto, M. Alfiyan Bagus, Excobar Arman, Fahri Septianto, Firman Najib Wibisana
Abstract:
Galunggung Mountain is an active volcano in Indonesia, precisely on the island of Java. This area is included in the Sunda Sunda arc formed by the tendency of the Australian oceanic plate to Eurasian continental plate. This research was conducted to determine the characteristics and document the mineralogical composition of the Galunggung eruption of the second phase 1982-1983. In fragment samples, petrographic analysis is carried out under a qualitative and quantitative polarizing microscope. This sample was obtained from the second phase eruption in the Cibanjanj formation. Based on the analysis results obtained filter texture characteristics, olivine parallel growth, lamellar structure, glass inclusion, plagioclase zonation and obtained special texture in the gabbroic cummulate. The mineral composition consists of phenocryst plagioclase (41vol%), pyroxene (26vol%), olivin (4vol%) and mineral opaque (29vol%). Microlite minerals consist of plagioclase (31.95vol%), pyroxene (12.09vol%), opaque minerals (55.96vol%). This research is expected to be developed by further researchers to be able to explain in more detail related to Galunggung mountain with 3 phases of eruption that are so intense. Also, it is expected to explain the structural characteristics and mineralogical composition that can be used to determine the origin of all the results of the Galunggung eruption 1982-1983.Keywords: Galunggung eruption, mineralogical composition, texture characterization, gabbroic cumulate
Procedia PDF Downloads 128301 Optimized Weight Selection of Control Data Based on Quotient Space of Multi-Geometric Features
Authors: Bo Wang
Abstract:
The geometric processing of multi-source remote sensing data using control data of different scale and different accuracy is an important research direction of multi-platform system for earth observation. In the existing block bundle adjustment methods, as the controlling information in the adjustment system, the approach using single observation scale and precision is unable to screen out the control information and to give reasonable and effective corresponding weights, which reduces the convergence and adjustment reliability of the results. Referring to the relevant theory and technology of quotient space, in this project, several subjects are researched. Multi-layer quotient space of multi-geometric features is constructed to describe and filter control data. Normalized granularity merging mechanism of multi-layer control information is studied and based on the normalized scale factor, the strategy to optimize the weight selection of control data which is less relevant to the adjustment system can be realized. At the same time, geometric positioning experiment is conducted using multi-source remote sensing data, aerial images, and multiclass control data to verify the theoretical research results. This research is expected to break through the cliché of the single scale and single accuracy control data in the adjustment process and expand the theory and technology of photogrammetry. Thus the problem to process multi-source remote sensing data will be solved both theoretically and practically.Keywords: multi-source image geometric process, high precision geometric positioning, quotient space of multi-geometric features, optimized weight selection
Procedia PDF Downloads 286300 Synthesis, Characterization and Biological Evaluation of Some Pyrazole Derivatives
Authors: Afifa Hafidh, Hedia Chaabane
Abstract:
This work mainly focused on the synthetic strategies and biological activities associated with pyrazoles. Pyrazole derivatives have been successfully synthesized by simple and facile method and studied for their antibacterial activity. These compounds were prepared from pyrazolic difunctional compounds as starting materials, by reaction with salicylic acid, paracetamol and thiosemicarbazide respectively. Structure of all the prepared compounds confirmation were proved using (FT-IR), (1H-NMR) and (13C-NMR) spectra in addition to melting points. The screening of the antimicrobial activity of the pyrazolic derivatives was examined against different microorganisms in the present study. They were screened for their antimicrobial activities against gram positive bacteria, gram negative bacteria and Candida albicans. The synthesized compounds were found to exhibit high antibacterial and antifungal efficiency against several tested bacterial strains, using agar diffusion method and filter paper disc-diffusion method. Ampicillin was used as positive control for all strains except Candida albicans for which Nystatin was