Search results for: maximum torques.

Authors: Rakesh Kumar, A. K. Ghosh

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The paper presents the modeling of nonlinear longitudinal aerodynamics using flight data of Hansa-3 aircraft at high angles of attack near stall. The Kirchhoff-s quasi-steady stall model has been used to incorporate nonlinear aerodynamic effects in the aerodynamic model used to estimate the parameters, thereby, making the aerodynamic model nonlinear. The Maximum Likelihood method has been applied to the flight data (at high angles of attack) for the estimation of parameters (aerodynamic and stall characteristics) using the nonlinear aerodynamic model. To improve the accuracy level of the estimates, an approach of fixing the strong parameters has also been presented.

Keywords: Maximum Likelihood, nonlinear, parameters, stall.

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Authors: Priyadarsini P. L. K, Hemalatha T.

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This paper proves that the problem of finding connected vertex cover in a 2-connected planar graph ( CVC-2 ) with maximum degree 4 is NP-complete. The motivation for proving this result is to give a shorter and simpler proof of NP-Completeness of TRA-MLC (the Top Right Access point Minimum-Length Corridor) problem [1], by finding the reduction from CVC-2. TRA-MLC has many applications in laying optical fibre cables for data communication and electrical wiring in floor plans.The problem of finding connected vertex cover in any planar graph ( CVC ) with maximum degree 4 is NP-complete [2]. We first show that CVC-2 belongs to NP and then we find a polynomial reduction from CVC to CVC-2. Let a graph G0 and an integer K form an instance of CVC, where G0 is a planar graph and K is an upper bound on the size of the connected vertex cover in G0. We construct a 2-connected planar graph, say G, by identifying the blocks and cut vertices of G0, and then finding the planar representation of all the blocks of G0, leading to a plane graph G1. We replace the cut vertices with cycles in such a way that the resultant graph G is a 2-connected planar graph with maximum degree 4. We consider L = K -2t+3 t i=1 di where t is the number of cut vertices in G1 and di is the number of blocks for which ith cut vertex is common. We prove that G will have a connected vertex cover with size less than or equal to L if and only if G0 has a connected vertex cover of size less than or equal to K.

Keywords: NP-complete, 2-Connected planar graph, block, cut vertex

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Authors: Meng-Jou Chien, Jheng-Cheng Chen, Chang-Hsiung Tsai

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Let max_ζG(m) denote the maximum number of edges in a subgraph of graph G induced by m nodes. The n-dimensional augmented cube, denoted as AQn, a variation of the hypercube, possesses some properties superior to those of the hypercube. We study the cases when G is the augmented cube AQn.

Keywords: Interconnection network, Augmented cube, Induced subgraph, Bisection width.

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Authors: Ratanaporn Leesing, Supaporn Kookkhunthod, Ngarmnit Nontaso

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The objective of this work is to produce heterotrophic microalgal lipid in flask-batch fermentation. Chlorella sp. KKU-S2 supported maximum values of 0.374 g/L/d, 0.478 g lipid/g cells, and 0.112 g/L/d for volumetric lipid production rate, and specific yield of lipid, and specific rate of lipid production, respectively when culture was performed on BG-11 medium supplemented with 50g/L glucose. Among the carbon sources tested, maximum cell yield coefficient (YX/S, g/L), maximum specific yield of lipid (YP/X, g lipid/g cells) and volumetric lipid production rate (QP, g/L/d) were found of 0.728, 0.237, and 0.619, respectively, using sugarcane molasses as carbon source. The main components of fatty acid from extracted lipid were palmitic acid, stearic acid, oleic acid and linoleic acid which similar to vegetable oils and suitable for biodiesel production.

Keywords: Microalgal lipid, Chlorella sp. KKU-S2, kineticparameters, biodiesel.

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Authors: Nur Zakiah Mohd Saat, Abdul Aziz Jemain

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Saddlepoint approximations is one of the tools to obtain an expressions for densities and distribution functions. We approximate the densities of the observed gaps between the hypopnea events using the Huzurbazar saddlepoint approximation. We demonstrate the density of a maximum likelihood estimator in exponential families.

Keywords: Exponential, maximum likehood estimators, observed gap, Saddlepoint approximations.

