Search results for: Area traffic control

Authors: Meenakshi Bansal, Iqbal Singh, Parvinder S. Sandhu

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In over deployed sensor networks, one approach to Conserve energy is to keep only a small subset of sensors active at Any instant. For the coverage problems, the monitoring area in a set of points that require sensing, called demand points, and consider that the node coverage area is a circle of range R, where R is the sensing range, If the Distance between a demand point and a sensor node is less than R, the node is able to cover this point. We consider a wireless sensor network consisting of a set of sensors deployed randomly. A point in the monitored area is covered if it is within the sensing range of a sensor. In some applications, when the network is sufficiently dense, area coverage can be approximated by guaranteeing point coverage. In this case, all the points of wireless devices could be used to represent the whole area, and the working sensors are supposed to cover all the sensors. We also introduce Hybrid Algorithm and challenges related to coverage in sensor networks.

Keywords: Wireless sensor networks, network coverage, Energy conservation, Hybrid Algorithms.

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Authors: Y. Areepong

Abstract:

The objective of this paper is to present explicit analytical formulas for evaluating important characteristics of Double Moving Average control chart (DMA) for Poisson distribution. The most popular characteristics of a control chart are Average Run Length ( 0 ARL ) - the mean of observations that are taken before a system is signaled to be out-of control when it is actually still incontrol, and Average Delay time ( 1 ARL ) - mean delay of true alarm times. An important property required of 0 ARL is that it should be sufficiently large when the process is in-control to reduce a number of false alarms. On the other side, if the process is actually out-ofcontrol then 1 ARL should be as small as possible. In particular, the explicit analytical formulas for evaluating 0 ARL and 1 ARL be able to get a set of optimal parameters which depend on a width of the moving average ( w ) and width of control limit ( H ) for designing DMA chart with minimum of 1 ARL

Keywords: Optimal parameters, Average Run Length, Average Delay time, Double Moving Average chart.

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

Abstract:

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: Disturbance observer, Pneumatic balloon, Predictive functional control, Rubber artificial muscle.

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Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia

Abstract:

A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.

Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.

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Authors: Barau Daniel, Bashayi Obadiah

Abstract:

A spatial analysis of a large 20th century urban settlement (town/city) easily presents the celebrated central Business District (CBD). Theories of Urban Land Economics have easily justified and attempted to explain the existence of such a district activity area within the cityscape. This work examines the gradual emergence and development of the CBD in Lafia Town, Nigeria over 20 years and the attended urban problems caused by its emergence. Personal knowledge and observation of land use change are the main sources of data for the work, with unstructured interview with residents. The result are that the absence of a co-ordinate land use plan for the town, multi-nuclei nature, and regional location of surrounding towns have affected the growth pattern, hence the CBD. Traffic congestion, dispersed CBD land uses are some of the urban planning problems. The work concludes by advocating for integrating CBD uses.

Keywords: Urban planning, Central Business District (CBD), downtown.

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Authors: Chaoraingern J., Trisuwannawat T., Numsomran A.

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The author present PID controller design for following control of hard disk drive by characteristic ratio assignment method. The study in this paper concerns design of a PID controller which sufficiently robust to the disturbances and plant perturbations on following control of hard disk drive. Characteristic Ratio Assignment (CRA) is shown to be an efficient control technique to serve this requirement. The controller design by CRA is based on the choice of the coefficients of the characteristic polynomial of the closed loop system according to the convenient performance criteria such as equivalent time constant and ration of characteristic coefficient. Hence, in this study, CRA method is applied in PID controller design for following control of hard disk drive. Matlab simulation results shown that CRA design is fairly stable and robust whilst giving the convenience in controller-s parameters adjustment.

Keywords: Following Control, Hard Disk Drive, PID, CRA

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Authors: K. Ramash Kumar, S. Jeevananthan

Abstract:

The object of this paper is to design and analyze a proportional – integral (PI) control for positive output elementary super lift Luo converter (POESLLC), which is the start-of-the-art DC-DC converter. The positive output elementary super lift Luo converter performs the voltage conversion from positive source voltage to positive load voltage. This paper proposes a development of PI control capable of providing the good static and dynamic performance compared to proportional – integralderivative (PID) controller. Using state space average method derives the dynamic equations describing the positive output elementary super lift luo converter and PI control is designed. The simulation model of the positive output elementary super lift Luo converter with its control circuit is implemented in Matlab/Simulink. The PI control for positive output elementary super lift Luo converter is tested for transient region, line changes, load changes, steady state region and also for components variations.

