Search results for: energy system

Authors: Xi Wang, Xiaoming Tao, Raymond C. H. So

Abstract:

As one of the convenient and noninvasive sensing approaches, the automatic limb girth measurement has been applied to detect intention behind human motion from muscle deformation. The sensing validity has been elaborated by preliminary researches but still need more fundamental studies, especially on kinetic contraction modes. Based on the novel fabric strain sensors, a soft and smart limb girth measurement system was developed by the authors’ group, which can measure the limb girth in-motion. Experiments were carried out on elbow isometric flexion and elbow isokinetic flexion (biceps’ isokinetic contractions) of 90°/s, 60°/s, and 120°/s for 10 subjects (2 canoeists and 8 ordinary people). After removal of natural circumferential increments due to elbow position, the joint torque is found not uniformly sensitive to the limb circumferential strains, but declining as elbow joint angle rises, regardless of the angular speed. Moreover, the maximum joint torque was found as an exponential function of the joint’s angular speed. This research highly contributes to the application of the automatic limb girth measuring during kinetic contractions, and it is useful to predict the contraction level of voluntary skeletal muscles.

Keywords: Fabric strain sensor, muscle deformation, isokinetic contraction, joint torque, limb girth strain.

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Authors: P. S. Rajinikanth, Yeoh Suyu, Sanjay Garg

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The present study is aim to prepare and evaluate the selfnanoemulsifying drug delivery (SNEDDS) system of a poorly water soluble drug valsartan in order to achieve a better dissolution rate which would further help in enhancing oral bioavailability. The present research work describes a SNEDDS of valsartan using labrafil M 1944 CS, Tween 80 and Transcutol HP. The pseudoternary phase diagrams with presence and absence of drug were plotted to check for the emulsification range and also to evaluate the effect of valsartan on the emulsification behavior of the phases. The mixtures consisting of oil (labrafil M 1944 CS) with surfactant (tween 80), co-surfactant (Transcutol HP) were found to be optimum formulations. Prepared formulations were evaluated for its particle size distribution, nanoemulsifying properties, robustness to dilution, self emulsication time, turbidity measurement, drug content and invitro dissolution. The optimized formulations are further evaluated for heating cooling cycle, centrifugation studies, freeze thaw cycling, particle size distribution and zeta potential were carried out to confirm the stability of the formed SNEDDS formulations. The prepared formulation revealed t a significant improvement in terms of the drug solubility as compared with marketed tablet and pure drug.

Keywords: Self Emulsifying Drug Delivery System, Valsartan, Bioavailability, poorly soluble drug.

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Authors: Yi-Fang Hung, Jinn-Tsyy Lai

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Lycopene, which can be extracted from plants and is very popular for fruit intake, is restricted for healthy food development due to its high price. On the other hand, it will get great safety concerns, especially in the food or cosmetic application, if the raw material of lycopene is produced by chemical synthesis. In this project, we provide a key technology to bridge the limitation as mentioned above. Based on the abundant bioresources of BCRC (Bioresource Collection and Research Center, Taiwan), a promising lycopene output will be anticipated by the introduction of fermentation technology along with industry-related core energy. Our results showed that addition of tween 80(0.2%) and span 20 produced higher amount of lycopene. And piperidine, when was added at 48hr to the cultivation medium, could promote lycopene excretion effectively also.

Keywords: photosynthetic bacteria, lycopene, tween80, Piperidine

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Authors: Pedro Luis Ferrer Penalver, Edmundo da Silva Braga

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In this paper, the performance of a simple surge protection for a direct current circuit was simulated. The protection circuit was developed from modified electric macro models of a gas discharge tube and a transient voltage suppressor diode. Moreover, a combination wave generator circuit was used as source of energy surges. The simulations showed that the circuit presented ensures immunity corresponding with test level IV of the IEC 61000-4-5:2014 international standard. The developed circuit can be modified to meet the requirements of any other equipment to be protected. Similarly, the parameters of the combination wave generator can be changed to provide different surge amplitudes.

Keywords: Combination wave generator, IEC 61000-4-5, Pspice simulation, surge protection.