used. The obtained results reveal that the antibacterial activity of some pyrazolic derivatives is comparable to that observed for the control samples (Ampicilin and Nystatin), suggesting a strong antibacterial activity. The analysis of these results shows that synthesized products react on the surfaces cell walls that are disrupted. When these products are in contact with the bacteria, they damage the membrane, leading to the perturbation of different cellular processes and then leakage of cytoplasm, resulting in the death of the cells. The results will be presented in details. The obtained products constitute effective antibacterial agents and important compounds for biological systems.Keywords: salicylic acid, antimicrobial activities, antioxidant activity, paracetamol, pyrazole, thiosemicarbazide
Procedia PDF Downloads 174299 Robust Method for Evaluation of Catchment Response to Rainfall Variations Using Vegetation Indices and Surface Temperature
Authors: Revalin Herdianto
Abstract:
Recent climate changes increase uncertainties in vegetation conditions such as health and biomass globally and locally. The detection is, however, difficult due to the spatial and temporal scale of vegetation coverage. Due to unique vegetation response to its environmental conditions such as water availability, the interplay between vegetation dynamics and hydrologic conditions leave a signature in their feedback relationship. Vegetation indices (VI) depict vegetation biomass and photosynthetic capacity that indicate vegetation dynamics as a response to variables including hydrologic conditions and microclimate factors such as rainfall characteristics and land surface temperature (LST). It is hypothesized that the signature may be depicted by VI in its relationship with other variables. To study this signature, several catchments in Asia, Australia, and Indonesia were analysed to assess the variations in hydrologic characteristics with vegetation types. Methods used in this study includes geographic identification and pixel marking for studied catchments, analysing time series of VI and LST of the marked pixels, smoothing technique using Savitzky-Golay filter, which is effective for large area and extensive data. Time series of VI, LST, and rainfall from satellite and ground stations coupled with digital elevation models were analysed and presented. This study found that the hydrologic response of vegetation to rainfall variations may be shown in one hydrologic year, in which a drought event can be detected a year later as a suppressed growth. However, an annual rainfall of above average do not promote growth above average as shown by VI. This technique is found to be a robust and tractable approach for assessing catchment dynamics in changing climates.Keywords: vegetation indices, land surface temperature, vegetation dynamics, catchment
Procedia PDF Downloads 287298 Transport Medium That Prevents the Conversion of Helicobacter Pylori to the Coccoid Form
Authors: Eldar Mammadov, Konul Mammadova, Aytaj Ilyaszada
Abstract:
Background: According to many studies, it is known that H. pylori transform into the coccoid form, which cannot be cultured and has poor metabolic activity.In this study, we succeeded in preserving the spiral shape of H.pylori for a long time by preparing a biphase transport medium with a hard bottom (Muller Hinton with 7% HRBC (horse red blood cells) agar 5ml) and liquid top part (BH (brain heart) broth + HS (horse serum)+7% HRBC+antibiotics (Vancomycin 5 mg, Trimethoprim lactate 25 mg, Polymyxin B 1250 I.U.)) in cell culture flasks with filter caps. For comparison, we also used a BH broth medium with 7% HRBC used for the transport of H.pylori. Methods: Rapid urease test positive 7 biopsy specimens were also inoculated into biphasic and BH broth medium with 7% HRBC, then put in CO2 Gaspak packages and sent to the laboratory. Then both mediums were kept in the thermostat at 37 °C for 1 day. After microscopic, PCR and urease test diagnosis, they were transferred to Columbia Agar with 7% HRBC. Incubated at 37°C for 5-7 days, cultures were examined for colony characteristics and bacterial morphology. E-test antimicrobial susceptibility test was performed. Results: There were 3 growths from biphasic transport medium passed to Columbia agar with 7% HRBC and only 1 growth from BH broth medium with 7% HRBC. It was also observed that after the first 3 days in BH broth medium with 7%, H.pylori passed into coccoid form and its biochemical activity weakened, while its spiral shape did not change for 2-3 weeks in the biphase transport medium. Conclusions: By using the biphase transport medium we have prepared; we can culture the bacterium by preventing H.pylori from spiraling into the coccoid form. In our opinion, this may result in the wide use of culture method for diagnosis of H.pylori, study of antibiotic susceptibility and molecular genetic analysis.Keywords: clinical trial, H.pylori, coccoid form, transport medium