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Authors: B. O. Ayinmode, I. P. Farai

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The levels of maximum power density of GSM signals in the cities of Lagos, Ibadan and Abuja were studied. Measurements were made with a calibrated hand held spectrum analyzer 200m away from 271 base stations, at 1.2m to the ground level. The maximum GSM 900 signal power density was 139.63μW/m2 in Lagos, 162.49μW/m2 in Ibadan and 5411.26μW/m2 in Abuja. Also, the maximum GSM 1800 signal power density was 296.82μW/m2 in Lagos, 116.82μW/m2 in Ibadan and 1263.00μW/m2 in Abuja. The level of power density of GSM 900 and GSM 1800 signals in the cities of Lagos, Ibadan and Abuja are far less than the recommended value of 4.5W/m2 for GSM 900 and 9.0 W/m2 for GSM 1800 by the ICNRP guideline. It can be concluded that exposure to GSM signals in these cities cannot contribute to the health detriments caused by thermal effects of radiofrequency radiation.

Keywords: Radiofrequency, power density, radiation exposure, base stations (BTS).

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Authors: Hadeel Salim Alkutubi

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The objective of this study is to introduce estimators to the parameters and survival function for Weibull distribution using three different methods, Maximum Likelihood estimation, Standard Bayes estimation and Modified Bayes estimation. We will then compared the three methods using simulation study to find the best one base on MPE and MSE.

Keywords: Maximum Likelihood estimation , Bayes estimation, Jeffery prior information, Simulation study

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Authors: S. A. Naeini, M. Ghorbani Tochaee

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The aim of this study is to assess the influence of plastic fines content on sand-clay mixtures on maximum shear modulus and liquefaction resistance using a series of resonant column tests. A high plasticity clay called bentonite was added to 161 Firoozkooh sand at the percentages of 10, 15, 20, 25, 30 and 35 by dry weight. The resonant column tests were performed on the remolded specimens at constant confining pressure of 100 KPa and then the values of G_max and liquefaction resistance were investigated. The maximum shear modulus and cyclic resistance ratio (CRR) are examined in terms of fines content. Based on the results, the maximum shear modulus and liquefaction resistance tend to decrease within the increment of fine contents.

Keywords: Gmax, liquefaction, plastic fines, resonant column, sand-clay mixtures, bentonite.

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Authors: Marius Gheju, Rodica Pode

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Hexavalent chromium is highly toxic to most living organisms and a known human carcinogen by the inhalation route of exposure. Therefore, treatment of Cr(VI) contaminated wastewater is essential before their discharge to the natural water bodies. Cr(VI) reduction to Cr(III) can be beneficial because a more mobile and more toxic chromium species is converted to a less mobile and less toxic form. Zero-valence-state metals, such as scrap iron, can serve as electron donors for reducing Cr(VI) to Cr(III). The influence of pH on scrap iron capacity to reduce Cr(VI) was investigated in this study. Maximum reduction capacity of scrap iron was observed at the beginning of the column experiments; the lower the pH, the greater the experiment duration with maximum scrap iron reduction capacity. The experimental results showed that highest maximum reduction capacity of scrap iron was 12.5 mg Cr(VI)/g scrap iron, at pH 2.0, and decreased with increasing pH up to 1.9 mg Cr(VI)/g scrap iron at pH = 7.3.

Keywords: hexavalent chromium, heavy metals, scrap iron, reduction capacity, wastewater treatment.

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Authors: R. Usubamatov

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The velocity of a moving point in a general path is the vector quantity, which has both magnitude and direction. The magnitude or the direction of the velocity vector can change over time as a result of acceleration that the time rate of velocity changes. Acceleration analysis is important because inertial forces and inertial torques are proportional to rectilinear and angular accelerations accordingly. The loads must be determined in advance to ensure that a machine is adequately designed to handle these dynamic loads. For planar motion, the vector direction of acceleration is commonly separated into two elements: tangential and centripetal or radial components of a point on a rotating body. All textbooks in physics, kinematics and dynamics of machinery consider the magnitude of a radial acceleration at condition when a point rotates with a constant angular velocity and it means without acceleration. The magnitude of the tangential acceleration considered on a basis of acceleration for a rotating point. Such condition of presentation of magnitudes for two components of acceleration logically and mathematically is not correct and may cause further confusion in calculation. This paper presents new analytical expressions of the radial and absolute accelerations of a rotating point with acceleration and covers the gap in theoretical study of acceleration analysis.

