Numerical Technique for Autonomous Robot Path Planning Based on QSAOR Iterative Method Using Indoor Environment

In recent years, a significant amount of research on robot path planning problems has been devoted. The main goal of this problem is to construct a collision-free path from arbitrary start location to a specified end position in their environment. In this study, numerical technique, specifically on family of Accelerated Over-Relaxation (AOR) iterative methods will be used in attempt to solve mobile robot problem iteratively. It’s lean on the use of Laplace’s equation to constrain the generation of a potential values. By applying a finite-difference technique, the experiment shows that it is able to generate smooth path between the starting positions to specified destination. The simulation results shows the proposed methods performs faster solution and smoother path compared to the previous research

The Study of Heavy Metals on Sediment Quality of Kuala Perlis Coastal Area

The contamination of heavy metals gives bad implications to the aquatic environment. Thus, a study was conducted to assess the sediment quality by using different contamination indices such as Enrichment Factor (EF), Geo-accumulation Index (Igeo), and Pollution Load Index (PLI). Each sediment sample was collected at the surface (0-15cm) at 5 locations based on the land use activity; jetty port (A), seaside restaurant (B), roadside area (C), power plant (D) and residential area (E). All samples were undergoes acid digestion and analyzed with AAS. Four elements identified from the sediment samples which are Cr, Cu, Pb and Zn were used to calculate the respective indices. Results show that, the highest EF value of Pb which categorized as very severe enrichment was at point E. Meanwhile minor enrichment was detected at point B for Cu while Cr and Zn at point A. Based on Igeo value the sediment quality along Kuala Perlis was in the unpolluted-moderately polluted condition (class 1). As for PLI it shows that the sediment of the coastal area is unpolluted (PLI<1). Therefore, this study revealed that, the main contributor of heavy metals in this area is Pb while the sediment quality of Kuala Perlis was in minor pollution condition