Keywords: DC-DC converter, Positive output elementarysuper lift Luo converter (POESLLC), Proportional – Integral (PI)control.

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Authors: K. Sasikala, R. S. D Wahidabanu

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Various fairness models and criteria proposed by academia and industries for wired networks can be applied for ad hoc wireless network. The end-to-end fairness in an ad hoc wireless network is a challenging task compared to wired networks, which has not been addressed effectively. Most of the traffic in an ad hoc network are transport layer flows and thus the fairness of transport layer flows has attracted the interest of the researchers. The factors such as MAC protocol, routing protocol, the length of a route, buffer size, active queue management algorithm and the congestion control algorithms affects the fairness of transport layer flows. In this paper, we have considered the rate of data transmission, the queue management and packet scheduling technique. The ad hoc network is dynamic in nature due to various parameters such as transmission of control packets, multihop nature of forwarding packets, changes in source and destination nodes, changes in the routing path influences determining throughput and fairness among the concurrent flows. In addition, the effect of interaction between the protocol in the data link and transport layers has also plays a role in determining the rate of the data transmission. We maintain queue for each flow and the delay information of each flow is maintained accordingly. The pre-processing of flow is done up to the network layer only. The source and destination address information is used for separating the flow and the transport layer information is not used. This minimizes the delay in the network. Each flow is attached to a timer and is updated dynamically. Finite State Machine (FSM) is proposed for queue and transmission control mechanism. The performance of the proposed approach is evaluated in ns-2 simulation environment. The throughput and fairness based on mobility for different flows used as performance metrics. We have compared the performance of the proposed approach with ATP and the transport layer information is used. This minimizes the delay in the network. Each flow is attached to a timer and is updated dynamically. Finite State Machine (FSM) is proposed for queue and transmission control mechanism. The performance of the proposed approach is evaluated in ns-2 simulation environment. The throughput and fairness based on not mobility for different flows used as performance metrics. We have compared the performance of the proposed approach with ATP and MC-MLAS and the performance of the proposed approach is encouraging.

Keywords: ATP, End-to-End fairness, FSM, MAC, QoS.

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Authors: Z. Nemec, R. Matousek

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The paper describes the evaluation of quality of control for cases of controlled non-minimal phase plants. Control circuits containing non-minimal phase plants have different properties, they manifest reversed reaction at the beginning of unit step response. For these types of plants are developed special criterion of quality of control, which considers the difference and can be helpful for synthesis of optimal controller tuning. All results are clearly presented using Matlab/Simulink models.

Keywords: control design, non-minimal phase system, optimalcriteria, power plant, heating plant, water turbine, Matlab, Simulink.

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Authors: A. Abou El-Azm Aly, A. Chong, F. Nicolleau, S. Beck

Abstract:

The fractal-shaped orifices are assumed to have a significant effect on the pressure drop downstream pipe flow due to their edge self-similarity shape which enhances the mixing properties. Here, we investigate the pressure drop after these fractals using a digital micro-manometer at different stations downstream a turbulent flow pipe then a direct comparison has been made with the pressure drop measured from regular orifices with the same flow area. Our results showed that the fractal-shaped orifices have a significant effect on the pressure drop downstream the flow. Also the pressure drop measured across the fractal-shaped orifices is noticed to be lower that that from ordinary orifices of the same flow areas. This result could be important in designing piping systems from point of view of losses consideration with the same flow control area. This is promising to use the fractal-shaped orifices as flowmeters as they can sense the pressure drop across them accurately with minimum losses than the regular ones.

Keywords: Fractal-shaped orifice, pressure drop, turbulent flow.

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Authors: Shiuh-Jer Huang, Ming-Tien Su

Abstract:

Since the driving speed and control accuracy of commercial optical disk are increasing significantly, it needs an efficient controller to monitor the track seeking and following operations of the servo system for achieving the desired data extracting response. The nonlinear behaviors of the actuator and servo system of the optical disk drive will influence the laser spot positioning. Here, the model-free fuzzy control scheme is employed to design the track seeking servo controller for a d.c. motor driving optical disk drive system. In addition, the sliding model control strategy is introduced into the fuzzy control structure to construct a 1-D adaptive fuzzy rule intelligent controller for simplifying the implementation problem and improving the control performance. The experimental results show that the steady state error of the track seeking by using this fuzzy controller can maintain within the track width (1.6 μm ). It can be used in the track seeking and track following servo control operations.

Keywords: Fuzzy control, gain tuning and optical disk drive.