Keywords: acceleration analysis, kinematics of mechanisms.

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Authors: Alexander Winkler, Jozef Suchý

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This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled robot. Well known schemes of implicit force control are stiffness control, damping control and impedance control. Using such algorithms the contact force cannot be set directly. It is further the result of controller impedance, environment impedance and the commanded robot motion/position. The relationships of these properties are worked out in this paper in detail for the chosen implicit approaches. They have been adapted to be implementable on a position controlled robot. The behaviors of stiffness control and damping control are verified by practical experiments. For this purpose a suitable test bed was configured. Using the full mechanical impedance within the controller structure will not be practical in the case when the robot is in physical contact with the environment. This fact will be verified by simulation.

Keywords: Damping control, impedance control, robot force control, stability, stiffness control.

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Authors: S. Phanyaem

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Exponentially weighted moving average control chart (EWMA) is a popular chart used for detecting shift in the mean of parameter of distributions in quality control. The objective of this paper is to compare the efficiency of control chart to detect an increases in the mean of a process. In particular, we compared the Maximum Exponentially Weighted Moving Average (MaxEWMA) and Maximum Generally Weighted Moving Average (MaxGWMA) control charts when the observations are Exponential distribution. The criteria for evaluate the performance of control chart is called, the Average Run Length (ARL). The result of comparison show that in the case of process is small sample size, the MaxEWMA control chart is more efficiency to detect shift in the process mean than MaxGWMA control chart. For the case of large sample size, the MaxEWMA control chart is more sensitive to detect small shift in the process mean than MaxGWMA control chart, and when the process is a large shift in mean, the MaxGWMA control chart is more sensitive to detect mean shift than MaxEWMA control chart.

Keywords: Maximum Exponentially Weighted Moving Average, Maximum General Weighted Moving Average, Average Run Length.

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Authors: Sunthari Tharapan, Chockpisit Thepsithar, Kullanart Obsuwan

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This study was aimed to investigate the effect of various organic supplements on growth and development of Dendrobium discolor’s protocorms and seedlings growth of Dendrobium Judy Rutz. Protocorms of Dendrobium discolor with 2.0 cm. in diameter and seedlings of Dendrobium Judy Rutz at the same size (0.5 cm. height) were sub-cultured on Hyponex medium supplemented with cow milk (CM), soy milk (SM), potato extract (PE) and peptone (P) for 2 months. The protocorms were developed to seedlings in all treatments after cultured for 2 months. However, the best results were found on Hyponex medium supplemented with P was the best in which the maximum fresh and dry weight and maximum shoot height were obtained in this treatment statistically different (p ≤ 0.05) to other treatments. Moreover, Hyponex medium supplemented with P also stimulated the maximum mean number of 5.7 shoots per explant which also showed statistically different (p ≤ 0.05) when compared to other treatments. The results of growth of Dendrobium Judy Rutz seedlings indicated the medium supplemented with 100 mL/L PE enhanced the maximum fresh and dry weigh per explants with significantly different (p ≤ 0.05) in fresh weight from other treatments including the control medium without any organic supplementation. However, the dry weight was not significantly different (p ≤ 0.05) from medium supplemented with SM and P. There was multiple shoots induction in all media with or without organic supplementation ranging from 2.6 to 3 shoots per explants. The maximum shoot height was also obtained in the seedlings cultured on medium supplemented with PE while the longest root length was found in medium supplemented with SM.

Keywords: Fresh weight, in vitro propagation, orchid, plant height.

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Authors: Chun-Yao Lee , Yi-Xing Shen , Jung-Cheng Cheng , Chih-Wen Chang, Yi-Yin Li

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This paper proposes the method combining artificial neural network with particle swarm optimization (PSO) to implement the maximum power point tracking (MPPT) by controlling the rotor speed of the wind generator. With the measurements of wind speed, rotor speed of wind generator and output power, the artificial neural network can be trained and the wind speed can be estimated. The proposed control system in this paper provides a manner for searching the maximum output power of wind generator even under the conditions of varying wind speed and load impedance.

