Search results for: vortex formation length
193 Pressure Relief in Prosthetic Sockets through Hole Implementation Using Different Materials
Authors: Gabi N. Nehme
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Below-knee amputees commonly experience asymmetrical gait patterns. It is generally believed that ischemia is related to the formation of pressure sores due to uneven distribution of forces. Micro-vascular responses can reveal local malnutrition. Changes in local skin blood supply under various external loading conditions have been studied for a number of years. Radionuclide clearance, photo-plethysmography, trans-cutaneous oxygen tension along with other studies showed that the blood supply would be influenced by the epidermal forces, and the rate and the amount of blood supply would decrease with increased epidermal loads being shear forces or normal forces. Several cases of socket designs were investigated using Finite Element Model (FEM) and Design of Experiment (DOE) to increase flexibility and minimize the pressure at the limb/socket interface using ultra high molecular weight polyethylene (UHMWPE) and polyamide 6 (PA6) or Duraform. The pressure reliefs at designated areas where reducing thickness is involved are seen to be critical in determination of amputees’ comfort and are very important to clinical applications. Implementing a hole between the Patellar Tendon (PT) and Distal Tibia (DT) would decrease stiffness and increase prosthesis range of motion where flexibility is needed. In addition, displacement and prosthetic energy storage increased without compromising mechanical efficiency and prosthetic design integrity.Keywords: Patellar tendon, distal tibia, prosthetic socket, relief areas, hole implementation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1797192 A Study on Architectural Characteristics of Traditional Iranian Ordinary Houses in Mashhad, Iran
Authors: Rana Daneshvar Salehi
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In many Iranian cities including Mashhad, the capital of Razavi Khorasan Province, ordinary samples of domestic architecture on a small scale is not considered as heritage. While the principals of house formation are respected in all traditional Iranian houses; from moderate to great ones. During the past decade, Mashhad has lost its identity, and has become a modern city. Identifying it as the capital of the Islamic Culture in 2017 by ISESCO and consequently looking for new developments and transfiguration caused to demolish a large number of traditional modest habitation. For this reason, the present paper aims to introduce the three undiscovered houses with the historical and monumental values located in the oldest neighborhoods of Mashhad which have been neglected in the cultural heritage field. The preliminary phase of this approach will be a measured survey to identify the significant characteristics of selected dwellings and understand the challenges through focusing on building form, orientation, room function, space proportion and ornamental elements’ details. A comparison between the case studies and the wealthy domestically buildings presents that a house belongs to inhabitants with an average income could introduce the same accurate, regular, harmonic and proportionate design which can be found in the great mansions. It reveals that an ordinary traditional house can be regarded as valuable construction not only for its historical characteristics but also for its aesthetical and architectural features that could avoid further destructions in the future.
Keywords: Traditional ordinary house, architectural characteristic, proportion, heritage.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 804191 An Energy Aware Data Aggregation in Wireless Sensor Network Using Connected Dominant Set
Authors: M. Santhalakshmi, P Suganthi
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Wireless Sensor Networks (WSNs) have many advantages. Their deployment is easier and faster than wired sensor networks or other wireless networks, as they do not need fixed infrastructure. Nodes are partitioned into many small groups named clusters to aggregate data through network organization. WSN clustering guarantees performance achievement of sensor nodes. Sensor nodes energy consumption is reduced by eliminating redundant energy use and balancing energy sensor nodes use over a network. The aim of such clustering protocols is to prolong network life. Low Energy Adaptive Clustering Hierarchy (LEACH) is a popular protocol in WSN. LEACH is a clustering protocol in which the random rotations of local cluster heads are utilized in order to distribute energy load among all sensor nodes in the network. This paper proposes Connected Dominant Set (CDS) based cluster formation. CDS aggregates data in a promising approach for reducing routing overhead since messages are transmitted only within virtual backbone by means of CDS and also data aggregating lowers the ratio of responding hosts to the hosts existing in virtual backbones. CDS tries to increase networks lifetime considering such parameters as sensors lifetime, remaining and consumption energies in order to have an almost optimal data aggregation within networks. Experimental results proved CDS outperformed LEACH regarding number of cluster formations, average packet loss rate, average end to end delay, life computation, and remaining energy computation.Keywords: Wireless sensor network, connected dominant set, clustering, data aggregation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1127190 Molecular Dynamics Simulation of the Effect of the Solid Gas Interface Nanolayer on Enhanced Thermal Conductivity of Copper-CO2 Nanofluid
Authors: Zeeshan Ahmed, Ajinkya Sarode, Pratik Basarkar, Atul Bhargav, Debjyoti Banerjee
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The use of CO2 in oil recovery and in CO2 capture and storage is gaining traction in recent years. These applications involve heat transfer between CO2 and the base fluid, and hence, there arises a need to improve the thermal conductivity of CO2 to increase the process efficiency and reduce cost. One way to improve the thermal conductivity is through nanoparticle addition in the base fluid. The nanofluid model in this study consisted of copper (Cu) nanoparticles in varying concentrations with CO2 as a base fluid. No experimental data are available on thermal conductivity of CO2 based nanofluid. Molecular dynamics (MD) simulations are an increasingly adopted tool to perform preliminary assessments of nanoparticle (NP) fluid interactions. In this study, the effect of the formation of a nanolayer (or molecular layering) at the gas-solid interface on thermal conductivity is investigated using equilibrium MD simulations by varying NP diameter and keeping the volume fraction (1.413%) of nanofluid constant to check the diameter effect of NP on the nanolayer and thermal conductivity. A dense semi-solid fluid layer was seen to be formed at the NP-gas interface, and the thickness increases with increase in particle diameter, which also moves with the NP Brownian motion. Density distribution has been done to see the effect of nanolayer, and its thickness around the NP. These findings are extremely beneficial, especially to industries employed in oil recovery as increased thermal conductivity of CO2 will lead to enhanced oil recovery and thermal energy storage.