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Authors: Saeed Sedighizadeh, Abbas Mansoori, Mohammad Reza Pirestani, Davoud Sedighizadeh

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The usual method of river flow diversion involves construction of tunnels and cofferdams. Given the fact that the cost of diversion works could be as high as 10-20% of the total dam construction cost, due attention should be paid to optimum design of the diversion works. The cost of diversion works depends, on factors, such as: the tunnel dimensions and the intended tunneling support measures during and after excavation; quality and characterizes of the rock through which the tunnel should be excavated; the dimensions of the upstream (and downstream) cofferdams; and the magnitude of river flood the system is designed to divert. In this paper by use of the cost of unit prices for tunnel excavation, tunnel lining, tunnel support (rock bolt + shotcrete) and cofferdam fill the cost function was determined. The function is then minimized by the aid of PSO Algorithm (particle swarm optimization). It is found that the optimum diameter and the total diversion cost are directly related to the river flood discharge (Q). It has also shown that in addition to optimum diameter design discharge (Q), river length, tunnel length, is mainly a function of the ratios (not the absolute values) of the unit prices and does not depend on the overall price levels in the respective country. The results of optimization use in some of the case study lead us to significant changes in the cost.

Keywords: Diversion Tunnel, Optimization, PSO Algorithm

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Authors: Ali Mchirgui, Nejib Hidouri, Mourad Magherbi, Ammar Ben Brahim

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The paper provides a numerical investigation of the entropy generation analysis due to natural convection in an inclined square porous cavity. The coupled equations of mass, momentum, energy and species conservation are solved using the Control Volume Finite-Element Method. Effect of medium permeability and inclination angle on entropy generation is analysed. It was found that according to the Darcy number and the porous thermal Raleigh number values, the entropy generation could be mainly due to heat transfer or to fluid friction irreversibility and that entropy generation reaches extremum values for specific inclination angles.

Keywords: Porous media, entropy generation, convection, numerical method.

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Authors: Fouad Salha , X. Guillaud

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Directional over current relays (DOCR) are commonly used in power system protection as a primary protection in distribution and sub-transmission electrical systems and as a secondary protection in transmission systems. Coordination of protective relays is necessary to obtain selective tripping. In this paper, an approach for efficiency reduction of DOCRs nonlinear optimum coordination (OC) is proposed. This was achieved by modifying the objective function and relaxing several constraints depending on the four constraints classification, non-valid, redundant, pre-obtained and valid constraints. According to this classification, the far end fault effect on the objective function and constraints, and in consequently on relay operating time, was studied. The study was carried out, firstly by taking into account the near-end and far-end faults in DOCRs coordination problem formulation; and then faults very close to the primary relays (nearend faults). The optimal coordination (OC) was achieved by simultaneously optimizing all variables (TDS and Ip) in nonlinear environment by using of Genetic algorithm nonlinear programming techniques. The results application of the above two approaches on 6-bus and 26-bus system verify that the far-end faults consideration on OC problem formulation don-t lose the optimality.

Keywords: Backup/Primary relay, Coordination time interval (CTI), directional over current relays, Genetic algorithm, time dial setting (TDS), pickup current setting (Ip), nonlinear programming.

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Authors: Rana Th. A. Al-Rubaye

Abstract:

A novel chromium-free protective coating films based on a zeolite coating was growing onto a FeCrAlloy metal using in – situ hydrothermal method. The zeolite film was obtained using in-situ crystallization process that is capable of coating large surfaces with complex shape and in confined spaces has been developed. The zeolite coating offers an advantage of a high mechanical stability and thermal stability. The physicochemical properties were investigated using X-ray diffraction (XRD), Electron Microscopy (SEM), Energy Dispersive X–ray Analysis (EDX) and Thermogravimetric Analysis (TGA). The transition from oxide-on-alloy wires to hydrothermally synthesised uniformly zeolite coated surfaces was followed using SEM and XRD. In addition, the robustness of the prepared coating was confirmed by subjecting these to thermal cycling (ambient to 550oC).

Keywords: FeCrAlloy, Zeolite ZSM-5. Zeolite coating.