Procedia PDF Downloads 73297 C-eXpress: A Web-Based Analysis Platform for Comparative Functional Genomics and Proteomics in Human Cancer Cell Line, NCI-60 as an Example
Authors: Chi-Ching Lee, Po-Jung Huang, Kuo-Yang Huang, Petrus Tang
Abstract:
Background: Recent advances in high-throughput research technologies such as new-generation sequencing and multi-dimensional liquid chromatography makes it possible to dissect the complete transcriptome and proteome in a single run for the first time. However, it is almost impossible for many laboratories to handle and analysis these “BIG” data without the support from a bioinformatics team. We aimed to provide a web-based analysis platform for users with only limited knowledge on bio-computing to study the functional genomics and proteomics. Method: We use NCI-60 as an example dataset to demonstrate the power of the web-based analysis platform and data delivering system: C-eXpress takes a simple text file that contain the standard NCBI gene or protein ID and expression levels (rpkm or fold) as input file to generate a distribution map of gene/protein expression levels in a heatmap diagram organized by color gradients. The diagram is hyper-linked to a dynamic html table that allows the users to filter the datasets based on various gene features. A dynamic summary chart is generated automatically after each filtering process. Results: We implemented an integrated database that contain pre-defined annotations such as gene/protein properties (ID, name, length, MW, pI); pathways based on KEGG and GO biological process; subcellular localization based on GO cellular component; functional classification based on GO molecular function, kinase, peptidase and transporter. Multiple ways of sorting of column and rows is also provided for comparative analysis and visualization of multiple samples.Keywords: cancer, visualization, database, functional annotation
Procedia PDF Downloads 619296 Control of a Quadcopter Using Genetic Algorithm Methods
Authors: Mostafa Mjahed
Abstract:
This paper concerns the control of a nonlinear system using two different methods, reference model and genetic algorithm. The quadcopter is a nonlinear unstable system, which is a part of aerial robots. It is constituted by four rotors placed at the end of a cross. The center of this cross is occupied by the control circuit. Its motions are governed by six degrees of freedom: three rotations around 3 axes (roll, pitch and yaw) and the three spatial translations. The control of such system is complex, because of nonlinearity of its dynamic representation and the number of parameters, which it involves. Numerous studies have been developed to model and stabilize such systems. The classical PID and LQ correction methods are widely used. If the latter represent the advantage to be simple because they are linear, they reveal the drawback to require the presence of a linear model to synthesize. It also implies the complexity of the established laws of command because the latter must be widened on all the domain of flight of these quadcopter. Note that, if the classical design methods are widely used to control aeronautical systems, the Artificial Intelligence methods as genetic algorithms technique receives little attention. In this paper, we suggest comparing two PID design methods. Firstly, the parameters of the PID are calculated according to the reference model. In a second phase, these parameters are established using genetic algorithms. By reference model, we mean that the corrected system behaves according to a reference system, imposed by some specifications: settling time, zero overshoot etc. Inspired from the natural evolution of Darwin's theory advocating the survival of the best, John Holland developed this evolutionary algorithm. Genetic algorithm (GA) possesses three basic operators: selection, crossover and mutation. We start iterations with an initial population. Each member of this population is evaluated through a fitness function. Our purpose is to correct the behavior of the quadcopter around three axes (roll, pitch and yaw) with 3 PD controllers. For the altitude, we adopt a PID controller.Keywords: quadcopter, genetic algorithm, PID, fitness, model, control, nonlinear system
Procedia PDF Downloads 434295 Decision Support System for Fetus Status Evaluation Using Cardiotocograms
Authors: Oyebade K. Oyedotun
Abstract:
The cardiotocogram is a technical recording of the heartbeat rate and uterine contractions of a fetus during pregnancy. During pregnancy, several complications can occur to both the mother and the fetus; hence it is very crucial that medical experts are able to find technical means to check the healthiness of the mother and especially the fetus. It is very important that the fetus develops as expected in stages during the pregnancy period; however, the task of monitoring the health status of the fetus is not that which is easily achieved as the fetus is not wholly physically available to medical experts for inspection. Hence, doctors have to resort to some other tests that can give an indication of the status of the fetus. One of such diagnostic test is to obtain cardiotocograms of the fetus. From the analysis of the cardiotocograms, medical experts can determine the status of the fetus, and therefore necessary medical interventions. Generally, medical experts classify examined cardiotocograms into ‘normal’, ‘suspect’, or ‘pathological’. This work presents an artificial neural network based decision support system which can filter cardiotocograms data, producing the corresponding statuses of the fetuses. The capability of artificial neural network to explore the cardiotocogram data and learn features that distinguish one class from the others has been exploited in this research. In this research, feedforward and radial basis neural networks were trained on a publicly available database to classify the processed cardiotocogram data into one of the three classes: ‘normal’, ‘suspect’, or ‘pathological’. Classification accuracies of 87.8% and 89.2% were achieved during the test phase of the trained network for the feedforward and radial basis neural networks respectively. It is the hope that while the system described in this work may not be a complete replacement for a medical expert in fetus status evaluation, it can significantly reinforce the confidence in medical diagnosis reached by experts.Keywords: decision support, cardiotocogram, classification, neural networks
Procedia PDF Downloads 336294 Robust Segmentation of Salient Features in Automatic Breast Ultrasound (ABUS) Images
Authors: Lamees Nasser, Yago Diez, Robert Martí, Joan Martí, Ibrahim Sadek
Abstract:
Automated 3D breast ultrasound (ABUS) screening is a novel modality in medical imaging because of its common characteristics shared with other ultrasound modalities in addition to the three orthogonal planes (i.e., axial, sagittal, and coronal) that are useful in analysis of tumors. In the literature, few automatic approaches exist for typical tasks such as segmentation or registration. In this work, we deal with two problems concerning ABUS images: nipple and rib detection. Nipple and ribs are the most visible and salient features in ABUS images. Determining the nipple position plays a key role in some applications for example evaluation of registration results or lesion follow-up. We present a nipple detection algorithm based on color and shape of the nipple, besides an automatic approach to detect the ribs. In point of fact, rib detection is considered as one of the main stages in chest wall segmentation. This approach consists of four steps. First, images are normalized in order to minimize the intensity variability for a given set of regions within the same image or a set of images. Second, the normalized images are smoothed by using anisotropic diffusion filter. Next, the ribs are detected in each slice by analyzing the eigenvalues of the 3D Hessian matrix. Finally, a breast mask and a probability map of regions detected as ribs are used to remove false positives (FP). Qualitative and quantitative evaluation obtained from a total of 22 cases is performed. For all cases, the average and standard deviation of the root mean square error (RMSE) between manually annotated points placed on the rib surface and detected points on rib borders are 15.1188 mm and 14.7184 mm respectively.Keywords: Automated 3D Breast Ultrasound, Eigenvalues of Hessian matrix, Nipple detection, Rib detection
Procedia PDF Downloads 331293 Unravelling Cross-Commodity Price Transmission Dynamics between Coastal and Freshwater Fish Species in Bangladesh: A Structural VAR Analysis
Authors: Farhana Arefeen Mila, Luis Emilio Morales, Nam Hoang, Sujana Adapa, Garry Griffith
Abstract:
This study investigates the existence of price transmission asymmetries and imperfections among the coastal and freshwater fish species in Bangladesh. Using a Structural Vector Autoregression (SVAR) model, we explore how price changes in one fish species impact the prices of others in the retail market. Monthly data from the Department of Agricultural Marketing (DAM) covering the period from 2012 to 2023 was analyzed. Price series were detrended using the Hodrick-Prescott filter, and unit root tests confirmed stationarity after detrending. The findings indicate that there are significant interdependencies and asymmetries in price transmission, particularly the strong influence of Hilsha on the broader fish market. Hilsha’s price shocks generate immediate responses across other species, reflecting its cultural and economic importance. Silver Pomfret demonstrates some independence but is still affected by broader market fluctuations, particularly those involving Hilsha. Meanwhile, Rohu and Catla exhibit high interdependence, where price changes in one species closely impact the other, underscoring their substitutable nature in consumer preferences. These findings emphasize the need for joint interventions and market monitoring to stabilize prices effectively. Stakeholders are encouraged to monitor Hilsha’s market, consider coordinated interventions for Rohu and Catla, and establish data-sharing partnerships to enhance market stability. Additionally, promoting consumer awareness of price trends and sustainable practices can further support market resilience and long-term sustainability in the fisheries sector.Keywords: price transmission, cross commodity, fish, Bangladesh, CCF, SVAR, IRF
Procedia PDF Downloads 15292 An Investigation of Crop Diversity’s Impact on Income Risk of Selected Crops
Authors: Saeed Yazdani, Sima Mohamadi Amidabadi, Amir Mohamadi Nejad, Farahnaz Nekoofar
Abstract:
As a result of uncertainty and doubts about the quantity of agricultural products, greater significance has been attached to risk management in the agricultural sector. Normally, farmers seek to minimize risks, and crop diversity has always been a means to reduce risk. The study at hand seeks to explore the long-term impact of crop diversity on income risk reduction. The timeframe of the study is 1998 to 2018. Initially, the Herfindahl index was used to estimate crop diversity in different periods, and next, the Hodrick-Prescott filter was applied to estimate income risk both in nominal and real terms. Finally, using the Vector Error Correction Model (VECM), the long-term impact of crop diversity on two modes of risk for the farmer's income has been estimated. Given the long-term pattern’s results, it is evident that in the long-run, crop diversity can reduce income fluctuations in two nominal and real terms. Moreover, results showed that in case the fluctuation shock affects the agricultural income in the short run, to balance out the shock in nominal and real terms, 4 and 3 cycles are needed respectively. In other words, in each cycle, 25% and 33% of the shock impact can be removed, respectively. Thus, as the results of the error correction coefficient showed, policies need to be put in place to prevent income shocks. In case of a shock, they need to be balanced out in a four-year period, taking inflation into account, and in a three-year period irrespective of the inflation and reparative policies such as insurance services should be developed.Keywords: risk, long-term model, Herfindahl index, time series model, vector error correction model
Procedia PDF Downloads 27291 Characterizing Nanoparticles Generated from the Different Working Type and the Stack Flue during 3D Printing Process
Authors: Kai-Jui Kou, Tzu-Ling Shen, Ying-Fang Wang
Abstract:
The objectives of the present study are to characterize nanoparticles generated from the different working type in 3D printing room and the stack flue during 3D printing process. The studied laboratory (10.5 m× 7.2 m × 3.2 m) with a ventilation rate of 500 m³/H is installed a 3D metal printing machine. Direct-reading instrument of a scanning mobility particle sizer (SMPS, Model 3082, TSI Inc., St. Paul, MN, USA) was used to conduct static sampling for nanoparticle number concentration and particle size distribution measurements. The SMPS obtained particle number concentration at every 3 minutes, the diameter of the SMPS ranged from 11~372 nm when the aerosol and sheath flow rates were set at 0.6 and 6 L/min, respectively. The concentrations of background, printing process, clearing operation, and screening operation were performed in the laboratory. On the other hand, we also conducted nanoparticle measurement on the 3D printing machine's stack flue to understand its emission characteristics. Results show that the nanoparticles emitted from the different operation process were the same distribution in the form of the uni-modal with number median diameter (NMD) as approximately 28.3 nm to 29.6 nm. The