Keywords: maximum power point tracking, artificial neural network, particle swarm optimization.

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Authors: E. Movahednejad, F. Ommi

Abstract:

Droplet size distributions in the cold spray of a fuel are important in observed combustion behavior. Specification of droplet size and velocity distributions in the immediate downstream of injectors is also essential as boundary conditions for advanced computational fluid dynamics (CFD) and two-phase spray transport calculations. This paper describes the development of a new model to be incorporated into maximum entropy principle (MEP) formalism for prediction of droplet size distribution in droplet formation region. The MEP approach can predict the most likely droplet size and velocity distributions under a set of constraints expressing the available information related to the distribution. In this article, by considering the mechanisms of turbulence generation inside the nozzle and wave growth on jet surface, it is attempted to provide a logical framework coupling the flow inside the nozzle to the resulting atomization process. The purpose of this paper is to describe the formulation of this new model and to incorporate it into the maximum entropy principle (MEP) by coupling sub-models together using source terms of momentum and energy. Comparison between the model prediction and experimental data for a gas turbine swirling nozzle and an annular spray indicate good agreement between model and experiment.

Keywords: Droplet, instability, Size Distribution, Turbulence, Maximum Entropy

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Authors: Jawad Ahmad, Hee-Jun Kim

Abstract:

This paper describes the design of a voltage based maximum power point tracker (MPPT) for photovoltaic (PV) applications. Of the various MPPT methods, the voltage based method is considered to be the simplest and cost effective. The major disadvantage of this method is that the PV array is disconnected from the load for the sampling of its open circuit voltage, which inevitably results in power loss. Another disadvantage, in case of rapid irradiance variation, is that if the duration between two successive samplings, called the sampling period, is too long there is a considerable loss. This is because the output voltage of the PV array follows the unchanged reference during one sampling period. Once a maximum power point (MPP) is tracked and a change in irradiation occurs between two successive samplings, then the new MPP is not tracked until the next sampling of the PV array voltage. This paper proposes an MPPT circuit in which the sampling interval of the PV array voltage, and the sampling period have been shortened. The sample and hold circuit has also been simplified. The proposed circuit does not utilize a microcontroller or a digital signal processor and is thus suitable for low cost and low power applications.

Keywords: Maximum power point tracker, Sample and hold amplifier, Sampling interval, Sampling period.

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Authors: Mussa Mahmoudi

Abstract:

For Seismic design, it is important to estimate, maximum lateral displacement (inelastic displacement) of the structures due to sever earthquakes for several reasons. Seismic design provisions estimate the maximum roof and storey drifts occurring in major earthquakes by amplifying the drifts of the structures obtained by elastic analysis subjected to seismic design load, with a coefficient named “displacement amplification factor" which is greater than one. Here, this coefficient depends on various parameters, such as ductility and overstrength factors. The present research aims to evaluate the value of the displacement amplification factor in seismic design codes and then tries to propose a value to estimate the maximum lateral structural displacement from sever earthquakes, without using non-linear analysis. In seismic codes, since the displacement amplification is related to “force reduction factor" hence; this aspect has been accepted in the current study. Meanwhile, two methodologies are applied to evaluate the value of displacement amplification factor and its relation with the force reduction factor. In the first methodology, which is applied for all structures, the ratio of displacement amplification and force reduction factors is determined directly. Whereas, in the second methodology that is applicable just for R/C moment resisting frame, the ratio is obtained by calculating both factors, separately. The acquired results of these methodologies are alike and estimate the ratio of two factors from 1 to 1.2. The results indicate that the ratio of the displacement amplification factor and the force reduction factor differs to those proposed by seismic provisions such as NEHRP, IBC and Iranian seismic code (standard no. 2800).

Keywords: Displacement amplification factor, Ductility factor, Force reduction factor, Maximum lateral displacement.