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Authors: V. K. Banga, Y. Singh, R. Kumar

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In this paper, we have proposed a low cost optimized solution for the movement of a three-arm manipulator using Genetic Algorithm (GA) and Analytical Hierarchy Process (AHP). A scheme is given for optimizing the movement of robotic arm with the help of Genetic Algorithm so that the minimum energy consumption criteria can be achieved. As compared to Direct Kinematics, Inverse Kinematics evolved two solutions out of which the best-fit solution is selected with the help of Genetic Algorithm and is kept in search space for future use. The Inverse Kinematics, Fitness Value evaluation and Binary Encoding like tasks are simulated and tested. Although, three factors viz. Movement, Friction and Least Settling Time (or Min. Vibration) are used for finding the Fitness Function / Fitness Values, however some more factors can also be considered.

Keywords: Inverse Kinematics, Genetic Algorithm (GA), Analytical Hierarchy Process (AHP), Fitness Value, Fitness Function.

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Authors: A. Tellaeche, X. P. Burgos-Artizzu, G. Pajares, A. Ribeiro

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One important objective in Precision Agriculture is to minimize the volume of herbicides that are applied to the fields through the use of site-specific weed management systems. In order to reach this goal, two major factors need to be considered: 1) the similar spectral signature, shape and texture between weeds and crops; 2) the irregular distribution of the weeds within the crop's field. This paper outlines an automatic computer vision system for the detection and differential spraying of Avena sterilis, a noxious weed growing in cereal crops. The proposed system involves two processes: image segmentation and decision making. Image segmentation combines basic suitable image processing techniques in order to extract cells from the image as the low level units. Each cell is described by two area-based attributes measuring the relations among the crops and the weeds. From these attributes, a hybrid decision making approach determines if a cell must be or not sprayed. The hybrid approach uses the Support Vector Machines and the Fuzzy k-Means methods, combined through the fuzzy aggregation theory. This makes the main finding of this paper. The method performance is compared against other available strategies.

Keywords: Fuzzy k-Means, Precision agriculture, SupportVectors Machines, Weed detection.

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Authors: C. Phalakornkule, S. Polgumhang, W. Tongdaung

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This study presents an investigation of electrochemical variables and an application of the optimal parameters in operating a continuous upflow electrocoagulation reactor in removing dye. Direct red 23, which is azo-based, was used as a representative of direct dyes. First, a batch mode was employed to optimize the design parameters: electrode type, electrode distance, current density and electrocoagulation time. The optimal parameters were found to be iron anode, distance between electrodes of 8 mm and current density of 30 A·m-2 with contact time of 5 min. The performance of the continuous upflow reactor with these parameters was satisfactory, with >95% color removal and energy consumption in the order of 0.6-0.7 kWh·m-3.

Keywords: Decolorization, Direct Dye, Electrocoagulation, Textile Wastewater, Upflow Reactor.

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Authors: R. Chimchang, R. Tongta, R. Phatthanakun

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Inthis paper, design and fabrication of vertical micromirror for optical switching applications of single mode optical fibers are proposed. The structure of micromirror will be created from negative photoresist (SU-8) on X-ray lithography using X-ray from synchrotron light source. The properties of X-ray from synchrotron light source are high-energy electrons which can construct materials that have a high aspect ratio. In addition, the technique of gold coating of reflective material has been used for change direction of light between two pairs of optical fibers. At a wavelength of 1310 nm with minimum average loss of 5.305 dB is obtained.

Keywords: vertical micromirror, negative photoresist, X-ray lithography

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Authors: Sou Watanabe, Hiromichi Ogi, Atsuhiro Shibata, Kazunori Nomura

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As a part of STRAD project conducted by JAEA, condensation of radioactive liquid waste containing various chemical compounds using reverse osmosis (RO) membrane filter was examined for efficient and safety treatment of the liquid wastes accumulated inside hot laboratories. NH₄⁺ ion in the feed solution was successfully concentrated, and NH₄⁺ ion involved in the effluents became lower than target value; 100 ppm. Solidification of simulated aqueous and organic liquid wastes was also tested. Those liquids were successfully solidified by adding cement or coagulants. Nevertheless, optimization in materials for confinement of chemicals is required for long time storage of the final solidified wastes.

Keywords: Radioactive liquid waste, condensation, solidification, STRAD project.

