Genetic Algorithm-based Robot Path Planning

Nowadays, building an intelligent robot that able to move by itself from one location to another without collides with other obstacles is of interest in many applications. In the real world, condition of an environment is always unpredictable and changes with the existence of dynamic obstacles. This paper tends to propose an algorithm for robot path planning in a dynamic environment using Genetic algorithm (GA) technique. The proposed algorithm is able to find an optimum path for a robot and avoid any static and dynamic obstacles. The variation of the proposed algorithm is shown with the implementation of the algorithm in 4-way movement robot and 8-way movement robot. The simulation results show significant performance of the algorithm when compared with real optimum path

Development of An Experimental Gantry Crane Rig

A project has been conducted on the development of a gantry crane experimental rig. The project focused on the analysis on the structural, rigidity and stability of the rig. The aim of the analysis is to determine whether the element or collection of elements, can safety withstand the specified forces. The challenge of this project is to find the best structural design of the gantry crane rig by computer simulation using ANSYS, and by conducting stress and deformation analysis. The design also will be considered material selection, which is the outcome of material selection is the selection of most suitable material to be used for the gantry crane structure

Synthesis, Morphology And Superconductingproperty Characterization Of Mgxb2 And Mgb2 With Sib4 Additions

This project deals with the processing of MgB2 bulk samples and the effect of addition of SiB4. The correlation between fabrication parameters and superconducting properties was studied. MgB2 bulks were prepared by a pellet-inclosed- tube (PICT) and solid-state reaction route methods. MgB2 bulk samples were prepared at different annealing temperatures of 650°C, 700°C, 750°C and 800°C. AC susceptibility measurements showed a sharp superconducting transition in all the samples. However, MgB2, samples annealed at 650°C showed slightly low volume susceptibility compared to other samples. The critical current density (Jc) was measured using ac magnetic susceptibility measurement method. The highest critical density in magnetic field, Jc(T,H) from the magnetization measurements was recorded at 3.0×104A/cm2 (5K, 6T) and 7.0×103 A/cm2 (20K, 4T) for the 650°C annealed MgB2. X-ray diffraction (XRD) analysis showed small quantities of MgO and unreacted Mg phases as impurities in the samples. The second part of the work concentrates on Mg non-stoichiometry in MgxB2 (x = 0.8, 1.0 and 1.2) samples. The critical temperature (Tc), was significantly reduced in sample x = 0.8 and x = 1.2 as compared to sample with x=1.0. The Mg0.8B2 sample shows the highest Jc at 5K and 20K, followed by Mg1.2B2 and MgB2 samples, respectively. MgB2 shows the lowest Jc for all temperatures

The effect of centrifugation at 1000 rpm on crude palm oil characteristics / Mohd Faisal Mohd Zaki

Today, almost all energy in the world is extracted from petroleum base. At current rate of usage the source of petroleum will meet it end sooner or later. Alternative energy is needed to replace the current source of energy. Alternative energy can come from various type of source such as plant, solar and etc. Crude palm oil (CPO) is renewable and is safe and easy to handle. CPO is one of the vegetable oil that can be used in diesel engine.. However, using CPO as fuel in diesel engine caused clogging in the fuel system. This study focused on finding out the effect of Centrifugation at 1000 rpm on CPO characteristic. The CPO was centrifuge and the liquid (olein) was collected in order to measure its characteristic in term of viscosity, density, energy content and flash point. Results show that kinematic viscosity of CPO reduced from 64.0593 mm2 /s to 43.065 mm2 /s. Density of centrifuged CPO slightly reduced from 862.2 kg/m3 to 833.2 kg/m3 while energy content remain the same at range of 39000 J/g to 40000 J/g. Flash point for centrifuged crude palm oil is 263°Celsius. At speed of 1000 rpm, percentage of separation between Olein and Stearin increase proportional to increment of temperature

Kajian motivasi ekstrinsik di antara Pelajar Lepasan Sijil dan Diploma Politeknik Jabatan Kejuruteraan Awam KUiTTHO

Kajian ini dijalankan untuk menyelidiki pengaruh dorongan keluarga, cara pengajaran pensyarah, pengaruh rakan sebaya dan kemudahan infrastruktur terhadap motivasi ekstrinsik bagi pelajar tahun tiga dan tahun empat lepasan sijil dan diploma politeknik Jabatan Kejuruteraan Awain Kolej Universiti Teknologi Tun Hussein Onn. Sampel kajian ini beijumlah 87 orang bagi pelajar lepasan sijil politeknik dan 38 orang bagi lepasan diploma politeknik. Data kajian telah diperolehi melalui borang soal selidik dan telah dianalisis menggunakan perisian SPSS (Statical Package For Sciences). Hasil kajian telah dipersembahkan dalam bentuk jadual dan histohgrapi. Analisis kajian mendapati bahawa kedua-dua kumpulan setuju bahawa faktor-faktor di atas memberi kesan kepada motivasi ekstrinsik mereka. Dengan kata lain faktpr-faktor tersebut penting dalam membentuk pelajar mencapai kecemerlangan akademik

