Navigation, path generation and obstacle avoidance are considered as the key challenges in the area of autonomous mobile robots. In this article, a new meta-heuristic optimization technique called ...Dragonfly Algorithm (DA) is employed for the navigation of autonomous mobile robot in an unknown cluttered environment filled with several static obstacles. This new meta-heuristic Dragonfly algorithm is inspired from the static and dynamic swarming behaviours of dragonflies in nature. Two objective functions, target seeking and obstacle avoidance are formulated based on the distance between the robot, target and the obstacles and is optimized using the proposed DA for obtaining optimal path. After every iteration, based on the objective function values the robot proceeds towards the globally best agent in the swarm in a sequence of permutation which finally leads to the target. A variety of static environment is modelled and the algorithm is tested both through simulation and experimentally. The proposed algorithm shows that the robot reaches the target without colliding any obstacles while generating a smooth optimal trajectory. 23 refs.
The n-type Ce doped ZnO (Ce–ZnO) and p-type polyaniline (PANI) heterojunction were successfully synthesized via simple chemical solution method for sensing liquefied petroleum gas (LPG) at standard ...environment. The morphology and structures of as-prepared Ce–ZnO & PANI nanoparticles were analyzed by numerous kinds of techniques. Ce–ZnO & PANI nanoparticles were mixed with n-methylpyrrolidone (NMP) which is coated over the gold coated PET electrode by doctor blade method and dried overnight at 60 °C to form p-n junction. The as-formed p-n junction is to be driven with the help of 1.5 V potential at ambient temperature. X-ray photoelectron spectroscopy results of Ce–ZnO nanoparticles confirmed the existence of Ce4+ and the improved amount of both chemisorbed oxygen and oxygen vacancy after the formation of Ce–ZnO heterojunction. The maximum response of 80% was realized for hollow Ce–ZnO/PANI sensor at 100 ppm. The proposed material is a novel candidate to detect the LPG even at low (30) ppm and this study reveals the possibility of developing a potentially inexpensive hollow Ce–ZnO/PANI sensor for sensing LPG efficiently.
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•Synthesis of Ce–ZnO nanoparticles and PANI by simple hydrothermal method.•The fabricated Ce–ZnO/polyaniline was high sensitive at low ppm of LPG.•The maximum response was observed to be 80% at 100 ppm for porous Ce–ZnO/polyaniline.•Applicable for real time LPG sensing at low ppm.
This paper proposes a novel method for estimating the reaction force, the Stereovision Based Force Estimation Method (SBFEM), with deep learning techniques to predict the interaction force of the ...surgical procedures. The interaction force is estimated through SBFEM combined with computer vision and neural networks instead of using direct force sensors due to the difficulty of adapting them to tools due to biocompatibility, sterilizability, and integration issues. The proposed model processes both spatial and temporal information acquired from the vision and tool data. The LSTM-RNN framework, along with dimensionality reduction, is trained with In-Vivo-experimental data of porcine skin, and the cyclical learning rate method is suggested for fine-tuning the network. The analyses are based on three distinct datasets, each with three cases to validate the result. The proposed method, RNN-LSTM + DR + CLR, outperforms the RNN and RNN-LSTM without dimensionality reduction by 8.46% and 3.98% in force prediction accuracy, respectively. Interestingly, this work reports an average RMSE of 0.01 N in the force component and 0.03Nm in the torque component in the applied force direction. The result shows that estimated force quality is better when reducing dimensionality on extracted features and processing both tool and vision data together. The network performed better when optimized with the loss function, root mean square error, and the cyclical learning rate method as an optimizer for fewer datasets with a minimum computational cost. Finally, the Mann–Whitney U test shows that the predicted force components are adaptable to any dataset.
The thermal dissociation of acetaldehyde has been studied with the reflected shock tube technique using H(D)-atom atomic resonance absorption spectrometry detection. The use of an unreversed light ...source yields extraordinarily sensitive H atom detection. As a result, we are able to measure both the total decomposition rate and the branching to radical versus molecular channels. This branching provides a direct measure of the contribution from the roaming radical mechanism since the contributions from the usual tight transition states are predicted by theory to be negligible. The experimental observations also provide a measure of the rate coefficient for H + CH3CHO. Another set of experiments employing C2H5I as an H-atom source provides additional data for this rate coefficient that extends to lower temperature. An evaluation of the available experimental results for H + CH3CHO can be expressed by a three-parameter Arrhenius expression as k = 7.66 × 10−20 T 2.75 exp((−486 K)/T) cm3 molecule−1 s−1 (298−1415 K). Analogous experiments employing C2D5I as a D-atom source allow for the study of the isotopically substituted reaction. The present experiments are the only direct measure for this reaction rate constant, and the results can be expressed by an Arrhenius expression as k = 5.20 × 10−10 exp((−4430 K)/T) cm3 molecule−1 s−1 (1151−1354 K). The H/D + CH3CHO reactions are also studied with ab initio transition-state theory, and the results are in remarkably good agreement with the current experimental data.