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Authors: B. A. Parate, K. D. Deodhar, V. K. Dixit, V. Venkateswara Rao

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This article outlines the ballistics of main seat ejection cartridges for aircraft application. The ballistics of main seat ejection cartridges plays a vital role during the ejection of the pilot in an emergency. The ballistic parameters such as maximum pressure, time to reach the maximum pressure, and time required to reach half the maximum pressure that responsible to the spinal injury of the pilot are assessed. Therefore, the evaluations of these parameters are very critical during various stages of development. Elaborate testing is carried out for main seat ejection cartridges on seat ejection tower (SET) at different operating temperatures considering physiological limits. As these trials are cumbersome in nature, a vented vessel (VV) testing facility is devised to lay down the performance parameters at hot and cold temperature conditions. Single base (SB) propellant having hepta-tubular configuration is selected as the main filling. Gun powder plays the role of a booster based on ballistic requirements. The evaluation methodology of various performance parameters of main seat ejection cartridges is explained in this paper. Physiological parameters such as maximum seat ejection velocity, acceleration, and rate of rising of acceleration are also experimentally determined on SET. All the parameters are observed well within physiological limits. This paper addresses the internal ballistic of main seat ejection cartridges, propellant selection, its calculation, and evaluation of various performance parameters for aircraft application.

Keywords: Ballistics of seat ejection, ejection seat, gas generator, gun propulsion, main seat ejection cartridges, maximum pressure, performance parameters, propellant, progressive burning and vented vessel.

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Authors: Rizik Al-Sayyed, Colin Pattinson, Tony Dacre

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This paper presents the findings of two experiments that were performed on the Redundancy in Wireless Connection Model (RiWC) using the 802.11b standard. The experiments were simulated using OPNET 11.5 Modeler software. The first was aimed at finding the maximum number of simultaneous Voice over Internet Protocol (VoIP) users the model would support under the G.711 and G.729 codec standards when the packetization interval was 10 milliseconds (ms). The second experiment examined the model?s VoIP user capacity using the G.729 codec standard along with background traffic using the same packetization interval as in the first experiment. To determine the capacity of the model under various experiments, we checked three metrics: jitter, delay and data loss. When background traffic was added, we checked the response time in addition to the previous three metrics. The findings of the first experiment indicated that the maximum number of simultaneous VoIP users the model was able to support was 5, which is consistent with recent research findings. When using the G.729 codec, the model was able to support up to 16 VoIP users; similar experiments in current literature have indicated a maximum of 7 users. The finding of the second experiment demonstrated that the maximum number of VoIP users the model was able to support was 12, with the existence of background traffic.

Keywords: WLAN, IEEE 802.11b, Codec, VoIP, OPNET, Background traffic, and QoS.

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Authors: Watcharachan Sukcharoenvipharat, Prathuang Usaborisut, Sirisak Choedkiatphon

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Farmers try to reduce steps of soil preparation by using subsoiler and then following by equipment for soil pulverization such as a rotary tiller and a power harrow which take advantage of using a power take-off of a tractor. Therefore, this study was conducted to compare the tilling performances of a rotary tiller and a power harrow applying after subsoiling. The results showed that both the rotary tiller and the power harrow had negative slip, indicating that they generated force to push a tractor. The rotary tiller created negative vertical force to lift up the tractor whereas opposite result was found when using the power harrow. Since working depths were different, vertical forces, torques and PTO powers for two equipment types were significantly different. However, no significant differences were found for the forward speeds, slips, drawbar pulls and drawbar powers. Comparative analysis showed that two equipment types had significant difference in PTO power to working depth, drawbar power to working depth, PTO power to working area, drawbar power to working area and soil pulverization.

Keywords: Rotary tiller, power harrow, drawbar pull, drawbar power, PTO power.

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Authors: Autcha Araveeporn

Abstract:

The Random Coefficient Dynamic Regression (RCDR) model is to developed from Random Coefficient Autoregressive (RCA) model and Autoregressive (AR) model. The RCDR model is considered by adding exogenous variables to RCA model. In this paper, the concept of the Maximum Likelihood (ML) method is used to estimate the parameter of RCDR(1,1) model. Simulation results have shown the AIC and BIC criterion to compare the performance of the the RCDR(1,1) model. The variables as the stationary and weakly stationary data are good estimates where the exogenous variables are weakly stationary. However, the model selection indicated that variables are nonstationarity data based on the stationary data of the exogenous variables.

Keywords: Autoregressive, Maximum Likelihood Method, Nonstationarity, Random Coefficient Dynamic Regression, Stationary.