A resource-aware content adaptation approach for E-Learning environment / Mohd Faisal Ibrahim

The rapid growth of web and mobile technologies has allowed people to access E-Learning content from heterogeneous client devices. In order to deliver the best presentation of content requested, the E-Learning system must possess a mechanism that not only capable of accurately discovering the characteristics and capabilities of a client’s device but also capable of finding out about network and server resource availability. Three recurring issues need to be addressed when constructing such solutions: 1) How to identify the device characteristic and the capabilities of a device, 2) How to find out about network resource availability, and 3) How to adapt application behavior. Addressing these questions the dissertation makes three main contributions. First, a content negotiation and adaptation architecture was proposed to facilitate the process of identifying and detecting client device. It differs from other existing content negotiation approaches by introducing the idea of combining dynamic and static device capabilities detection methods. It consists of a device database and two processing components: (1) device identification module and (2) device capabilities detection module. The content negotiation and adaptation architecture was implemented and validated through various laboratory experiments and field studies which the results highlight the importance of using token attributes matcher by eliminating the need of using the entire user agent strings for device identification and capabilities detection. Besides reducing the processing overhead it also achieves better results in terms of accuracy compared to the user agent approach

Simulation Of The Internal Flow Characteristic OfDiesel Injector Using CFD Software

Fuel injectors deliver fuel to cylinders of internal combustion (IC) engines. The fuel is sprayed through an injector nozzle, typically at high pressure, to improve the mixing of fuel with air and increase the combustion efficiency. Modern passenger cars and trucks use higher injection pressures than earlier models to improve the atomization of fuel in order to reduce the emission levels ofIC engines. Unfortunately, high operating pressures in diesel injectors can cause cavitation in the liquid fuel, leading to degradation in performance and structural damage to the injector. Because fuel injectors are typically small, experimental measurements of this phenomenon are difficult to make, so analysis through CFD is an appealing alternative. The project scope is mainly on the comparing the simulation results with experimental data (using a scaled up model). In particular, it is of interest to study the flow behaviour especially in determining the cavitation and atomization using CFD software, ANSYS 6.0. The methodology of project work consists of literature review, Gantt chart and simulation. The main objective of this project is to do simulation on internal flow of diesel fuel injector using ANSYS, then comparing and analysing the results for both experiment and simulation. Interpretation from the simulationresults lead to the better explanation for the cavitation and atomisation phenomena. Finally, at the end of this project the computational cost can be reduced by the simplification ofsimulation process. The simulations cover on the single-phase and 2 dimensional analyses which focus on the effect of the sharp and blunt inlet nozzle to the cavitation flow. Meanwhile, for the atomization and hydraulic flip flow, volume fraction analysis will be the best method to express the atomization flow as explain in the chapter 2. As conclusion for this project, ANSYS software is reliable to simulate the internal fluid flow problems and able to produce a quite accurate outcome (with some limitation) to assist in further study on the internal fluid flow behaviour

Adsorption of Zinc by Using Combusted Palm Oil Kernel

The report is prepared to provide readers information regarding the ell.:periment of adsorption of zinc by using combusted palm oil kernel. The presence of heavy metals in water causes harm since they are classified as toxic. The objective of the experiment is to establish the optimum adsorbent dosage, the optimum adsorption period for the adsorption of zinc and the best adsorption isotherm model. The size of adsorbent was R4251im. Zinc had been used during the experiment as heavy metals to be adsorbed by the adsorbent. The adsorbent dosages used were 25, 50, 100, and 200 mg, 25, 50, 75, and 100 mg, and 1000, 2000, 3000, and 4000 mg. The combusted palm oil kernels were supplied to every aqueous zinc solution sample. The concentrations were divided into two which were 10 and 100 ppm. All samples were shaken by orbital shaker with four different durations 1, 3, 6, and 24 hours. Only after the shaking processes completed, the final concentrations of aqueous zinc solution were measured by using HACH DR2800 Spectrophotometer. In the first trial of phase 1 with initial concentration of 11.45 mg!L, the optimum adsorbent dosage was 2000mg/L and the optimum adsorption period was 24 hours. In the second trial of phase 1 with initial concentration of 240mg/L, the optimum adsorbent dosage was 2000 mg/L and the optimum adsorption period was 24 hours. In the second trial of phase 1 with initial concentration of 141.33 mg/L, the optimum adsorbent dosage was 1000 mg!L and the optimum adsorption period was 6 hours. In the first trial of phase 2 with initial concentration of 10 mg/L, the optimum adsorbent dosage was 2000 mg/L and the optimum adsorption period was 3 hours. In the first trial of phase 2 with the initial concentration of 110 mg/L, the optimum adsorbent dosage was 2000 mg/L and the optimum adsorption period was 24 hours. In the seeond trial of phase 2 with the initial concentration of 10 mg!L, the optimum adsorption period was 6 hours and the optimum adsorbent dosage was 40000 mg/L. In conclusion, the higher the adsorbent dosage was used, the higher the percentage removal. A good plot of the adsorption isotherm depended on the degree of consistency of the adsorption model