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Authors: V.S.Kale, S.R.Bhide, P.P.Bedekar, G.V.K.Mohan

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The protection of parallel transmission lines has been a challenging task due to mutual coupling between the adjacent circuits of the line. This paper presents a novel scheme for detection and classification of faults on parallel transmission lines. The proposed approach uses combination of wavelet transform and neural network, to solve the problem. While wavelet transform is a powerful mathematical tool which can be employed as a fast and very effective means of analyzing power system transient signals, artificial neural network has a ability to classify non-linear relationship between measured signals by identifying different patterns of the associated signals. The proposed algorithm consists of time-frequency analysis of fault generated transients using wavelet transform, followed by pattern recognition using artificial neural network to identify the type of the fault. MATLAB/Simulink is used to generate fault signals and verify the correctness of the algorithm. The adaptive discrimination scheme is tested by simulating different types of fault and varying fault resistance, fault location and fault inception time, on a given power system model. The simulation results show that the proposed scheme for fault diagnosis is able to classify all the faults on the parallel transmission line rapidly and correctly.

Keywords: Artificial neural network, fault detection and classification, parallel transmission lines, wavelet transform.

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Authors: Merve Küçük, M. Lütfi Öveçoğlu

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Zinc oxide particles were synthesized using the sol-gel method and dip coated on polyester fabric. X-ray diffraction (XRD) analysis revealed a single crystal phase of ZnO particles. Chemical characteristics of the polyester fabric surface were investigated using attenuated total reflection-Fourier transform infrared (ATR-FTIR) measurements. Morphology of ZnO coated fabric was analyzed using field emission scanning electron microscopy (FESEM). After particle analysis, the aqueous ZnO solution resulted in a narrow size distribution at submicron levels. The deposit of ZnO on polyester fabrics yielded a homogeneous spread of spherical particles. Energy dispersive X-ray spectroscopy (EDX) results also affirmed the presence of ZnO particles on the polyester fabrics.

Keywords: Dip coating, polyester fabrics, sol-gel, zinc oxide.

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Authors: Jaydip M. Desai, Antonio Valdevit, Arthur Ritter

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Robotic surgery is used to enhance minimally invasive surgical procedure. It provides greater degree of freedom for surgical tools but lacks of haptic feedback system to provide sense of touch to the surgeon. Surgical robots work on master-slave operation, where user is a master and robotic arms are the slaves. Current, surgical robots provide precise control of the surgical tools, but heavily rely on visual feedback, which sometimes cause damage to the inner organs. The goal of this research was to design and develop a realtime Simulink based robotic system to study force feedback mechanism during instrument-object interaction. Setup includes three VelmexXSlide assembly (XYZ Stage) for three dimensional movement, an end effector assembly for forceps, electronic circuit for four strain gages, two Novint Falcon 3D gaming controllers, microcontroller board with linear actuators, MATLAB and Simulink toolboxes. Strain gages were calibrated using Imada Digital Force Gauge device and tested with a hard-core wire to measure instrument-object interaction in the range of 0-35N. Designed Simulink model successfully acquires 3D coordinates from two Novint Falcon controllers and transfer coordinates to the XYZ stage and forceps. Simulink model also reads strain gages signal through 10-bit analog to digital converter resolution of a microcontroller assembly in real time, converts voltage into force and feedback the output signals to the Novint Falcon controller for force feedback mechanism. Experimental setup allows user to change forward kinematics algorithms to achieve the best-desired movement of the XYZ stage and forceps. This project combines haptic technology with surgical robot to provide sense of touch to the user controlling forceps through machine-computer interface.

Keywords: Haptic feedback, MATLAB, Simulink, Strain Gage, Surgical Robot.

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Authors: Anukriti Kumar, Tanmay Singh, Dinesh Kumar Vishwakarma

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Traffic control has been one of the most common and irritating problems since the time automobiles have hit the roads. Problems like traffic congestion have led to a significant time burden around the world and one significant solution to these problems can be the proper implementation of the Intelligent Transport System (ITS). It involves the integration of various tools like smart sensors, artificial intelligence, position technologies and mobile data services to manage traffic flow, reduce congestion and enhance driver's ability to avoid accidents during adverse weather. Road and traffic signs’ recognition is an emerging field of research in ITS. Classification problem of traffic signs needs to be solved as it is a major step in our journey towards building semi-autonomous/autonomous driving systems. The purpose of this work focuses on implementing an approach to solve the problem of traffic sign classification by developing a Convolutional Neural Network (CNN) classifier using the GTSRB (German Traffic Sign Recognition Benchmark) dataset. Rather than using hand-crafted features, our model addresses the concern of exploding huge parameters and data method augmentations. Our model achieved an accuracy of around 97.6% which is comparable to various state-of-the-art architectures.