number concentrations of nanoparticles were 2.55×10³ count/cm³ in laboratory background, 2.19×10³ count/cm³ during printing process, 2.29×10³ count/cm³ during clearing process, 3.05×10³ count/cm³ during screening process, 2.69×10³ count/cm³ in laboratory background after printing process, and 6.75×10³ outside laboratory, respectively. We found that there are no emission nanoparticles during the printing process. However, the number concentration of stack flue nanoparticles in the ongoing print is 1.13×10⁶ count/cm³, and that of the non-printing is 1.63×10⁴ count/cm³, with a NMD of 458 nm and 29.4 nm, respectively. It can be confirmed that the measured particle size belongs to easily penetrate the filter in theory during the printing process, even though the 3D printer has a high-efficiency filtration device. Therefore, it is recommended that the stack flue of the 3D printer would be equipped with an appropriate dust collection device to prevent the operators from exposing these hazardous particles.Keywords: nanoparticle, particle emission, 3D printing, number concentration
Procedia PDF Downloads 184290 Sensor and Actuator Fault Detection in Connected Vehicles under a Packet Dropping Network
Authors: Z. Abdollahi Biron, P. Pisu
Abstract:
Connected vehicles are one of the promising technologies for future Intelligent Transportation Systems (ITS). A connected vehicle system is essentially a set of vehicles communicating through a network to exchange their information with each other and the infrastructure. Although this interconnection of the vehicles can be potentially beneficial in creating an efficient, sustainable, and green transportation system, a set of safety and reliability challenges come out with this technology. The first challenge arises from the information loss due to unreliable communication network which affects the control/management system of the individual vehicles and the overall system. Such scenario may lead to degraded or even unsafe operation which could be potentially catastrophic. Secondly, faulty sensors and actuators can affect the individual vehicle’s safe operation and in turn will create a potentially unsafe node in the vehicular network. Further, sending that faulty sensor information to other vehicles and failure in actuators may significantly affect the safe operation of the overall vehicular network. Therefore, it is of utmost importance to take these issues into consideration while designing the control/management algorithms of the individual vehicles as a part of connected vehicle system. In this paper, we consider a connected vehicle system under Co-operative Adaptive Cruise Control (CACC) and propose a fault diagnosis scheme that deals with these aforementioned challenges. Specifically, the conventional CACC algorithm is modified by adding a Kalman filter-based estimation algorithm to suppress the effect of lost information under unreliable network. Further, a sliding mode observer-based algorithm is used to improve the sensor reliability under faults. The effectiveness of the overall diagnostic scheme is verified via simulation studies.Keywords: fault diagnostics, communication network, connected vehicles, packet drop out, platoon
Procedia PDF Downloads 239289 Static Test Pad for Solid Rocket Motors
Authors: Svanik Garg
Abstract:
Static Test Pads are stationary mechanisms that hold a solid rocket motor, measuring the different parameters of its operation including thrust and temperature to better calibrate it for launch. This paper outlines a specific STP designed to test high powered rocket motors with a thrust upwards of 4000N and limited to 6500N. The design includes a specific portable mechanism with cost an integral part of the design process to make it accessible to small scale rocket developers with limited resources. Using curved surfaces and an ergonomic design, the STP has a delicately engineered façade/case with a focus on stability and axial calibration of thrust. This paper describes the design, operation and working of the STP and its widescale uses given the growing market of aviation enthusiasts. Simulations on the CAD model in Fusion 360 provided promising results with a safety factor of 2 established and stress limited along with the load coefficient A PCB was also designed as part of the test pad design process to help obtain results, with visual output and various virtual terminals to collect data of different parameters. The circuitry was simulated using ‘proteus’ and a special virtual interface with auditory commands was also created for accessibility and wide-scale implementation. Along with this description of the design, the paper also emphasizes the design principle behind the STP including a description of its vertical orientation to maximize thrust accuracy along with a stable base to prevent micromovements. Given the rise of students and professionals alike building high powered rockets, the STP described in this paper is an appropriate option, with limited cost, portability, accuracy, and versatility. There are two types of STP’s vertical or horizontal, the one discussed in this paper is vertical to utilize the axial component of thrust.Keywords: static test pad, rocket motor, thrust, load, circuit, avionics, drag