Keywords: Copper-CO2 nanofluid, molecular interfacial layer, thermal conductivity, molecular dynamic simulation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1108189 Modern Day Second Generation Military Filipino Amerasians and Ghosts of the U.S. Military Prostitution System in West Central Luzon’s ‘AMO Amerasian Triangle’
Authors: P. C. Kutschera, Elena C. Tesoro, Mary Grace Talamera-Sandico, Jose Maria G. Pelayo III
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Second generation military Filipino Amerasians comprise a formidable contemporary segment of the estimated 250,000-plus biracial Amerasians in the Philippines today. Overall, they are a stigmatized and socioeconomically marginalized diaspora; historically, they were abandoned or estranged by U.S. military personnel fathers assigned during the century-long Colonial, Post- World War II and Cold War Era of permanent military basing (1898- 1992). Indeed, U.S. military personnel are assigned in smaller numbers in the Philippines today. This inquiry is an outgrowth of two recent small sample studies. The first surfaced the impact of the U.S. military prostitution system on formation of the ‘Derivative Amerasian Family Construct’ on first generation Amerasians; a second, qualitative case study suggested the continued effect of the prostitution systems' destructive impetuous on second generation Amerasians. The intent of this current qualitative, multiple-case study was to actively seek out second generation sex industry toilers. The purpose was to focus further on this human phenomenon in the postbasing and post-military prostitution system eras. As background, the former military prostitution apparatus has transformed into a modern dynamic of rampant sex tourism and prostitution nationwide. This is characterized by hotel and resorts offering unrestricted carnal access, urban and provincial brothels (casas), discos, bars and pickup clubs, massage parlors, local barrio karaoke bars and street prostitution. A small case study sample (N = 4) of female and male second generation Amerasians were selected. Sample formation employed a non-probability ‘snowball’ technique drawing respondents from the notorious Angeles, Metro Manila, Olongapo City ‘AMO Amerasian Triangle’ where most former U.S. military installations were sited and modern sex tourism thrives. A six-month study and analysis of in-depth interviews of female and male sex laborers, their families and peers revealed a litany of disturbing, and troublesome experiences. Results showed profiles of debilitating human poverty, history of family disorganization, stigmatization, social marginalization and the ghost of the military prostitution system and its harmful legacy on Amerasian family units. Emerging were testimonials of wayward young people ensnared in a maelstrom of deep economic deprivation, familial dysfunction, psychological desperation and societal indifference. The paper recommends that more study is needed and implications of unstudied psychosocial and socioeconomic experiences of distressed younger generations of military Amerasians require specific research. Heretofore apathetic or disengaged U.S. institutions need to confront the issue and formulate activist and solution-oriented social welfare, human services and immigration easement policies and alternatives. These institutions specifically include academic and social science research agencies, corporate foundations, the U.S. Congress, and Departments of State, Defense and Health and Human Services, and Homeland Security (i.e. Citizen and Immigration Services) It is them who continue to endorse a laissez-faire policy of non-involvement over the entire Filipino Amerasian question. Such apathy, the paper concludes, relegates this consequential but neglected blood progeny to the status of humiliating destitution and exploitation. Amerasians; thus, remain entrapped in their former colonial, and neo-colonial habitat. Ironically, they are unwitting victims of a U.S. American homeland that fancies itself geo-politically as a strong and strategic military treaty ally of the Philippines in the Western Pacific.Keywords: Asian Americans, Filipino Amerasians, diaspora, military prostitution, stigmatization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2553188 War Heritage: Different Perceptions of the Dominant Discourse among Visitors to the "Adem Jashari" Memorial Complex in Prekaz, Kosovo
Authors: Zana Llonçari Osmani, Nita Llonçari
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The paper delves into the significance of the Prekaz Memorial in Kosovo's national identity formation, particularly regarding the traumatic events of the 1998-99 War. The spatial layout and architectural features of the Memorial are analysed, focusing on its role as a place of remembrance and hope. Through qualitative surveys and critical discourse analysis, the essay explores visitor perceptions of the Memorial's narrative and design elements. Factors such as geographical, emotional, and temporal proximity to the war influence visitors' interpretations, with varying degrees of emphasis on loss, sacrifice, and patriotism. It highlights the Memorial's ability to evoke emotions of pride and sadness among visitors, underscoring the power of authentic artefacts in shaping collective memory. However, the paper also criticizes the Memorial's dominant discourse and advocates for a more inclusive approach to memorialization, one that acknowledges all facets of history and ensures that no story is left untold or forgotten. Despite its success in solidifying its place in society, the essay calls for the Memorial's evolution towards a more comprehensive and dynamic dialogue to resonate with future generations. The essay stresses the importance of memorialization efforts in honouring the past, fostering healing, and promoting inclusive dialogue. It argues for a broader narrative scope that encompasses diverse perspectives, thus ensuring the vitality and relevance of historical memory for generations to come.