Keywords: Multiclass classification, convolution neural network, OpenCV, Data Augmentation.

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Authors: Hyun-Ho Kim, Seok-Jae Lee, Oh-Yeon Lee

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We investigated the effects of the additions of Zr and other alloying elements on the mechanical properties and microstructure in Cr-Mo plastic mold steels. The addition of alloying elements changed the microstructure of the normalized samples from the upper bainite to lower bainite due to the increased hardenability. The tempering temperature influenced the strength and hardness values, especially the phenomenon of 350^oC embrittlement was observed. The alloy additions of Cr, Mo, and V improved the resistance to the temper embrittlement. The addition of Zr improved the tensile strength and yield strength, but the impact energy was sharply decreased. It may be caused by the formation of Zr-MnS inclusion and rectangular-shaped Zr inclusion due to the Zr addition.

Keywords: Inclusions, mechanical properties, plastic mold steel, Zr addition.

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Authors: Branko Skoric, Aleksandar Miletic, Pal Terek, Lazar Kovacevic, Milan Kukuruzovic

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In this paper, we present the results of a study of TiN thin films which are deposited by a Physical Vapour Deposition (PVD) and Ion Beam Assisted Deposition (IBAD). In the present investigation the subsequent ion implantation was provided with N⁵⁺ ions. The ion implantation was applied to enhance the mechanical properties of surface. The thin film deposition process exerts a number of effects such as crystallographic orientation, morphology, topography, densification of the films. A variety of analytic techniques were used for characterization, such as scratch test, calo test, Scanning electron microscopy (SEM), Atomic Force Microscope (AFM), X-ray diffraction (XRD) and Energy Dispersive X-ray analysis (EDAX).

Keywords: Steel, coating, super hard, ion implantation, nanohardness.

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Authors: Khashayar Jafari, Mostafa Jafarian Abyaneh, Vahab Toufigh

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Polymer concrete (PC) is a distinct concrete with superior characteristics in comparison to ordinary cement concrete. It has become well-known for its applications in thin overlays, floors and precast components. In this investigation, the mechanical properties of PC with different epoxy resin contents, ordinary cement concrete (OCC) and lightweight concrete (LC) have been studied under uniaxial compression test. The study involves five types of concrete, with each type being tested four times. Their complete elastic-plastic behavior was compared with each other through the measurement of volumetric strain during the tests. According to the results, PC showed higher strength, ductility and energy absorption with respect to OCC and LC.

Keywords: Polymer concrete, ordinary cement concrete, lightweight concrete, uniaxial compression test, volumetric strain.

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Authors: Rabab M. Ramadan, Elaraby A. Elgallad

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With extensive application, the performance of unimodal biometrics systems has to face a diversity of problems such as signal and background noise, distortion, and environment differences. Therefore, multimodal biometric systems are proposed to solve the above stated problems. This paper introduces a bimodal biometric recognition system based on the extracted features of the human palm print and iris. Palm print biometric is fairly a new evolving technology that is used to identify people by their palm features. The iris is a strong competitor together with face and fingerprints for presence in multimodal recognition systems. In this research, we introduced an algorithm to the combination of the palm and iris-extracted features using a texture-based descriptor, the Scale Invariant Feature Transform (SIFT). Since the feature sets are non-homogeneous as features of different biometric modalities are used, these features will be concatenated to form a single feature vector. Particle swarm optimization (PSO) is used as a feature selection technique to reduce the dimensionality of the feature. The proposed algorithm will be applied to the Institute of Technology of Delhi (IITD) database and its performance will be compared with various iris recognition algorithms found in the literature.

Keywords: Iris recognition, particle swarm optimization, feature extraction, feature selection, palm print, scale invariant feature transform.