Human–robot interaction has been a challenging task, and it involves various criteria to be considered including robot operator’s caliber and his/her safety. Here in this project, we bring speech ...recognition to the rescue of robot operator, which has become a popular interface for human–computer interaction to recognize the speech of robot operator, to command and control the industrial robot. In this project, the five degree of freedom robotic arm is controlled through speech-based interfaces in Indic Languages, namely English (Indian accent), Hindi and Tamil. Python speech recognition API along with PocketSphinx is used for converting robot operator’s speech commands to text form, and the command is translated and fed to the sophisticated servo controller for the actuation of robotic arm. A mobile application was also developed that can control the robot arm using HC-05 Bluetooth technology through speech-based interfaces.
Abstract
Support System approaches form a pattern from a user’s over efforts as well as related conclusion created by other users. This form is then used to voting items that the user may have an ...interest in the particular product. It can propose the hamburger stand to the user based on the previous procure, voting and reports. Machine learning plays a vital role in hamburger stand support system, which process the user based on their old events. Here, hamburger stand support can be performed by reports, voting, reviews and restaurant reputation, tastes, which is given by the other users. This current support system typically combines one or more approaches into a hybrid system. This paper suggest a hybrid system for classifying the users by using the machine learning algorithms such as Naive Bayes and Support Vector Machine(SVM). It will improve the nourishment transaction, decreases the amount of work and imparts the user fulfillment.
High-temperature rate constant experiments on OH with the five large (C5−C8) saturated hydrocarbons n-heptane, 2,2,3,3-tetramethylbutane (2,2,3,3-TMB), n-pentane, n-hexane, and 2,3-dimethylbutane ...(2,3-DMB) were performed with the reflected-shock-tube technique using multipass absorption spectrometric detection of OH radicals at 308 nm. Single-point determinations at ∼1200 K on n-heptane, 2,2,3,3-TMB, n-hexane, and 2,3-DMB were previously reported by Cohen and co-workers; however, the present work substantially extends the database to both lower and higher temperature. The present experiments span a wide temperature range, 789−1308 K, and represent the first direct measurements of rate constants at T > 800 K for n-pentane. The present work utilized 48 optical passes corresponding to a total path length of ∼4.2 m. As a result of this increased path length, the high OH concentration detection sensitivity permitted pseudo-first-order analyses for unambiguously measuring rate constants. The experimental results can be expressed in Arrhenius form in units of cm3 molecule−1 s−1 as follows: k OH + n -heptane = ( 2.48 ± 0.17 ) × 10 − 10 exp ( − 1927 ± 69 K ) / T ( 838−1287 K ) k OH + 2,2,3,3-TMB = ( 8.26 ± 0.89 ) × 10 − 11 exp ( − 1337 ± 94 K ) / T ( 789−1061 K ) k OH + n -pentane = ( 1.60 ± 0.25 ) × 10 − 10 exp ( − 1903 ± 146 K ) / T ( 823−1308 K ) k OH + n -hexane = ( 2.79 ± 0.39 ) × 10 − 10 exp ( − 2301 ± 134 K ) / T ( 798−1299 K ) k OH + 2,3-DMB = ( 1.27 ± 0.16 ) × 10 − 10 exp ( − 1617 ± 118 K ) / T ( 843−1292 K ) The available experimental data, along with lower-T determinations, were used to obtain evaluations of the experimental rate constants over the temperature range from ∼230 to 1300 K for most of the title reactions. These extended-temperature-range evaluations, given as three-parameter fits, are as follows: k OH + n -heptane = 2.059 × 10 − 15 T 1.401 exp ( 33 K / T ) cm 3 molecule − 1 s − 1 ( 241−1287 K ) k OH + 2,2,3,3-TMB = 6.835 × 10 − 17 T 1.886 exp ( − 365 K / T ) cm 3 molecule − 1 s − 1 ( 290−1180 K ) k OH + n -pentane = 2.495 × 10 − 16 T 1.649 exp ( 80 K / T ) cm 3 molecule − 1 s − 1 ( 224−1308 K ) k OH + n -hexane = 3.959 × 10 − 18 T 2.218 exp ( 443 K / T ) cm 3 molecule − 1 s − 1 ( 292−1299 K ) k OH + 2,3-DMB = 2.287 × 10 − 17 T 1.958 exp ( 365 K / T ) cm 3 molecule − 1 s − 1 ( 220−1292 K ) The experimental data and the evaluations obtained for these five larger alkanes in the present work were used along with prior data/evaluations obtained in this laboratory for H abstractions by OH from a series of smaller alkanes (C3−C5) to devise rate rules for abstractions from various types of primary, secondary, and tertiary H atoms. Specifically, the current scheme was applied with good success to H abstractions by OH from a series of n-alkanes (n-octane through n-hexadecane). The total rate constants using this group scheme for reactions of OH with selected large alkanes are given as three-parameter fits in this article. The rate constants for the various abstraction channels in any large n-alkane can also be obtained using the groups listed in this article. The present group scheme serves to reduce the uncertainties in rate constants for OH + alkane reactions.