Keywords: Critical discourse analysis, memorialisation, national discourse, public rhetoric, war tourism.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 61187 Torsion Behavior of Steel Fibered High Strength Self Compacting Concrete Beams Reinforced by GFRB Bars
Authors: Khaled S. Ragab, Ahmed S. Eisa
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This paper investigates experimentally and analytically the torsion behavior of steel fibered high strength self compacting concrete beams reinforced by GFRP bars. Steel fibered high strength self compacting concrete (SFHSSCC) and GFRP bars became in the recent decades a very important materials in the structural engineering field. The use of GFRP bars to replace steel bars has emerged as one of the many techniques put forward to enhance the corrosion resistance of reinforced concrete structures. High strength concrete and GFRP bars attract designers and architects as it allows improving the durability as well as the esthetics of a construction. One of the trends in SFHSSCC structures is to provide their ductile behavior and additional goal is to limit development and propagation of macro-cracks in the body of SFHSSCC elements. SFHSSCC and GFRP bars are tough, improve the workability, enhance the corrosion resistance of reinforced concrete structures, and demonstrate high residual strengths after appearance of the first crack. Experimental studies were carried out to select effective fiber contents. Three types of volume fraction from hooked shape steel fibers are used in this study, the hooked steel fibers were evaluated in volume fractions ranging between 0.0%, 0.75% and 1.5%. The beams shape is chosen to create the required forces (i.e. torsion and bending moments simultaneously) on the test zone. A total of seven beams were tested, classified into three groups. All beams, have 200cm length, cross section of 10×20cm, longitudinal bottom reinforcement of 3
Keywords: Self compacting concrete, torsion behavior, steel fiber, steel fiber reinforced high strength self compacting concrete (SFRHSCC), GFRP bars.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3360186 Influence of Drought on Yield and Yield Components in White Bean
Authors: Gholamreza Habibi
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In order to study seed yield and seed yield components in bean under reduced irrigation condition and assessment drought tolerance of genotypes, 15 lines of White beans were evaluated in two separate RCB design with 3 replications under stress and non stress conditions. Analysis of variance showed that there were significant differences among varieties in terms of traits under study, indicating the existence of genetic variation among varieties. The results indicate that drought stress reduced seed yield, number of seed per plant, biological yield and number of pod in White been. In non stress condition, yield was highly correlated with the biological yield, whereas in stress condition it was highly correlated with harvest index. Results of stepwise regression showed that, selection can we done based on, biological yield, harvest index, number of seed per pod, seed length, 100 seed weight. Result of path analysis showed that the highest direct effect, being positive, was related to biological yield in non stress and to harvest index in stress conditions. Factor analysis were accomplished in stress and nonstress condition a, there were 4 factors that explained more than 76 percent of total variations. We used several selection indices such as Stress Susceptibility Index ( SSI ), Geometric Mean Productivity ( GMP ), Mean Productivity ( MP ), Stress Tolerance Index ( STI ) and Tolerance Index ( TOL ) to study drought tolerance of genotypes, we found that the best Stress Index for selection tolerance genotypes were STI, GMP and MP were the greatest correlations between these Indices and seed yield under stress and non stress conditions. In classification of genotypes base on phenotypic characteristics, using cluster analysis ( UPGMA ), all allels classified in 5 separate groups in stress and non stress conditions.Keywords: Cluster analysis, factor analysis, path analysis, selection index, White bean
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2138185 ZnS and Graphene Quantum Dots Nanocomposite as Potential Electron Acceptor for Photovoltaics
Authors: S. M. Giripunje, Shikha Jindal
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Zinc sulphide (ZnS) quantum dots (QDs) were synthesized successfully via simple sonochemical method. X-ray diffraction (XRD), scanning electron microscopy (SEM) and high resolution transmission electron microscopy (HRTEM) analysis revealed the average size of QDs of the order of 3.7 nm. The band gap of the QDs was tuned to 5.2 eV by optimizing the synthesis parameters. UV-Vis absorption spectra of ZnS QD confirm the quantum confinement effect. Fourier transform infrared (FTIR) analysis confirmed the formation of single phase ZnS QDs. To fabricate the diode, blend of ZnS QDs and P3HT was prepared and the heterojunction of PEDOT:PSS and the blend was formed by spin coating on indium tin oxide (ITO) coated glass substrate. The diode behaviour of the heterojunction was analysed, wherein the ideality factor was found to be 2.53 with turn on voltage 0.75 V and the barrier height was found to be 1.429 eV. ZnS-Graphene QDs nanocomposite was characterised for the surface morphological study. It was found that the synthesized ZnS QDs appear as quasi spherical particles on the graphene sheets. The average particle size of ZnS-graphene nanocomposite QDs was found to be 8.4 nm. From voltage-current characteristics of ZnS-graphene nanocomposites, it is observed that the conductivity of the composite increases by 104 times the conductivity of ZnS QDs. Thus the addition of graphene QDs in ZnS QDs enhances the mobility of the charge carriers in the composite material. Thus, the graphene QDs, with high specific area for a large interface, high mobility and tunable band gap, show a great potential as an electron-acceptors in photovoltaic devices.
Keywords: Graphene, mobility, nanocomposites, photovoltaics, quantum dots, zinc sulphide.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1403184 A Process of Forming a Single Competitive Factor in the Digital Camera Industry
Authors: Kiyohiro Yamazaki
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This paper considers a forming process of a single competitive factor in the digital camera industry from the viewpoint of product platform. To make product development easier for companies and to increase product introduction ratios, development efforts concentrate on improving and strengthening certain product attributes, and it is born in the process that the product platform is formed continuously. It is pointed out that the formation of this product platform raises product development efficiency of individual companies, but on the other hand, it has a trade-off relationship of causing unification of competitive factors in the whole industry. This research tries to analyze product specification data which were collected from the web page of digital camera companies. Specifically, this research collected all product specification data released in Japan from 1995 to 2003 and analyzed the composition of image sensor and optical lens; and it identified product platforms shared by multiple products and discussed their application. As a result, this research found that the product platformation was born in the development of the standard product for major market segmentation. Every major company has made product platforms of image sensors and optical lenses, and as a result, this research found that the competitive factors were unified in the entire industry throughout product platformation. In other words, this product platformation brought product development efficiency of individual firms; however, it also caused industrial competition factors to be unified in the industry.