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Authors: Vikas Tewari, Shivendra Tewari, K. R. Pardasani

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Calcium is a vital second messenger used in signal transduction. Calcium controls secretion, cell movement, muscular contraction, cell differentiation, ciliary beating and so on. Two theories have been used to simplify the system of reaction-diffusion equations of calcium into a single equation. One is excess buffer approximation (EBA) which assumes that mobile buffer is present in excess and cannot be saturated. The other is rapid buffer approximation (RBA), which assumes that calcium binding to buffer is rapid compared to calcium diffusion rate. In the present work, attempt has been made to develop a model for calcium diffusion under excess buffer approximation in neuron cells. This model incorporates the effect of [Na+] influx on [Ca2+] diffusion,variable calcium and sodium sources, sodium-calcium exchange protein, Sarcolemmal Calcium ATPase pump, sodium and calcium channels. The proposed mathematical model leads to a system of partial differential equations which have been solved numerically using Forward Time Centered Space (FTCS) approach. The numerical results have been used to study the relationships among different types of parameters such as buffer concentration, association rate, calcium permeability.

Keywords: Excess buffer approximation, Na+ influx, sodium calcium exchange protein, sarcolemmal calcium atpase pump, forward time centred space.

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Authors: H. Al-Jabli

Abstract:

Using the freeze-melting process for the disposing of high saline brines was the aim of the paper by confirming the performance estimation of the treatment system. A laboratory bench scale freezing technique test unit was designed, constructed, and tested at Doha Research Plant (DRP) in Kuwait. The principal unit operations that have been considered for the laboratory study are: ice crystallization, separation, washing, and melting. The applied process is characterized as “the secondary-refrigerant indirect freezing”, which is utilizing normal freezing concept. The high saline brine was used as definite feed water, i.e. average TDS of 250,000 ppm. Kuwait desalination plants were carried out in the experimental study to measure the performance of the proposed treatment system. Experimental analysis shows that the freeze-melting process is capable of dropping the TDS of the feed water from 249,482 ppm to 56,880 ppm of the freeze-melting process in the two-phase’s course, whereas overall recovery results of the salt passage and salt rejection are 31.11%, 19.05%, and 80.95%, correspondingly. Therefore, the freeze-melting process is encouraging for the proposed application, as it shows on the results, which approves the process capability of reducing a major amount of the dissolved salts of the high saline brine with reasonable sensible recovery. This process might be reasonable with other brine disposal processes.

Keywords: High saline brine, freeze-melting process, ice crystallization, brine disposal process.

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Authors: Fakhra Aziz, K. Sulaiman, Kh. S. Karimov, M. Hassan Sayyad

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This paper presents a spectroscopic study on doping of Vanadyl pathalocyanine (VOPc) by [6,6]-phenyl C61 butyric acid methyl ester (PCBM). The films are characterized by UV/Vis/NIR spectroscopy. A drastic increase in the absorption coefficient has been observed with increasing dopant concentration. Optical properties of VOPc:PCBM films deposited by spin coating technique were studied in detail. Optical band gap decreased with the PCBM incorporation in the VOPc film. Optical band gap calculated from the absorption spectra decreased from 3.32 eV to 3.26 eV with a variation of 0–75 % of PCBM concentration in the VOPC films.

Keywords: Optical properties, spin-coating, optical properties, optical energy gap

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Authors: Jeeoot Singh, Sandeep Singh, K. K. Shukla

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The governing differential equations of laminated plate utilizing trigonometric shear deformation theory are derived using energy approach. The governing differential equations discretized by different radial basis functions are used to predict the free vibration behavior of symmetric laminated composite plates. Effect of orthotropy and span to thickness ratio on frequency parameter of simply supported laminated plate is presented. Numerical results show the accuracy and good convergence of radial basis functions.

Keywords: Composite plates, Meshfree method, free vibration, Shear deformation, RBFs

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Authors: Abdulrahman M. Homadi

Abstract:

This study focuses on how to control the outlet temperature of a solar air heater in a way simpler than the existing methods. In this work, five cases have been studied by using ANSYS Fluent based on a CFD numerical method. All the cases have been simulated by utilizing the same criteria and conditions like the temperature, materials, areas except the geometry. The case studies are conducted in Little Rock (LR), AR, USA during the winter time supposedly on 15^th of December. A fresh air that is flowing with a velocity of 0.5 m/s and a flow rate of 0.009 m³/s. The results prove the possibility of achieving a controlled temperature just by changing the geometric shape of the heater. This geometry guarantees that the absorber plate always has a normal component of the solar radiation at any time during the day. The heater has a sectarian shape with a radius of 150 mm where the outlet temperature remains almost constant for six hours.

