Vision-based Robot Manipulator for Industrial Applications

This paper presents a multi-stage process of the development of a vision-based object sorting robot manipulator for industrial applications. The main aim of this research is to integrate vision system with the existing Scorbot in order to widen the capability of the integrated camera-robot system in industrial applications. Modern industrial robot Scorbot-ER 9 Pro is the focus of this research. Currently, the robot does not have an integrated vision system. Thus; a camera has been integrated to robot gripper to achieve the target objectives. The main difficulties include establishing a relevant sequence of operations, developing a proper communication between camera and robot as well as the integration of the system components such as Matlab, Visual Basics, and Scorbas

Modeling Optimal Water Management for Reservoir Based Irrigation Projects

The double cropping of rice in the Muda Irrigation Project depends very much on the volume of water stored in the Muda and Pedu reservoirs. The most important problem affecting the project includes constraints related to poor water management. However, the shortage of reservoir water still remains the most severe constraint on the establishment of stable double cropping of rice. Thus, the main purpose of this study is to develop an optimization model and a solution strategy to solve the water resources of the project in a computationally satisfactory manner. In this study, a water balance model was developed and the performance of a project was evaluated. The water balance components were modeled, without incorporating any model calibration parameters. The model results were compared with observed data satisfactorily. The overall project efficiency for the main and off-seasons were also obtained. A reservoir simulation model was developed and the model storage capacities were compared with the observed storage capacities satisfactorily. The Markov process with periodicity in hydrologic data was applied to generate monthly streamflows. The generated storage capacities were found to simulate with the observed storage capacities satisfactorily. Three different cases of anticipated future monthly storage were envisaged to assess the risk for predicted monthly storage capacities in 1998-2002 and their probabilities of occurrences were computed. An optimization model was also developed to solve the water resources management of a large project in a computationally satisfactory manner. Twelve different scenarios were analyzed to test the performance of the project and their consequences were illustrated. The optimal reservoir storage, optimal irrigation demand, and optimal reservoir release (i.e., optimal reservoir operating policy) were computed. The optimal mean (1987-1997) model total water requirements for the dry and wet seasons were also computed and the optimal contributions by rainfall, reservoir, uncontrolled river flow, and recycled water were determined. The mean water balance components results for different months were stored in GIS data bases, analyzed, and displayed as the monthly crop water requirements maps. Finally, it can be concluded that the integration of the water balance model together with the models for reservoir simulation, efficiency, hydrologic forecasting, optimization, and GIS holds much promise in the analysis of optimal allocation of water resources of a project

Numerical solutions of nonlinear parabolic equations with Robin condition: Galerkin approach

In this paper, classical solutions of nonlinear parabolic partial differential equations with the Robin boundary condition are approximated using the Galerkin finite element method (GFEM) which is associated with the combination of the Picard iterative scheme and α-family of approximation. The uniqueness, convergence, and structural stability analysis of solutions are studied. It is proven that the iterative scheme of the numerical method is stable. To ensure the efficiency and accuracy of the method, the comparative study between the exact and approximate solutions both numerically and graphically are given by solving two nonlinear parabolic problems. A reliable error estimation also opens possibilities of acceptance of the method. The results confirmed the consistency of the method and ensured the convergence of solutions.Publisher's Versio

An Intelligent Monitoring System of Vehicles on Highway Traffic

Vehicle speed monitoring and management of highways is the critical problem of the road in this modern age of growing technology and population. A poor management results in frequent traffic jam, traffic rules violation and fatal road accidents. Using traditional techniques of RADAR, LIDAR and LASAR to address this problem is time-consuming, expensive and tedious. This paper presents an efficient framework to produce a simple, cost efficient and intelligent system for vehicle speed monitoring. The proposed method uses an HD (High Definition) camera mounted on the road side either on a pole or on a traffic signal for recording video frames. On the basis of these frames, a vehicle can be tracked by using radius growing method, and its speed can be calculated by calculating vehicle mask and its displacement in consecutive frames. The method uses pattern recognition, digital image processing and mathematical techniques for vehicle detection, tracking and speed calculation. The validity of the proposed model is proved by testing it on different highways.Comment: 5 page

Instability Analysis of the Jamuna River, Bangladesh

Major changes take place in the planform and bed topography of the Jamuna River, Bangladesh, particularly during the flood season, and the effect of these changes are investigated in this paper in the form of a stability analysis by perturbation technique. A two-dimensional model of flow and sediment transport in an alluvial river with erodible bed and non-erodible banks is developed and applied to the Jamuna River, Bangladesh. The effect of transverse slope resulting from the effect of secondary currents, the effect of spiral motion due to curvature of the channel on the bed shear stress, and the effect of frictional resistance occurring from pure skin friction and friction due to bedforms, are considered in the model. The 2-D model can be used to check the instability due to the dunecovered alluvial bed. A stability theory has been developed which determines the most unstable mode, the celerity and propagation of the sand dunes, and the wave number corresponds to maximum instability. The theory is also capable of differentiating between braiding and meandering phenomena. Several implications of the proposed model are also discussed. The proposed model is used to analyze both the meandering and braided patterns of the river. The results from the analyses of the Jamuna River show that instability always exists in the Jamuna River under maximum instability conditions because of its very low aspect ratio (...1/1000) and more than three braids

Pragmatic Impact of Loyalty on Deviant Workplace Behavior among Banking Sector Employees

The aim of this research is to present findings of an integrative literature review related to employee loyalty and Deviant Workplace Behavior. The data was collected by a questionnaire called Swat Loyalty Scale and adapted scale of Deviant Workplace Behavior. The population of the study was all the employees working in commercial banks situated in Mingaora, district Swat. The data was randomly collected from a sample of 129 employees working at different level of Management. The data was analyzed through correlation and regression analysis. The result reveals widespread support of negative relationship between Loyalty and Deviant Workplace Behavior (r = .595, β = -.772, t = -17.67, p < 0.005). This study suggests that organization should device the policies to nurture the loyalty of employees in order to eradicated Deviant Workplace Behavior