Keywords: Digital camera industry, product evolution trajectory, product platform, unification of competitive factors.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 651183 Collapse Load Analysis of Reinforced Concrete Pile Group in Liquefying Soils under Lateral Loading
Authors: Pavan K. Emani, Shashank Kothari, V. S. Phanikanth
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The ultimate load analysis of RC pile groups has assumed a lot of significance under liquefying soil conditions, especially due to post-earthquake studies of 1964 Niigata, 1995 Kobe and 2001 Bhuj earthquakes. The present study reports the results of numerical simulations on pile groups subjected to monotonically increasing lateral loads under design amounts of pile axial loading. The soil liquefaction has been considered through the non-linear p-y relationship of the soil springs, which can vary along the depth/length of the pile. This variation again is related to the liquefaction potential of the site and the magnitude of the seismic shaking. As the piles in the group can reach their extreme deflections and rotations during increased amounts of lateral loading, a precise modeling of the inelastic behavior of the pile cross-section is done, considering the complete stress-strain behavior of concrete, with and without confinement, and reinforcing steel, including the strain-hardening portion. The possibility of the inelastic buckling of the individual piles is considered in the overall collapse modes. The model is analysed using Riks analysis in finite element software to check the post buckling behavior and plastic collapse of piles. The results confirm the kinds of failure modes predicted by centrifuge test results reported by researchers on pile group, although the pile material used is significantly different from that of the simulation model. The extension of the present work promises an important contribution to the design codes for pile groups in liquefying soils.Keywords: Collapse load analysis, inelastic buckling, liquefaction, pile group.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 902182 Silver Modified TiO2/Halloysite Thin Films for Decontamination of Target Pollutants
Authors: Dionisios Panagiotaras, Elias Stathatos, Dimitrios Papoulis
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Sol-gel method has been used to fabricate nanocomposite films on glass substrates composed halloysite clay mineral and nanocrystalline TiO2. The methodology for the synthesis involves a simple chemistry method utilized nonionic surfactant molecule as pore directing agent along with the acetic acid-based solgel route with the absence of water molecules. The thermal treatment of composite films at 450oC ensures elimination of organic material and lead to the formation of TiO2 nanoparticles onto the surface of the halloysite nanotubes. Microscopy techniques and porosimetry methods used in order to delineate the structural characteristics of the materials. The nanocomposite films produced have no cracks and active anatase crystal phase with small crystallite size were deposited on halloysite nanotubes. The photocatalytic properties for the new materials were examined for the decomposition of the Basic Blue 41 azo dye in solution. These, nanotechnology based composite films show high efficiency for dye’s discoloration in spite of different halloysite quantities and small amount of halloysite/TiO2 catalyst immobilized onto glass substrates. Moreover, we examined the modification of the halloysite/TiO2 films with silver particles in order to improve the photocatalytic properties of the films. Indeed, the presence of silver nanoparticles enhances the discoloration rate of the Basic Blue 41 compared to the efficiencies obtained for unmodified films.
Keywords: Clay mineral, nanotubular Halloysite, Photocatalysis, Titanium Dioxide, Silver modification.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2528181 Positive Energy Districts in the Swedish Energy System
Authors: Vartan Ahrens Kayayan, Mattias Gustafsson, Erik Dotzauer
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The European Union is introducing the positive energy district concept, which has the goal to reduce overall carbon dioxide emissions. The Swedish energy system is unique compared to others in Europe, due to the implementation of low-carbon electricity and heat energy sources and high uptake of district heating. The goal for this paper is to start the discussion about how the concept of positive energy districts can best be applied to the Swedish context and meet their mitigation goals. To explore how these differences impact the formation of positive energy districts, two cases were analyzed for their methods and how these integrate into the Swedish energy system: a district in Uppsala with a focus on energy and another in Helsingborg with a focus on climate. The case in Uppsala uses primary energy calculations which can be criticized but take a virtual border that allows for its surrounding system to be considered. The district in Helsingborg has a complex methodology for considering the life cycle emissions of the neighborhood. It is successful in considering the energy balance on a monthly basis, but it can be problematized in terms of creating sub-optimized systems due to setting tight geographical constraints. The discussion of shaping the definitions and methodologies for positive energy districts is taking place in Europe and Sweden. We identify three pitfalls that must be avoided so that positive energy districts meet their mitigation goals in the Swedish context. The goal of pushing out fossil fuels is not relevant in the current energy system, the mismatch between summer electricity production and winter energy demands should be addressed, and further implementations should consider collaboration with the established district heating grid.
Keywords: Positive energy districts, energy system, renewable energy, European Union.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 72180 Application of Rapidly Exploring Random Tree Star-Smart and G2 Quintic Pythagorean Hodograph Curves to the UAV Path Planning Problem
Authors: Luiz G. Véras, Felipe L. Medeiros, Lamartine F. Guimarães
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This work approaches the automatic planning of paths for Unmanned Aerial Vehicles (UAVs) through the application of the Rapidly Exploring Random Tree Star-Smart (RRT*-Smart) algorithm. RRT*-Smart is a sampling process of positions of a navigation environment through a tree-type graph. The algorithm consists of randomly expanding a tree from an initial position (root node) until one of its branches reaches the final position of the path to be planned. The algorithm ensures the planning of the shortest path, considering the number of iterations tending to infinity. When a new node is inserted into the tree, each neighbor node of the new node is connected to it, if and only if the extension of the path between the root node and that neighbor node, with this new connection, is less than the current extension of the path between those two nodes. RRT*-smart uses an intelligent sampling strategy to plan less extensive routes by spending a smaller number of iterations. This strategy is based on the creation of samples/nodes near to the convex vertices of the navigation environment obstacles. The planned paths are smoothed through the application of the method called quintic pythagorean hodograph curves. The smoothing process converts a route into a dynamically-viable one based on the kinematic constraints of the vehicle. This smoothing method models the hodograph components of a curve with polynomials that obey the Pythagorean Theorem. Its advantage is that the obtained structure allows computation of the curve length in an exact way, without the need for quadratural techniques for the resolution of integrals.Keywords: Path planning, path smoothing, Pythagorean hodograph curve, RRT*-Smart.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 897179 Morphological and Electrical Characterization of Polyacrylonitrile Nanofibers Synthesized Using Electrospinning Method for Electrical Application
Authors: Divyanka Sontakke, Arpit Thakre, D. K Shinde, Sujata Parmeshwaran
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Electrospinning is the most widely utilized method to create nanofibers because of the direct setup, the capacity to mass-deliver consistent nanofibers from different polymers, and the ability to produce ultrathin fibers with controllable diameters. Smooth and much arranged ultrafine Polyacrylonitrile (PAN) nanofibers with diameters going from submicron to nanometer were delivered utilizing Electrospinning technique. PAN powder was used as a precursor to prepare the solution utilized as a part of this process. At the point when the electrostatic repulsion contradicted surface tension, a charged stream of polymer solution was shot out from the head of the spinneret and along these lines ultrathin nonwoven fibers were created. The effect of electrospinning parameter such as applied voltage, feed rate, concentration of polymer solution and tip to collector distance on the morphology of electrospun PAN nanofibers were investigated. The nanofibers were heat treated for carbonization to examine the changes in properties and composition to make for electrical application. Scanning Electron Microscopy (SEM) was performed before and after carbonization to study electrical conductivity and morphological characterization. The SEM images have shown the uniform fiber diameter and no beads formation. The average diameter of the PAN fiber observed 365nm and 280nm for flat plat and rotating drum collector respectively. The four probe strategy was utilized to inspect the electrical conductivity of the nanofibers and the electrical conductivity is significantly improved with increase in oxidation temperature exposed.