The thermal decomposition of ethanol and its reactions with OH and D have been studied with both shock tube experiments and ab initio transition state theory-based master equation calculations. ...Dissociation rate constants for ethanol have been measured at high T in reflected shock waves using OH optical absorption and high-sensitivity H-atom ARAS detection. The three dissociation processes that are dominant at high T are A C 2 H 5 OH → C 2 H 4 + H 2 O B → CH 3 + CH 2 OH C → C 2 H 5 + OH The rate coefficient for reaction was measured directly with high sensitivity at 308 nm using a multipass optical White cell. Meanwhile, H-atom ARAS measurements yield the overall rate coefficient and that for the sum of reactions and , since H-atoms are instantaneously formed from the decompositions of CH2OH and C2H5 into CH2O + H and C2H4 + H, respectively. By difference, rate constants for reaction 1 could be obtained. One potential complication is the scavenging of OH by unreacted ethanol in the OH experiments, and therefore, rate constants for D OH + C 2 H 5 OH → products were measured using tert-butyl hydroperoxide (tBH) as the thermal source for OH. The present experiments can be represented by the Arrhenius expression k = ( 2 .5 ± 0 .43 ) × 10 − 11 exp ( − 911 ± 191 K / T ) cm 3 molecule − 1 s − 1 over the T range 857−1297 K. For completeness, we have also measured the rate coefficient for the reaction of D atoms with ethanol E D + C 2 H 5 OH → products whose H analogue is another key reaction in the combustion of ethanol. Over the T range 1054−1359 K, the rate constants from the present experiments can be represented by the Arrhenius expression, k = ( 3 .98 ± 0 .76 ) × 10 − 10 exp ( − 4494 ± 235 K / T ) cm 3 molecule − 1 s − 1 The high-pressure rate coefficients for reactions and were studied with variable reaction coordinate transition state theory employing directly determined CASPT2/cc-pvdz interaction energies. Reactions , , and were studied with conventional transition state theory employing QCISD(T)/CBS energies. For the saddle point in reaction , additional high-level corrections are evaluated. The predicted reaction exo- and endothermicities are in good agreement with the current Active Thermochemical Tables values. The transition state theory predictions for the microcanonical rate coefficients in ethanol decomposition are incorporated in master equation calculations to yield predictions for the temperature and pressure dependences of reactions −. With modest adjustments (<1 kcal/mol) to a few key barrier heights, the present experimental and adjusted theoretical results yield a consistent description of both the decomposition (1−3) and abstraction kinetics (4 and 5). The present results are compared with earlier experimental and theoretical work.
With topical treatment of skin diseases, the requirement of a high and reproducible drug uptake often still is not met. Moreover, drug targeting to specific skin strata may improve the use of agents ...which are prone to cause local unwanted effects. Recent investigations have indicated that improved uptake and skin targeting may become feasible by means of nanoparticular systems such as solid lipid nanoparticles (SLN), nanostructured lipid carriers (NLC) and nanoemulsions (NE). Here we describe techniques to characterize drug loading to carrier systems and skin penetration profiles by using the lipophilic dye nile red as a model agent. Since the mode of drug association with the particle matrix may strongly influence the efficiency of skin targeting, parelectric spectroscopy (PS) was used to differentiate between matrix incorporation and attachment to the particle surface and fluorescence spectroscopy (FS) to solve dye distribution within NLC particles. Nile red was incorporated into the lipid matrix or the covering tensed shell, respectively, of SLN and NLC with all the lipids studied (Compritol, Precirol, oleic acid, Miglyol). In NLC, the dye was enriched in the liquid phase. Next, nile red concentrations were followed by image analysis of vertical sections of pigskin treated with dye-loaded nanoparticular dispersions and an oil-in-water cream for 4 and 8 h in vitro. Following the SLN dispersions, dye penetration increased about fourfold over the uptake obtained following the cream. NLC turned out less potent (<
threefold increase) and penetration appeared even reduced when applying a NE. In contrast to previous studies with glucocorticoids attached to the surface of SLN, a targeting effect was not detected here. Therefore, drug targeting appears to be more strictly related to the mode of interaction of drug and particle than penetration enhancement.
A tele-operated robot stereo vision system is used for stretching out the operator’s eye-hand motion and its distance based co-ordination with experts. The major challenge is the reduction of ...communication delay by using effective decisions to avoid tele-operation instability. This problem can be handled effectively by using the principles of Augmented Reality which provides facilities for superimposing virtual objects onto the real video images of the workspace to create a simulation plan in the client system. In this paper, we propose a new feature selection algorithm called Fuzzy Rules and Information Gain Ratio based Feature Selection Algorithm for selecting the optimal number of features from the full set of available features. Also, a new Fuzzy Rule based Neuro-Genetic Classification Algorithm is proposed in this paper for classifying the augmented images more accurately. The main advantages of the proposed model are reduction in classification and communication time and increase in decision accuracy.
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Dostopno za:
DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, UILJ, UKNU, UL, UM, UPUK
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