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Authors: N. Gigauri, V. Kukhalashvili, V. Sesadze, A. Surmava, L. Intskirveli

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Pollution of the Tbilisi atmospheric air with PM2.5 and PM10 in usual and pandemic situations by using the data of 5 stationary observation points is investigated. The values of the statistical characteristic parameters of PM in the atmosphere of Tbilisi are analyzed and trend graphs are constructed. By means of analysis of pollution levels in the quarantine and usual periods the proportion of vehicle traffic in pollution of city is estimated. Experimental measurements of PM2.5, PM10 in the atmosphere have been carried out in different districts of the city and map of the distribution of their concentrations were constructed. It is shown that maximum pollution values are recorded in the city center and along major motorways. It is shown that the average monthly concentrations vary in the range of 0.6-1.6 Maximum Permissible Concentration (MPC). Average daily values of concentration vary at 2-4 days intervals. The distribution of PM10 generated as a result of traffic is numerical modeled. The modeling results are compared with the observation data.

Keywords: Air pollution, numerical modeling, PM2.5, PM10.

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Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia

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Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.

Keywords: Chaos, adaptive control, nonlinear control, Chua's circuit.

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Authors: Sohrab Mahmoodi, Ali Rahimi

Abstract:

The critical period for weed control (CPWC) is the period in the crop growth cycle during which weeds must be controlled to prevent unacceptable yield losses. Field studies were conducted in 2005 and 2006 in the University of Birjand at the south east of Iran to determine CPWC of corn using a randomized complete block design with 14 treatments and four replications. The treatments consisted of two different periods of weed interference, a critical weed-free period and a critical time of weed removal, were imposed at V3, V6, V9, V12, V15, and R1 (based on phonological stages of corn development) with a weedy check and a weed-free check. The CPWC was determined with the use of 2.5, 5, 10, 15 and 20% acceptable yield loss levels by non-linear Regression method and fitting Logistic and Gompertz nonlinear equations to relative yield data. The CPWC of corn was from 5- to 15-leaf stage (19-55 DAE) to prevent yield losses of 5%. This period to prevent yield losses of 2.5, 10 and 20% was 4- to 17-leaf stage (14-59 DAE), 6- to 12-leaf stage (25-47 DAE) and 8- to 9-leaf stage (31-36 DAE) respectively. The height and leaf area index of corn were significantly decreased by weed competition in both weed free and weed infested treatments (P<0.01). Results also showed that there was a significant positive correlation between yield and LAI of corn at silk stage when competing with weeds (r= 0.97).

Keywords: Corn, Critical period, Gompertz, Logistic, Weed control.

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Authors: A. Aydin, E. Akyol, N. Soyatik

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This study has been presented which is a detailed work of seismic microzonation of the city center. For seismic microzonation area of 225 km2 has been selected as the study area. MASW (Multichannel analysis of surface wave) and seismic refraction methods have been used to generate one-dimensional shear wave velocity profile at 250 locations and two-dimensional profile at 60 locations. These shear wave velocities are used to estimate equivalent shear wave velocity in the study area at every 2 and 5 m intervals up to a depth of 60 m. Levels of equivalent shear wave velocity of soil are used the classified of the study area. After the results of the study, it must be considered as components of urban planning and building design of Denizli and the application and use of these results should be required and enforced by municipal authorities.

Keywords: Seismic microzonation, liquefaction, land use management.

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Authors: K. Govender, M. Sinclair

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This paper demonstrates a proof of concept whereby shorter trips and land use densification can be promoted through an alternative approach to planning and implementation of road infrastructure in the South African context. It briefly discusses how the development of the Compact City concept relies on a combination of promoting shorter trips and densification through a change in focus in road infrastructure provision. The methodology developed in this paper uses a traffic model to test the impact of synthesized deterrence functions on congestion locations in the road network through the assignment of traffic on the study network. The results from this study demonstrate that intelligent planning of road infrastructure can indeed promote reduced urban sprawl, increased residential density and mixed-use areas which are supported by an efficient public transport system; and reduced dependence on the freeway network with a fixed road infrastructure budget. The study has resonance for all cities where urban sprawl is seemingly unstoppable.

Keywords: Compact cities, densification, road infrastructure planning, transportation modeling.