Keywords: Electrospinning, polyacrylonitrile carbon nanofibres, heat treatment, electrical conductivity.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 686178 Development of Nondestructive Imaging Analysis Method Using Muonic X-Ray with a Double-Sided Silicon Strip Detector
Authors: I-Huan Chiu, Kazuhiko Ninomiya, Shin’ichiro Takeda, Meito Kajino, Miho Katsuragawa, Shunsaku Nagasawa, Atsushi Shinohara, Tadayuki Takahashi, Ryota Tomaru, Shin Watanabe, Goro Yabu
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In recent years, a nondestructive elemental analysis method based on muonic X-ray measurements has been developed and applied for various samples. Muonic X-rays are emitted after the formation of a muonic atom, which occurs when a negatively charged muon is captured in a muon atomic orbit around the nucleus. Because muonic X-rays have a higher energy than electronic X-rays due to the muon mass, they can be measured without being absorbed by a material. Thus, estimating the two-dimensional (2D) elemental distribution of a sample became possible using an X-ray imaging detector. In this work, we report a non-destructive imaging experiment using muonic X-rays at Japan Proton Accelerator Research Complex. The irradiated target consisted of a polypropylene material, and a double-sided silicon strip detector, which was developed as an imaging detector for astronomical obervation, was employed. A peak corresponding to muonic X-rays from the carbon atoms in the target was clearly observed in the energy spectrum at an energy of 14 keV, and 2D visualizations were successfully reconstructed to reveal the projection image from the target. This result demonstrates the potential of the nondestructive elemental imaging method that is based on muonic X-ray measurement. To obtain a higher position resolution for imaging a smaller target, a new detector system will be developed to improve the statistical analysis in further research.
Keywords: DSSD, muon, muonic X-ray, imaging, non-destructive analysis
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1255177 Adapting Cities Name with ICT and Countries Interested in the Smart City
Authors: Qasim Hamakhurshid Hamamurad, Normal Mat Jusoh, Uznir Ujang
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The concept of the city with an infrastructure of Information and Communication Technology (ICT) embraces several definitions depending on the meanings of the word "smart" which include: intelligent city, smart city, knowledge city, ubiquitous city, sustainable city, and digital city. Many definitions of the city exist, but this study explores which one has been universally acknowledged. From the literature analysis, it emerges that the term smart city is the most used in the articles to show the smartness of a city. This paper shares exploration of the research from the seven main website digital databases and journals focusing on the smart city from January 2015 to February 2020 to: (a) Time research, to examine the causes of the smart city phenomenon and other concept literature in the last five years; (b) Review of words, to see how and where the smart city specification and relation of different definitions are implemented; (c) Geographical research to consider where smart cities' greatest concentrations are in the world and determine if Malaysians are interacting with the smart city; and (d) How many papers are published in all of Malaysia from 2015 to 2020 about smart cities. Three steps are followed to accomplish the aim of this study: (1) The analysis which covered a systematic literature review search strategy to gather a representative sub-set of papers on the smart city and other definitions utilizing GoogleScholar, Elsevier, Scopus, ScienceDirect, IEEEXplore, WebofScience, and Springer between January 2015-February 2020; (2) The formation of a bibliometric map based on the bibliometric evaluation using the mapping technique VOSviewer to visualize differences; (3) VOSviewer application program to build initial clusters. The bibliometric analytical findings targeted the word harmony.