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Authors: Tarasankar Pramanik, Sukumar Mondal, Madhumangal Pal

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In an interval graph G = (V,E) the distance between two vertices u, v is de£ned as the smallest number of edges in a path joining u and v. The eccentricity of a vertex v is the maximum among distances from all other vertices of V . The diameter (δ) and radius (ρ) of the graph G is respectively the maximum and minimum among all the eccentricities of G. The center of the graph G is the set C(G) of vertices with eccentricity ρ. In this context our aim is to establish the relation ρ = δ 2  for an interval graph and to determine the center of it.

Keywords: Interval graph, interval tree, radius, center.

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Authors: Seyed Hamid Mirmohammad Sadeghi, Raffaella Sesana, Daniela Maffiodo

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This study presents a procedure for friction calculation of column electric power steering (C-EPS) system which affects handling and comfort in driving. The friction losses estimation is obtained from experimental tests and mathematical calculation. Parts in C-EPS mainly involved in friction losses are bearings and worm gear. In the theoretical approach, the gear geometry and Hertz law were employed to measure the normal load and the sliding velocity and contact areas from the worm gears driving conditions. The viscous friction generated in the worm gear was obtained with a theoretical approach and the result was applied to model the friction in the steering system. Finally, by viscous friction coefficient and Coulomb friction coefficient, values of friction in worm gear were calculated. According to the Bearing Company and the characteristics of each bearing, the friction torques due to load and due to speed were calculated. A MATLAB Simulink model for calculating the friction in bearings and worm gear in C-EPS were done and the total friction value was estimated.

Keywords: Friction, worm gear, column electric power steering system, Simulink, bearing, electric power steering, EPS.

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Authors: Zhengnan Shi

Abstract:

In this paper, we consider the problem of Popular Matching of strictly ordered preference lists. A Popular Matching is not guaranteed to exist in any network. We propose an IDbased, constant space, self-stabilizing algorithm that converges to a Maximum Popular Matching an optimum solution, if one exist. We show that the algorithm stabilizes in O(n5) moves under any scheduler (daemon).

Keywords: self-stabilization, popular matching, algorithm, distributed computing, fault tolerance

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Authors: Kapil Kumar, M. G. Dastidar, T. R. Sreekrishnan

Abstract:

In the present study, an attempt was made to examine the potential of aerobic mixed culture for decolourization of Remazol Black B dye in batch reactors. The effect of pH, temperature, inoculum, initial concentration of dye and initial concentration of glucose was studied with an aim to determine the optimal conditions required for maximum decolourization and degradation. The culture exhibited maximum decolourization ability at pH between 7-8 and at 30°C. A 10% (v/v) inoculum and 1% (w/v) glucose concentration were found to be the optimum for decolourization. A maximum of 98% decolourization was observed at 25 ppm initial concentration of dye after 18 hours of incubation period. At higher dye concentration of 300 ppm, the removal in colour was found to be 75% in 48 hours of incubation period. The results show that the enriched mixed culture from activated sludge has good potential in removal of Remazol Black B dye from wastewater under aerobic conditions.

Keywords: Aerobic conditions, Decolourization, Mixed culture, Remazol Black B.

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Authors: Claudia Camargo, Enrique J. de la Vega, Jesús E. Olguín, Juan A. López, Sandra K. Enríquez

Abstract:

This study focuses on the application of sensory thermography, as a non-invasive method to evaluate the musculoskeletal injuries that industry workers performing Highly Repetitive Movements (HRM) may acquire. It was made at a wireless company having the target of analyze temperatures in worker’s wrists, elbows and shoulders in workstations during their activities, this thru sensorial thermography with the goal of detecting maximum temperatures (Tmax) that could indicate possible injuries. The tests were applied during 3 hours for only 2 workers that work in workstations where there’s been the highest index of injuries and accidents. We were made comparisons for each part of the body that were study for both because of the similitude between the activities of the workstations; they were requiring both an immediate evaluation. The Tmax was recorder during the test of the worker 2, in the left wrist, reaching a temperature of 35.088ºC and with a maximum increase of 1.856°C

Keywords: Highly Repetitive Movements (HRM), Maximum temperatures (Tmax), Worker.

