Search results for: Oyindamola Omotuyi

Authors: Michael Ayomoh, Adriaan Roux, Oyindamola Omotuyi

Abstract:

This paper presents an efficient robot navigation model in a multi-target domain amidst static and dynamic workspace obstacles. The problem is that of developing an optimal algorithm to minimize the total travel time of a robot as it visits all target points within its task domain amidst unknown workspace obstacles and finally return to its initial position. In solving this problem, a classical algorithm was first developed to compute the optimal number of paths to be travelled by the robot amidst the network of paths. The principle of shortest distance between robot and targets was used to compute the target point visitation order amidst workspace obstacles. Algorithm premised on the standard polar coordinate system was developed to determine the length of obstacles encountered by the robot hence giving room for a geometrical estimation of the total surface area occupied by the obstacle especially when classified as a relevant obstacle i.e. obstacle that lies in between a robot and its potential visitation point. A stochastic model was developed and used to estimate the likelihood of a dynamic obstacle bumping into the robot’s navigation path and finally, the navigation/obstacle avoidance algorithm was hinged on the hybrid virtual force field (HVFF) method. Significant modelling constraints herein include the choice of navigation path to selected target points, the possible presence of static obstacles along a desired navigation path and the likelihood of encountering a dynamic obstacle along the robot’s path and the chances of it remaining at this position as a static obstacle hence resulting in a case of re-routing after routing. The proposed algorithm demonstrated a high potential for optimal solution in terms of efficiency and effectiveness.

Keywords: multi-target, mobile robot, optimal path, static obstacles, dynamic obstacles

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Authors: Michael K. O. Ayomoh, Oyindamola A. Omotuyi

Abstract:

Autonomous mobile robots deployed to explore or operate in a never explored or an abandoned sub-surface mine requires extreme effectiveness in coordination and communication. In a bid to transmit information from the depth of the mine to the external surface in real-time and amidst diverse physical, chemical and virtual impediments, the concept of unified cooperative robots is seen to be a proficient approach. This paper presents an effective [human → robot → task] coordination framework for effective exploration of an abandoned underground mine. The problem addressed in this research is basically the development of a globalized optimization model premised on time series differentiation and geometrical configurations for effective positioning of the two classes of robots in the cooperation namely the outermost stationary master (OSM) robots and the innermost dynamic task (IDT) robots for effective bi-directional signal transmission. In addition, the synchronization of a vision system and wireless communication system for both categories of robots, fiber optics system for the OSM robots in cases of highly sloppy or vertical mine channels and an autonomous battery recharging capability for the IDT robots further enhanced the proposed concept. The OSM robots are the master robots which are positioned at strategic locations starting from the mine open surface down to its base using a fiber-optic cable or a wireless communication medium all subject to the identified mine geometrical configuration. The OSM robots are usually stationary and function by coordinating the transmission of signals from the IDT robots at the base of the mine to the surface and in a reverse order based on human decisions at the surface control station. The proposed scheme also presents an optimized number of robots required to form the cooperation in a bid to reduce overall operational cost and system complexity.

Keywords: sub-surface mine, wireless communication, outermost stationary master robots, inner-most dynamic robots, fiber optic

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Authors: Paulinah Oyindamola Fasanmi, Matthew Omoniyi Isinkaye

Abstract:

In this study, the activity concentration of ²²²Rn in groundwater samples collected from gold and kaolin mining communities within the Ife-Ilesha schist belt, southwestern Nigeria, with their corresponding annual effective doses have been determined using the Durridge RAD-7, radon-in-water detector. The mean concentration of ²²²Rn in all the groundwater samples was 13.83 Bql-¹. In borehole water, ²²²Rn had a mean value of 20.68 Bql-¹, while it had a mean value of 11.67 Bql-¹ in well water samples. The mean activity concentration of radon obtained from the gold mining communities ranged from 1.6 Bql-¹ from Igun town to 4.8 Bql-¹ from Ilesha town. A higher mean value of 41.8 Bql-¹ was, however, obtained from Ijero, which is the kaolin mining community. The mean annual effective dose due to ingestion and inhalation of radon from groundwater samples was obtained to be 35.35 μSvyr-¹ and 34.86 nSvyr-¹, respectively. The mean annual ingestion dose estimated for well water samples was 29.90 μSvyr-¹, while 52.85 μSvyr-¹ was obtained for borehole water samples. On the other hand, the mean annual inhalation dose for well water was 29.49 nSvyr-¹, while for borehole water, 52.13 nSvyr-¹ was obtained. The mean annual effective dose due to ingestion of radon in groundwater from the gold mining communities ranged from 4.10 μSvyr-¹ from Igun to 13.1 μSvyr-¹ from Ilesha, while a mean value of 106.7 μSvyr-¹ was obtained from Ijero kaolin mining community. For inhalation, the mean value varied from 4.0 nSvyr-¹ from Igun to 12.9 nSvyr-¹ from Ilesha, while 105.2 nSvyr-¹ was obtained from the kaolin mining community. The mean annual effective dose due to ingestion and inhalation is lower than the reference level of 100 μSvyr-¹ recommended by World Health Organization except for values obtained from Ijero kaolin mining community, which exceeded the reference levels. It has been concluded that as far as radon-related health risks are concerned, groundwater from gold mining communities is generally safe, while groundwater from kaolin mining communities needs mitigation and monitoring. It has been discovered that Kaolin mining impacts groundwater with ²²²Rn than gold mining. Also, the radon level in borehole water exceeds its level in well water.

Keywords: 222Rn, Groundwater, Radioactivity, Annual Effective Dose, Mining.

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Authors: Oyindamola Kayode, Sarah George, Roberto Borrageiro, Mike Shirran

Abstract:

A phenomenon identified by our industrial partner has experienced sag on AA3104 can body stock (CBS) transfer bar during transportation of the slab from the breakdown mill to the finishing mill. Excessive sag results in bottom scuffing of the slab onto the roller table, resulting in surface defects on the final product. It has been found that increasing the strain rate on the breakdown mill final pass results in a slab resistant to sag. The creep response for materials hot deformed at different Zener–Holloman parameter values needs to be evaluated experimentally to gain better understanding of the operating mechanism. This study investigates this identified phenomenon through laboratory simulation of the breakdown mill conditions for various strain rates by utilizing the Gleeble at UCT Centre for Materials Engineering. The experiment will determine the creep response for a range of conditions as well as quantifying the associated material microstructure (sub-grain size, grain structure etc). The experimental matrices were determined based on experimental conditions approximate to industrial hot breakdown rolling and carried out on the Gleeble 3800 at the Centre for Materials Engineering, University of Cape Town. Plane strain compression samples were used for this series of tests at an applied load that allow for better contact and exaggerated creep displacement. A tantalum barrier layer was used for increased conductivity and decreased risk of anvil welding. One set of tests with no in-situ hold time was performed, where the samples were quenched after deformation. The samples were retained for microstructure analysis of the micrographs from the light microscopy (LM), quantitative data and images from scanning electron microscopy (SEM) and energy dispersive X-ray (EDX), sub-grain size and grain structure from electron back scattered diffraction (EBSD).

Keywords: aluminium alloy, can-body stock, hot rolling, creep response, Zener-Hollomon parameter

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