Keywords: Bibliometric research, smart city, ICT, VOSviewer, urban modernization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1066176 Marital Duration and Sexual Frequency among the Muslim and Santal Couples in Rural Bangladesh: A Cross-Cultural Perspective
Authors: Md. Emaj Uddin
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Age and sex are biological terms that are socioculturally constructed for marriage and marital sexual behavior in every society. Marriage is a universal norm that makes legitimate sexual behavior between a man and a woman in marital life cycle to gain bio-social purposes. Cross-cultural studies reveal that marital sexual frequency as a part of marital sexual behavior not only varies within the couple-s life cycle, but also varies between and among couples in diverse cultures. The purpose of the study was to compare marital sexual frequency in association with age status and length of marital relationship between Muslim and Santal couples in rural Bangladesh. For this we assumed that (1) Santal culture compared to Muslim culture preferred earlier age at marriage for meeting marital sexual purposes in rural Bangladesh; (2) Marital duration among the Muslim couples was higher than that among the Santal couples; (3) Sexual frequency among the younger couples in both the ethnic communities was higher than the older couples; (4) Sexual frequency across the Muslim couples- marital life cycle was higher than that the Santal couples- marital life cycle. In so doing, 288 active couples (145 for Muslim and 143 for Santal) selected by cluster random sampling were interviewed with questionnaire method. The findings of Independent Samples T Test on age at marriage, current age, marital duration and sexual frequency independently reveal that there were significant differences in sexual frequency not only across the couples- life cycle but also vary between the Muslim and Santal couples in relation to marital duration. The results of Pearson-s Inter- Correlation Coefficients reveal that although age at marriage, current age and marital duration for husband and wife were significantly positive correlated with each other between the communities, there were significantly negative correlation between the age at marriage, current age, marital duration and sexual frequency among the selected couples between the communities.Keywords: Bangladesh, Cross-Cultural Perspective, MaritalDuration, Muslim, Santal, Marital Sexual Frequency.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 4158175 Application of Interferometric Techniques for Quality Control of Oils Used in the Food Industry
Authors: Andres Piña, Amy Meléndez, Pablo Cano, Tomas Cahuich
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The purpose of this project is to propose a quick and environmentally friendly alternative to measure the quality of oils used in food industry. There is evidence that repeated and indiscriminate use of oils in food processing cause physicochemical changes with formation of potentially toxic compounds that can affect the health of consumers and cause organoleptic changes. In order to assess the quality of oils, non-destructive optical techniques such as Interferometry offer a rapid alternative to the use of reagents, using only the interaction of light on the oil. Through this project, we used interferograms of samples of oil placed under different heating conditions to establish the changes in their quality. These interferograms were obtained by means of a Mach-Zehnder Interferometer using a beam of light from a HeNe laser of 10mW at 632.8nm. Each interferogram was captured, analyzed and measured full width at half-maximum (FWHM) using the software from Amcap and ImageJ. The total of FWHMs was organized in three groups. It was observed that the average obtained from each of the FWHMs of group A shows a behavior that is almost linear, therefore it is probable that the exposure time is not relevant when the oil is kept under constant temperature. Group B exhibits a slight exponential model when temperature raises between 373 K and 393 K. Results of the t-Student show a probability of 95% (0.05) of the existence of variation in the molecular composition of both samples. Furthermore, we found a correlation between the Iodine Indexes (Physicochemical Analysis) and the Interferograms (Optical Analysis) of group C. Based on these results, this project highlights the importance of the quality of the oils used in food industry and shows how Interferometry can be a useful tool for this purpose.Keywords: Food industry, interferometric, oils, quality control.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2179174 Cumulative Learning based on Dynamic Clustering of Hierarchical Production Rules(HPRs)
Authors: Kamal K.Bharadwaj, Rekha Kandwal
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An important structuring mechanism for knowledge bases is building clusters based on the content of their knowledge objects. The objects are clustered based on the principle of maximizing the intraclass similarity and minimizing the interclass similarity. Clustering can also facilitate taxonomy formation, that is, the organization of observations into a hierarchy of classes that group similar events together. Hierarchical representation allows us to easily manage the complexity of knowledge, to view the knowledge at different levels of details, and to focus our attention on the interesting aspects only. One of such efficient and easy to understand systems is Hierarchical Production rule (HPRs) system. A HPR, a standard production rule augmented with generality and specificity information, is of the following form Decision If < condition> Generality
Keywords: Cumulative learning, clustering, data mining, hierarchical production rules.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1437173 Minimization of Non-Productive Time during 2.5D Milling
Authors: Satish Kumar, Arun Kumar Gupta, Pankaj Chandna
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In the modern manufacturing systems, the use of thermal cutting techniques using oxyfuel, plasma and laser have become indispensable for the shape forming of high quality complex components; however, the conventional chip removal production techniques still have its widespread space in the manufacturing industry. Both these types of machining operations require the positioning of end effector tool at the edge where the cutting process commences. This repositioning of the cutting tool in every machining operation is repeated several times and is termed as non-productive time or airtime motion. Minimization of this non-productive machining time plays an important role in mass production with high speed machining. As, the tool moves from one region to the other by rapid movement and visits a meticulous region once in the whole operation, hence the non-productive time can be minimized by synchronizing the tool movements. In this work, this problem is being formulated as a general travelling salesman problem (TSP) and a genetic algorithm approach has been applied to solve the same. For improving the efficiency of the algorithm, the GA has been hybridized with a noble special heuristic and simulating annealing (SA). In the present work a novel heuristic in the combination of GA has been developed for synchronization of toolpath movements during repositioning of the tool. A comparative analysis of new Meta heuristic techniques with simple genetic algorithm has been performed. The proposed metaheuristic approach shows better performance than simple genetic algorithm for minimization of nonproductive toolpath length. Also, the results obtained with the help of hybrid simulated annealing genetic algorithm (HSAGA) are also found better than the results using simple genetic algorithm only.
Keywords: Non-productive time, Airtime, 2.5 D milling, Laser cutting, Metaheuristic, Genetic Algorithm, Simulated Annealing.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2736172 A Look at the History of Calligraphy in Decoration of Mosques in Iran: 630-1630 AD
Authors: Cengiz Tavşan, Niloufar Akbarzadeh
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Architecture in Iran has a continuous history from at least 5000 BC to the present, and numerous Iranian pre-Islamic elements have contributed significantly to the formation of Islamic art. At first, decoration was limited to small objects and containers and then progressed in the art of plaster and brickwork. They later applied in architecture as well. The art of gypsum and brickwork, which was prevalent in the form of motifs (animals and plants) in pre-Islam, was used in the aftermath of Islam with the art of calligraphy in decorations. The splendor and beauty of Iranian architecture, especially during the Islamic era, are related to decoration and design. After the invasion of Iran by the Arabs and the introduction of Islam to Iran, the arrival of the Iranian classical architecture significantly changed, and we saw the Arabic calligraphy decoration of the mosques in Iran. The principles of aesthetics in the art of calligraphy in Iran are based precisely on the principles of the beauty of ancient Iranian and Islamic art. On the other hand, after Islam, calligraphy was one of the most important sources of Islamic art in Islam and one of the important features of Islamic culture. First, the calligraphy had no cultural meaning and was only for decoration and beautification, it had the same meaning only in the inscriptions; however, over time, it became meaningful. This article provides a summary of the history of calligraphy in the mosques (from the entrance to Islam until the Safavid period), which cannot ignore the role of the calligraphy in their decorative ideas; and also, the important role that decorative elements play in creating a public space in terms of social and aesthetic performance. This study was conducted using library studies and field studies. The purpose of this study is to show the characteristics of architecture and art of decorations in Iran, especially in the mosque's architecture, which reaches the pinnacle of progress. We will see that religious beliefs and artistic practices are merging and trying to bring a single concept.Keywords: Islamic art, Islamic architecture, decorations in Iranian mosques, calligraphy.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2190171 Influence of Thermal Cycle on Temperature Dependent Process Parameters Involved in GTA Welded High Carbon Steel Joints
Authors: J. Dutta, Narendranath S.