Keywords: Solar energy, air heater, control of temperature, CFD.

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Authors: Wilayat Ali, Li Sheng, Waleed Ahmed

Abstract:

The ability of the robot to make simultaneously map of the environment and localize itself with respect to that environment is the most important element of mobile robots. To solve SLAM many algorithms could be utilized to build up the SLAM process and SLAM is a developing area in Robotics research. Robot Operating System (ROS) is one of the frameworks which provide multiple algorithm nodes to work with and provide a transmission layer to robots. Manyof these algorithms extensively in use are Hector SLAM, Gmapping and Cartographer SLAM. This paper describes a ROS-based Simultaneous localization and mapping (SLAM) library Google Cartographer mapping, which is open-source algorithm. The algorithm was applied to create a map using laser and pose data from 2d Lidar that was placed on a mobile robot. The model robot uses the gazebo package and simulated in Rviz. Our research work's primary goal is to obtain mapping through Cartographer SLAM algorithm in a static indoor environment. From our research, it is shown that for indoor environments cartographer is an applicable algorithm to generate 2d maps with LIDAR placed on mobile robot because it uses both odometry and poses estimation. The algorithm has been evaluated and maps are constructed against the SLAM algorithms presented by Turtlebot2 in the static indoor environment.

Keywords: SLAM, ROS, navigation, localization and mapping, Gazebo, Rviz, Turtlebot2, SLAM algorithms, 2d Indoor environment, Cartographer.

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Authors: A. Diaf, H. Aburideh, Z.Tigrine, D. Tassalit, F.Alaoui

Abstract:

The tray/multi-tray distillation process is a topic that has been investigated to great detail over the last decade by many teams such as Jubran et al. [1], Adhikari et al. [2], Mowla et al. [3], Shatat et al. [4] and Fath [5] to name a few. A significant amount of work and effort was spent focusing on modeling and/simulation of specific distillation hardware designs. In this work, we have focused our efforts on investigating and gathering experimental data on several engineering and design variables to quantify their influence on the yield of the multi-tray distillation process. Our goals are to generate experimental performance data to bridge some existing gaps in the design, engineering, optimization and theoretical modeling aspects of the multi-tray distillation process.

Keywords: Distillation, Desalination, Multi-Stage still, Solar Energy

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Authors: Zeitoun D. G., Thierry Dana-Picard

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The study of a real function of two real variables can be supported by visualization using a Computer Algebra System (CAS). One type of constraints of the system is due to the algorithms implemented, yielding continuous approximations of the given function by interpolation. This often masks discontinuities of the function and can provide strange plots, not compatible with the mathematics. In recent years, point based geometry has gained increasing attention as an alternative surface representation, both for efficient rendering and for flexible geometry processing of complex surfaces. In this paper we present different artifacts created by mesh surfaces near discontinuities and propose a point based method that controls and reduces these artifacts. A least squares penalty method for an automatic generation of the mesh that controls the behavior of the chosen function is presented. The special feature of this method is the ability to improve the accuracy of the surface visualization near a set of interior points where the function may be discontinuous. The present method is formulated as a minimax problem and the non uniform mesh is generated using an iterative algorithm. Results show that for large poorly conditioned matrices, the new algorithm gives more accurate results than the classical preconditioned conjugate algorithm.

Keywords: Function singularities, mesh generation, point allocation, visualization, collocation least squares method, Augmented Lagrangian method, Uzawa's Algorithm, Preconditioned Conjugate Gradien

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Authors: Mohamed Idris S. Abozaed, Suliman Mohamed Elrajoubi

Abstract:

Researches and concerns in power quality gained significant momentum in the field of power electronics systems over the last two decades globally. This sudden increase in the number of concerns over power quality problems is a result of the huge increase in the use of non-linear loads. In this paper, power quality evaluation of some distribution networks at Misurata - Libya has been done using a power quality and energy analyzer (Fluke 437 Series II). The results of this evaluation are used to minimize the problems of power quality. The analysis shows the main power quality problems that exist and the level of awareness of power quality issues with the aim of generating a start point which can be used as guidelines for researchers and end users in the field of power systems.

Keywords: Power Quality Disturbances, Power Quality Evaluation, Statistical Analysis.

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