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Authors: Avishai Sintov, Roland Menassa, Amir Shapiro

Abstract:

Industrial robotic arms utilize multiple end-effectors, each for a specific part and for a specific task. We propose a novel algorithm which will define a single end-effector’s configuration able to grasp a given set of objects with different geometries. The algorithm will have great benefit in production lines allowing a single robot to grasp various parts. Hence, reducing the number of endeffectors needed. Moreover, the algorithm will reduce end-effector design and manufacturing time and final product cost. The algorithm searches for a common grasp over the set of objects. The search algorithm maps all possible grasps for each object which satisfy a quality criterion and takes into account possible external wrenches (forces and torques) applied to the object. The mapped grasps are- represented by high-dimensional feature vectors which describes the shape of the gripper. We generate a database of all possible grasps for each object in the feature space. Then we use a search and classification algorithm for intersecting all possible grasps over all parts and finding a single common grasp suitable for all objects. We present simulations of planar and spatial objects to validate the feasibility of the approach.

Keywords: Common Grasping, Search Algorithm, Robotic End-Effector.

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Authors: A. Manivannan, R. T. Narendhirakannan

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The objective of this research was to investigate biodegradation of water hyacinth (Eichhornia crassipes) to produce bioethanol using dilute-acid pretreatment (1% sulfuric acid) results in high hemicellulose decomposition and using yeast (Pachysolen tannophilus) as bioethanol producing strain. A maximum ethanol yield of 1.14g/L with coefficient, 0.24g g^-1; productivity, 0.015g l^-1h^-1 was comparable to predicted value 32.05g/L obtained by Central Composite Design (CCD). Maximum ethanol yield coefficient was comparable to those obtained through enzymatic saccharification and fermentation of acid hydrolysate using fully equipped fermentor. Although maximum ethanol concentration was low in lab scale, the improvement of lignocellulosic ethanol yield is necessary for large scale production.

Keywords: Acid hydrolysis, Biodegradation, Hemicellulose, Pachysolen tannophilus, Water hyacinth.

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Authors: Ratanaporn Leesing, Ratanaporn Baojungharn

Abstract:

Microbial oil was produced by soil isolated oleaginous yeast YU5/2 in flask-batch fermentation. The yeast was identified by molecular genetics technique based on sequence analysis of the variable D1/D2 domain of the large subunit (26S) ribosomal DNA and it was identified as Torulaspora globosa. T. globosa YU5/2 supported maximum values of 0.520 g/L/d, 0.472 g lipid/g cells, 4.16 g/L, and 0.156 g/L/d for volumetric lipid production rate, and specific yield of lipid, lipid concentration, and specific rate of lipid production respectively, when culture was performed in nitrogen-limiting medium supplemented with 80g/L glucose. Among the carbon sources tested, maximum cell yield coefficient (YX/S, g/L), maximum specific yield of lipid (YP/X, g lipid/g cells) and volumetric lipid production rate (QP, g/L/d) were found of 0.728, 0.237, and 0.619, respectively, using sweet potato tubers hydrolysates as carbon source.

Keywords: Microbial oil, oleaginous yeast, Torulasporaglobosa YU5/2, sweet potato tubers, kinetic parameters.

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Authors: O. A. Apampa, Y. A. Jimoh, K. A. Olonade

Abstract:

The need to save time and cost of soil testing at the planning stage of road work has necessitated developing predictive models. This study proposes a model for predicting the dry density of lateritic soils stabilized with corn cob ash (CCA) and blended cement - CCA. Lateritic soil was first stabilized with CCA at 1.5, 3.0, 4.5 and 6% of the weight of soil and then stabilized with the same proportions as replacement for cement. Dry density, specific gravity, maximum degree of saturation and moisture content were determined for each stabilized soil specimen, following standard procedure. Polynomial equations containing alpha and beta parameters for CCA and blended CCA-cement were developed. Experimental values were correlated with the values predicted from the Matlab curve fitting tool, and the Solver function of Microsoft Excel 2010. The correlation coefficient (R2) of 0.86 was obtained indicating that the model could be accepted in predicting the maximum dry density of CCA stabilized soils to facilitate quick decision making in roadworks.

Keywords: Corn cob ash, lateritic soil, stabilization, maximum dry density, moisture content.

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