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In this research article a comprehensive investigation has been carried out to determine the effect of thermal cycle on temperature dependent process parameters developed during gas tungsten arc (GTA) welding of high carbon (AISI 1090) steel butt joints. An experiment based thermal analysis has been performed to obtain the thermal history. We have focused on different thermophysical properties such as thermal conductivity, heat transfer coefficient and cooling rate. Angular torch model has been utilized to find out the surface heat flux and its variation along the fusion zone as well as along the longitudinal direction from fusion boundary. After welding and formation of weld pool, heat transfer coefficient varies rapidly in the vicinity of molten weld bead and heat affected zone. To evaluate the heat transfer coefficient near the fusion line and near the rear end of the plate (low temperature region), established correlation has been implemented and has been compared with empirical correlation which is noted as coupled convective and radiation heat transfer coefficient. Change in thermal conductivity has been visualized by analytical model of moving point heat source. Rate of cooling has been estimated by using 2-dimensional mathematical expression of cooling rate and it has shown good agreement with experimental temperature cycle. Thermophysical properties have been varied randomly within 0 -10s time span.
Keywords: Thermal history, Gas tungsten arc welding, Butt joint, High carbon steel.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2767170 Influence of Yeast Strains on Microbiological Stability of Wheat Bread
Authors: E. Soboleva, E. Sergachyova, S. G. Davydenko, T. V. Meledina
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Problem of food preservation is extremely important for mankind. Viscous damage ("illness") of bread results from development of Bacillus spp. bacteria. High temperature resistant spores of this microorganism are steady against 120°C) and remain in bread during pastries, potentially causing spoilage of the final product. Scientists are interested in further characterization of bread spoiling Bacillus spp. species. Our aim was to find weather yeast Saccharomyces cerevisiae strains that are able to produce natural antimicrobial killer factor can preserve bread illness. By diffusion method, we showed yeast antagonistic activity against spore-forming bacteria. Experimental technological parameters were the same as for bakers' yeasts production on the industrial scale. Risograph test during dough fermentation demonstrated gas production. The major finding of the study was a clear indication of the presence of killer yeast strain antagonistic activity against rope in bread causing bacteria. After demonstrating antagonistic effect of S. cerevisiae on bacteria using solid nutrient medium, we tested baked bread under provocative conditions. We also measured formation of carbon dioxide in the dough, dough-making duration and quality of the final products, when using different strains of S. cerevisiae. It is determined that the use of yeast S. cerevisiae RCAM 01730 killer strain inhibits appearance of rope in bread. Thus, natural yeast antimicrobial killer toxin, produced by some S. cerevisiae strains is an anti-rope in bread protector.Keywords: Bakers' yeasts, rope in bread, Saccharomyces cerevisiae.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1882169 The Effect of Stone Column (Nailing and Geogrid) on Stability of Expansive Clay
Authors: Komeil Valipourian, Mohsen Ramezan Shirazi, Orod Zarrin Kafsh
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By enhancing the applicatıon of grounds for establishment and due to the lack of appropriate sites, engineers attempt to seek out a new method to reduce the weakness of soils. İn aspect of economic situation, various ways have been used to decrease the weak grounds. Because of the rapid development of infrastructural facilities, spreading the construction operation is an obligation. Furthermore, in various sites with the really bad soil situation, engineers have considered obvious problems. One of the most essential ways for developing the weak soils is stone column. Obviously, the method was introduced in France in 1830 to improve a native soil initially. Stone columns have an expanding range of usage in different rough foundation sites all over the world to increase the bearing capacity, to reduce the whole and differential settlements, to enhance the rate of consolidation, to stabilize slopes stability of embankments and to increase the liquefaction resistance as well. A recent procedure called installing vertical nails along the round stone columns in order to make better the performance of considered columns is offered. Moreover, thanks to the enhancing the nail diameter, number and embedment nail depth, the positive points of vertical circumferential nails increases. Based on the result of this study, load caring capacity will be develop with enhancing the length and the power of reinforcements in vertical encasement stone column (CESC). In this study, the main purpose is comparing two methods of stone columns (installed a nail surrounding the stone columns and using geogrid on clay) for enhancing the bearing capacity, decreasing the whole and various settlements.Keywords: Bearing Capacity, Clay, Geogrid, Nailing, Settlements, Stone Column.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2863168 Combination of Tensile Strength and Elongation of Reverse Rolled TaNbHfZrTi Refractory High Entropy Alloy
Authors: M. Veerasham
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The refractory high entropy alloys are potential materials for high-temperature applications because of their ability to retain high strength up to 1600°C. However, their practical applications were limited due to poor elongation at room temperature. Therefore, decreasing the average valence electron concentrations (VEC) is an effective design strategy to improve the intrinsic ductility of refractory high entropy alloys. In this work, the high-entropy alloy TaNbHfZrTi was processed at room temperature by each step reverse rolling up to a 90% reduction in thickness. Subsequently, the reverse rolled 90% samples were utilized for annealing treatment at 800°C and 1000°C for 1 h to understand phase stability, microstructure, texture, and mechanical properties. The reverse rolled 90% condition contains body-centered cubic (BCC) single-phase; upon annealing at 800 °C, the formation of secondary phase BCC-2 prevailed. The partial recrystallization and complete recrystallization microstructures were developed for annealed at 800°C and 1000°C, respectively. The reverse rolled condition and 1000°C annealed temperature exhibit extraordinary room temperature tensile properties with high ultimate tensile strength (UTS) without compromising loss of ductility called “strength-ductility” trade-off. The reverse-rolled 90% and annealing treatment carried out at temperature about 1000°C for 1 h consist of UTS 1430 MPa and 1556 MPa with an appreciable amount of 21% and 20% elongation, respectively. The development of hierarchical microstructure prevailed for the annealed 1000°C which led to the simultaneous increase in tensile strength and elongation.