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Authors: G. Venkata Rao, P. Kalpana, R. Srinivasa Rao

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Adequate and reliable estimates of aquifer parameters are of utmost importance for proper management of vital groundwater resources. At present scenario, the ground water is polluted because of industrial waste disposed over the land and the contaminants are transported in the aquifer from one area to another area, which is depending on the characteristics of the aquifer and contaminants. To know the contaminant transport, the accurate estimation of aquifer properties is highly needed. Conventionally, these properties are estimated through pumping tests carried out on water wells. The occurrence and movement of ground water in the aquifer are characteristically defined by the aquifer parameters. The pumping (aquifer) test is the standard technique for estimating various hydraulic properties of aquifer systems, viz., transmissivity (T), hydraulic conductivity (K), storage coefficient (S) etc., for which the graphical method is widely used. The study area for conducting pumping test is Pydibheemavaram Industrial area near the coastal belt of Srikulam, AP, India. The main objective of the present work is to estimate the aquifer properties for developing contaminant transport model for the study area.

Keywords: Aquifer, contaminant transport, hydraulic conductivity, industrial waste, pumping test.

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Authors: Jae-Young Choi, Sung-Gaun Kim

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This paper suggests a fast and stable Target Tracking system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have to be kept within a certain distance from each other. But existing method which uses UAV Vertical Camera to follow the motion of UGV is likely to lose a target with a sudden movement change. Eventually, UGV has disadvantages that it could only move at a low speed and not make any sudden change of direction in order to keep track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum Wheel UGV.

Keywords: Collaborative control, UAV, UGV, Target Tracking.

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Authors: Yanto Santosa, Rozza Tri Kwatrina

Abstract:

High Conservation Value (HCV) is an area with conservation function within oil palm plantation. Despite the important role of HCV area in biodiversity conservation and various studies on HCV, there was a lack of research studying the factors determining its success. A preliminary study was conducted to identify the determinant factor of HCV that affected the diversity. Line transect method was used to calculate the species diversity of butterfly, birds, mammals, and herpetofauna species as well as their richness. Specifically for mammals, camera traps were also used. The research sites comprised of 12 HCV areas in 3 provinces of Indonesia (Central Kalimantan, Riau, and Palembang). The relationship between the HCV biophysical factor with the species number and species diversity for each wildlife class was identified using Chi-Square analysis with Cross tab (contingency table). Results of the study revealed that species diversity varied by research locations. Four factors determining the success of HCV area in relations to the number and diversity of wildlife species are land cover types for mammals, the width of area and distance to rivers for birds, and distance to settlements for butterflies.

Keywords: Ecological factors, high conservation value area, oil palm plantation, wildlife diversity.

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Authors: Chang-il Kang, Yoon-Hong Park, Tae-Hyun Kim, Yu Wann

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In this paper, we analyzed the pattern of urban spatial structure of Siheung City that had been divided into two parts and presented alternative plans in order to get rid of these phenomena. Concerning patterns of urban spatial structure, we examined it through means of analyzing status of land use, population density and distribution of residence, status of distribution of main facilities, medical facilities, status of distribution of cultural facilities, distribution of land prices and traffic volume trends. The results of study revealed that status of facilities distribution and distribution of land prices, etc. were bisected by the surrounding area of former municipal office and the district of Sihwa, which were both regarded as one apex of the city divide, forming a duo-centric city. In order to get rid of this problem concerned with urban spatial structure that has been bisected, it is required that measures in order to expand facilities in Siheung City should be taken.

Keywords: Urban Spatial Structure, Duo-centric City, Siheung City.

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Authors: M. M. Fateh, A. Izadbakhsh

Abstract:

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.

Keywords: Computed torque, manipulator, robust control, state space.

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Authors: Nasser Mohamed Ramli, Mohamad Syafiq Mohamad

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Many types of controllers were applied on the continuous stirred tank reactor (CSTR) unit to control the temperature. In this research paper, Proportional-Integral-Derivative (PID) controller are compared with Fuzzy Logic controller for temperature control of CSTR. The control system for temperature non-isothermal of a CSTR will produce a stable response curve to its set point temperature. A mathematical model of a CSTR using the most general operating condition was developed through a set of differential equations into S-function using MATLAB. The reactor model and S-function are developed using m.file. After developing the S-function of CSTR model, User-Defined functions are used to link to SIMULINK file. Results that are obtained from simulation and temperature control were better when using Fuzzy logic control compared to PID control.

Keywords: CSTR, temperature, PID, fuzzy logic.

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Authors: R. Karbalaei, A. Ghaffari, R. Kazemi, S. H. Tabatabaei

Abstract:

An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.

Keywords: Intelligent strategy, integrated control, fuzzy logic, AFS/DYC.