Procedia PDF Downloads 386288 Effects of Inlet Filtration Pressure Loss on Single and Two-Spool Gas Turbine
Authors: Enyia James Diwa, Dodeye Ina Igbong, Archibong Archibong Eso
Abstract:
Gas turbine operators have been faced with the dramatic financial setback resulting from compressor fouling. In a highly deregulated power industry where there is stiffness in the market competition, has made it imperative to improvise means of reducing maintenance cost in other to yield maximum profit. Compressor fouling results from the deposition of contaminants in the presence of oil and moisture on the compressor blade or annulus surfaces, which leads to a loss in flow capacity and compressor efficiency. These combined effects reduce power output, increase heat rate and cause creep life reduction. This paper also contains a model of two gas turbine engines via Cranfield University software known as TURBOMATCH, which is simulation software for detecting engine fouling rate. The model engines are of different configurations and capacities, and are operating in two different modes of constant output power and turbine inlet temperature for a two and three stage filter system. The idea is to investigate the more economically viable filtration systems by gas turbine users based on performance only. It has been demonstrated in the results that the two spool engine is a little more beneficial compared to the single spool. This is as a result of a higher pressure ratio of the two spools as well as the deceleration of the high-pressure compressor and high-pressure turbine speed in a constant TET. Meanwhile, the inlet filtration system was properly designed and balanced with a well-timed and economical compressor washing regime/scheme to control compressor fouling. The different technologies of inlet air filtration and compressor washing are considered and an attempt at optimization with respect to the cost of a combination of both control measures are made.Keywords: inlet filtration, pressure loss, single spool, two spool
Procedia PDF Downloads 323287 Development of an Autonomous Automated Guided Vehicle with Robot Manipulator under Robot Operation System Architecture
Authors: Jinsiang Shaw, Sheng-Xiang Xu
Abstract:
This paper presents the development of an autonomous automated guided vehicle (AGV) with a robot arm attached on top of it within the framework of robot operation system (ROS). ROS can provide libraries and tools, including hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, etc. For this reason, this AGV can provide automatic navigation and parts transportation and pick-and-place task using robot arm for typical industrial production line use. More specifically, this AGV will be controlled by an on-board host computer running ROS software. Command signals for vehicle and robot arm control and measurement signals from various sensors are transferred to respective microcontrollers. Users can operate the AGV remotely through the TCP / IP protocol and perform SLAM (Simultaneous Localization and Mapping). An RGBD camera and LIDAR sensors are installed on the AGV, using these data to perceive the environment. For SLAM, Gmapping is used to construct the environment map by Rao-Blackwellized particle filter; and AMCL method (Adaptive Monte Carlo localization) is employed for mobile robot localization. In addition, current AGV position and orientation can be visualized by ROS toolkit. As for robot navigation and obstacle avoidance, A* for global path planning and dynamic window approach for local planning are implemented. The developed ROS AGV with a robot arm on it has been experimented in the university factory. A 2-D and 3-D map of the factory were successfully constructed by the SLAM method. Base on this map, robot navigation through the factory with and without dynamic obstacles are shown to perform well. Finally, pick-and-place of parts using robot arm and ensuing delivery in the factory by the mobile robot are also accomplished.Keywords: automated guided vehicle, navigation, robot operation system, Simultaneous Localization and Mapping
Procedia PDF Downloads 150