Keywords: refractory high entropy alloys, reverse rolling, recrystallization, microstructure, tensile properties
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 543167 Air Dispersion Model for Prediction Fugitive Landfill Gaseous Emission Impact in Ambient Atmosphere
Authors: Moustafa Osman Mohammed
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This paper will explore formation of HCl aerosol at atmospheric boundary layers and encourages the uptake of environmental modeling systems (EMSs) as a practice evaluation of gaseous emissions (“framework measures”) from small and medium-sized enterprises (SMEs). The conceptual model predicts greenhouse gas emissions to ecological points beyond landfill site operations. It focuses on incorporation traditional knowledge into baseline information for both measurement data and the mathematical results, regarding parameters influence model variable inputs. The paper has simplified parameters of aerosol processes based on the more complex aerosol process computations. The simple model can be implemented to both Gaussian and Eulerian rural dispersion models. Aerosol processes considered in this study were (i) the coagulation of particles, (ii) the condensation and evaporation of organic vapors, and (iii) dry deposition. The chemical transformation of gas-phase compounds is taken into account photochemical formulation with exposure effects according to HCl concentrations as starting point of risk assessment. The discussion set out distinctly aspect of sustainability in reflection inputs, outputs, and modes of impact on the environment. Thereby, models incorporate abiotic and biotic species to broaden the scope of integration for both quantification impact and assessment risks. The later environmental obligations suggest either a recommendation or a decision of what is a legislative should be achieved for mitigation measures of landfill gas (LFG) ultimately.Keywords: Air dispersion model, landfill management, spatial analysis, environmental impact and risk assessment.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1556166 Cost Benefit Analysis: Evaluation among the Millimetre Wavebands and SHF Bands of Small Cell 5G Networks
Authors: Emanuel Teixeira, Anderson Ramos, Marisa Lourenço, Fernando J. Velez, Jon M. Peha
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This article discusses the benefit cost analysis aspects of millimetre wavebands (mmWaves) and Super High Frequency (SHF). The devaluation along the distance of the carrier-to-noise-plus-interference ratio with the coverage distance is assessed by considering two different path loss models, the two-slope urban micro Line-of-Sight (UMiLoS) for the SHF band and the modified Friis propagation model, for frequencies above 24 GHz. The equivalent supported throughput is estimated at the 5.62, 28, 38, 60 and 73 GHz frequency bands and the influence of carrier-to-noise-plus-interference ratio in the radio and network optimization process is explored. Mostly owing to the lessening caused by the behaviour of the two-slope propagation model for SHF band, the supported throughput at this band is higher than at the millimetre wavebands only for the longest cell lengths. The benefit cost analysis of these pico-cellular networks was analysed for regular cellular topologies, by considering the unlicensed spectrum. For shortest distances, we can distinguish an optimal of the revenue in percentage terms for values of the cell length, R ≈ 10 m for the millimeter wavebands and for longest distances an optimal of the revenue can be observed at R ≈ 550 m for the 5.62 GHz. It is possible to observe that, for the 5.62 GHz band, the profit is slightly inferior than for millimetre wavebands, for the shortest Rs, and starts to increase for cell lengths approximately equal to the ratio between the break-point distance and the co-channel reuse factor, achieving a maximum for values of R approximately equal to 550 m.
Keywords: 5G, millimetre wavebands, super high-frequency band, SINR, signal-to-interference-plus-noise ratio, cost benefit analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 720165 Oil Exploitation, Environmental Injustice and Decolonial Nonrecognition: Exploring the Historical Accounts of Host Communities in South-Eastern Nigeria
Authors: Ejikeme Kanu
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This research explores the environmental justice of host communities in south-eastern Nigeria whose source of livelihood has been destroyed due to oil exploitation. Environmental justice scholarship in the area often adopts Western liberal ideology from a more macro level synthesis (Niger Delta). This study, therefore, explored the sufficiency or otherwise of the adoption of Western liberal ideology in the framing of Environmental Justice (EJ) in the area which neglects the impact of colonialism and cultural domination. Archival research supplemented by secondary analysis of literature guided this study. Drawing from data analysis, the paper first argues that micro-level studies are required to either validate or invalidate the studies done at the macro-level (Niger Delta) which has often been used to generalise around environmental injustice done within the host communities even though the communities (South-eastern) differ significantly from (South-south) in terms of language, culture, the socio-political and economic formation which indicate that the drivers of EJ may differ among them. Secondly, the paper argues that EJ framing from the Western worldview adopted in the study area is insufficient to understand environmental injustice suffered in the study area and there is the need for EJ framing that will consider the impact of colonialism and nonrecognition of the cultural identities of the host communities which breed EJ. The study, therefore, concludes by drawing from decolonial theory to consider how the framing of EJ would move beyond the western liberal EJ to Indigenous EJ.
Keywords: Culture, decolonial, environmental justice, indigenous environmental justice, nonrecognition.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 481164 A Development of Home Service Robot using Omni-Wheeled Mobility and Task-Based Manipulation
Authors: Hijun Kim, Jungkeun Sung, Seungwoo Kim
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In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 3 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.Keywords: Holonomic Omni-wheeled Mobile Robot, Special-purpose, Manipulation, Home Service Robot
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2403