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Authors: Yun-Pang Flötteröd, Jakob Erdmann

Abstract:

The human behaviors during evacuations are quite complex. One of the critical behaviors which affect the efficiency of evacuation is route choice. Therefore, the respective simulation modeling work needs to function properly. In this paper, Simulation of Urban Mobility’s (SUMO) current dynamic route modeling during evacuation, i.e. the rerouting functions, is examined with a real case study. The result consistency of the simulation and the reality is checked as well. Four influence factors (1) time to get information, (2) probability to cancel a trip, (3) probability to use navigation equipment, and (4) rerouting and information updating period are considered to analyze possible traffic impacts during the evacuation and to examine the rerouting functions in SUMO. Furthermore, some behavioral characters of the case study are analyzed with use of the corresponding detector data and applied in the simulation. The experiment results show that the dynamic route modeling in SUMO can deal with the proposed scenarios properly. Some issues and function needs related to route choice are discussed and further improvements are suggested.

Keywords: Evacuation, microscopic traffic simulation, rerouting, SUMO.

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Authors: Sing-Han Wang, Shiang-Hwua Yu, Chih-Po Yang

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Repetitive control and feedback dithering modulation are applied to a single-phase voltage source inverter, with an aim to eliminate harmonics and stabilize the inverter under load variations. The proposed control and modulation scheme comprise multiple loops of feedback, which helps improve inverter performance and robustness. Experimental results show that the designed inverter exhibits very low distortion at its output with THD of about 0.3% under different load variations.

Keywords: Feedback dithering modulation, repetitive control, state feedback, inverter, harmonics elimination.

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Authors: V. Ten

Abstract:

An approach of design of stable of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers. Theoretical part presents an analysis of designed nonlinear second-order control systems. As more important the integrators in series, canonical controllable form and Jordan forms are considered. The analysis resumes that due to added controllers systems become stable and insensitive to any disturbance of parameters. Experimental part presents MATLAB simulation of design of control systems of epidemic spread, aircrafts angular motion and submarine depth. The results of simulation confirm the efficiency of offered method of design. KeywordsCatastrophes, robust control, simulation, uncertain parameters.

Keywords: Catastrophes, robust control, simulation, uncertain parameters.

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Authors: Mario Gianni, Manuel A. Ruiz Garcia, Fiora Pirri

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In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.

Keywords: Dirichlet processes, Gaussian processes, robot control learning, tracked vehicles.

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Authors: J. H. Park, S. C. Jeong, J. H. Koo, H. Y. Jung, S. M. Lee

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We propose an integral tracking control method for a piezoelectric actuator system. The proposed method achieves the output tracking without requiring any hysteresis observer or schemes to compensate the hysteresis effect. With the proposed control law, the system is converted into the standard singularly perturbed model. Using Tikhonov-s theorem, we guarantee that the tracking error can be reduced to arbitrarily small bound. A numerical example is given to illustrate the effectiveness of our proposed method.

Keywords: Piezoelectric actuator, tracking control, hysteresis effect.

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Authors: M. Kusá, M. Matúšová, A. Javorová, K. Velí

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This paper deals about four items assembly process of linear drive. This assembly will be realized in flexible assembly cell on Institute of Manufacturing Systems and Applied Mechanics. There is defined manufacturing cell, individual actuators created our flexible cell. Next chapter is about control type, detailed describe a sequence control type, which will be used in mentioned flexible assembly cell. All cell control is divided in individual steps instructions. There instructions illustrate table number III.

Keywords: assembly, flexible cell, sequence control

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Authors: A. A. K. Abou-Arab, M. A. Abou Donia, Sherif R. Mohamed, A. K. Enab

Abstract:

Lead being a toxic heavy metal that mankind is exposed to the highest levels of this metal. There are different sources of environmental pollution with lead as lead alkyl additives in petrol and manufacturing processes. The contaminated atmosphere in urban and industrial areas by lead in Egypt may lead to the contamination of foods beside the other different sources. The present investigation studied the risk assessment of lead in some Egyptian edible vegetables and fruits collected from different environments in Greater Cairo Governorate, i.e. industrial, heavy traffic and rural areas. A total of 325 leafy and fruity vegetables and fruits samples belonging to 11, 6 and 4 different species, respectively were randomly collected from markets of the three main models. Data indicated the variation of lead levels in different three areas. The highest levels of lead were detected in the samples collected from industrial and traffic areas. However, the lowest levels were found in the rural areas. It could be concluded that determination of lead levels in foods from different localities and environments at regularly is very important.

Keywords: Heavy metals, Lead, Vegetables, Fruits, Environments.

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