Intelligent Navigation Service Robot Working in a Flexible and Dynamic Environment

Numerous sensor fusion techniques have been reported in the literature for a number of robotics applications. These techniques involved the use of different sensors in different configurations. However, in the case of food driving, the possibility of the implementation has been overlooked. In restaurants and food delivery spots, enhancing the food transfer to the correct table is neatly required, without running into other robots or diners or toppling over. In this project, a particular algorithm module has been proposed and implemented to enhance the robot driving methodology and maximize robot functionality, accuracy, and the food transfer experience. The emphasis has been on enhancing movement accuracy to reach the targeted table from the start to the end. Four major elements have been designed to complete this project, including mechanical, electrical, electronics, and programming. Since the floor condition greatly affecting the wheels and turning angle selection, the movement accuracy was improved during the project. The robot was successfully able to receive the command from the restaurant and go to deliver the food to the customers\u27 tables, considering any obstacles on the way to avoid. The robot has equipped with two trays to mount the food with well-configured voices to welcome and greet the customer. The performance has been evaluated and undertaken using a routine robot movement tests. As part of this study, the designed service wheeled robot required to be with a high-performance real-time processor. As long as the processor was adequate, the experimental results showed a highly effective search robot methodology. Having concluded from the study that a minimum number of sensors are needed if they are placed appropriately and used effectively on a robot\u27s body, as navigation could be performed by using a small set of sensors. The Arduino Due has been used to provide a real-time operating system. It has provided a very successful data processing and transfer throughout any regular operation. Furthermore, an easy-to-use application has been developed to improve the user experience, so that the operator can interact directly with the robot via a special setting screen. It is possible, using this feature, to modify advanced settings such as voice commands or IP address without having to return back to the code

Experimental study of natural convection heat transfer and gaseous dynamics from dual-channel circulation loop

This research focuses on establishing a range of scaled separate and integral effects experiments for studying thermal-hydraulic behavior occurring within a component or region of the prismatic very high-temperature reactor (VHTR) such as plenum-to-plenum heat transfer and gaseous dynamics during natural circulation. Natural circulation of the coolant is the leading capability for VHTR to transport the decay heat from the core to the reactor vessel during accident scenarios. To address this need, a scaled-down facility is designed and developed with only two channels with upper and lower plena. The emphasis is placed on high-resolution and high-fidelity experimental data for local heat transfer and gaseous dispersion measurements utilizing sophisticated techniques under different operating conditions. These techniques are 1) non-invasive flush wall mounted heat transfer coefficient probe to measure reliably the heat flux and surface temperature along the flow channels, and by measuring simultaneously these two variables and the flowing fluid, the heat transfer coefficient can be obtained, 2) radial temperature sensor adjuster to measure radial temperature variations of the coolant along the flow channels, and 3) advanced gaseous tracer technique to accurately measure the residence time distribution (RTD) in an of flow systems by injecting pulse change gas tracer and then monitoring its concentration at the exit. The measured RTD is utilized to quantify the gas dispersion and identify the degree of mixing in the system. The obtained local heat transfer and gaseous dispersion data in this study will provide high spatial and temporal resolutions benchmarking data for validating heat transfer and gaseous dispersion computations and correlations that are integrated with CFD simulations --Abstract, page iv

A critical review of the vaginal microbiota and its relationship with human papillomavirus

The study of bacterial 16S rRNA genes is facilitated with the assistance of next-generation sequencing methods (NGS) which allow a thorough investigation of vaginal microbial community makeup to an extent not achievable with regular culture-supported microbiological methods. The human papillomavirus (HPV) triggers cervical intraepithelial neoplasia (CIN), the precursor of cervical malignancy. Vaginal microbiota has a mutualistic symbiotic connection with their host and has a significant influence on health and disease. Surging proof points to a likely connection between the vaginal microbiota and repeated HPV infections. Some vaginal microbial types can be either prophylactic or pathogenic in cancer development of the cervix after repeated HPV infection. In this review, we discussed the composition and structure of the vaginal microbiota as well as the relationship between HPV infection and the vaginal microbiota. We also covered the link between the vaginal microbiome, HPV, and immune response

Factors Affecting Students’ Performance in Open and Distance Learning: A Case Study of Kinondoni Regional Centre

This study critically examines the factors that affect students‟ performance in open and distance learning at the Open University of Tanzania- a case study of Kinondoni regional centre. The objectives of the study were; to establish the relationship between support service and academic performance of undergraduate students at OUT, to establish the relationship between social presence and academic performance of undergraduate students at OUT and to establish the relationship between gender and academic performance of undergraduate students at OUT. The study used questionnaires and interview guide to get the information from 80 students and 30 academic staff. Open University of Tanzania. The key findings were that most students had a lot of responsibilities and spent less time in studying, coupled with inadequate guidance in the distance mode of education. The study recommended that; educational institutions must communicate to course developers and program leaders what are acceptable rates of return on distance learning programs. While great instructors are often not focused on the bottom line of whether a course pays for itself, the reality is that courses should be self-sufficient and reap a return for the institution's investment unless there is a compelling reason to do otherwise

Efficacy of silver nanoparticles in capacitive deionization electrodes as antimicrobial agents

A Dissertation Submitted in Partial Fulfilments of the Requirements for the Degree of Master of Science in Environmental Science and Engineering of the Nelson Mandela African Institution of Science and TechnologyThe availability of clean and safe water is still a big challenge in most parts of the world. Drinking water should be free of harmful microorganisms and should contain the required amount of minerals based on the set standards. In this study, silver nanoparticles (Ag-n) embedded in Activated Carbon (AC) electrodes for capacitive deionization (CDI) were evaluated for desalination and also for anti-microbial activities against Escherichia coli and Salmonella enteritidis. The novel AC/Ag-n electrodes were prepared by mixing Activated Carbon powder together with silver nanoparticles. The morphology, surface functional groups, and porosity were characterized by Scanning Electron Microscope (SEM), Fouriertransform infrared (FT-IR), and nitrogen adsorption studies which affirm the formation of disinfecting electrode material. The desalination and disinfection performance of the fabricated electrodes were evaluated by Capacitive Deionization batch mode experiment using natural water collected from the Nganana stream while applying the potential of 2 V for 3h. The AC/Ag-n Capacitive Deionization (CDI) electrodes achieved 100% Escherichia coli and 98% Salmonella enteritidis removal and 45% salt removal efficiency, and electrosorption capacity of 2.56 mg/g and the ions removal efficiency of 89%, 40%, 2.4%, 57.9%, 50%, 8% and 33% for Na+ , K+ , Ca2+ , Mg2+ , PO4 3- , NO3 - and Clrespectively. The microbial disinfection mechanisms were through electrosorption process and physical contacts with the embedded Ag-n. Thus, it is possible to disinfect the water while also removing salt simultaneously using Capacitive Deionization. Therefore, AC/Ag-n are considered as novel electrode material with an excellent antimicrobial agent for the Capacitive Deionization process