Optimal Path Planning using Equilateral Spaces Oriented Visibility Graph Method

Path planning has been an important aspect in the development of autonomous cars in which path planning is used to find a collision-free path for the car to traverse from a starting point Sp to a target point Tp. The main criteria for a good path planning algorithm include the capability of producing the shortest path with a low computation time. Low computation time makes the autonomous car able to re-plan a new collision-free path to avoid accident. However, the main problem with most path planning methods is their computation time increases as the number of obstacles in the environment increases. In this paper, an algorithm based on visibility graph (VG) is proposed. In the proposed algorithm, which is called Equilateral Space Oriented Visibility Graph (ESOVG), the number of obstacles considered for path planning is reduced by introducing a space in which the obstacles lie. This means the obstacles located outside the space are ignored for path planning. From simulation, the proposed algorithm has an improvement rate of up to 90% when compared to VG. This makes the algorithm is suitable to be applied in real-time and will greatly accelerate the development of autonomous cars in the near future

Image processing and machine learning techniques used in computer-aided detection system for mammogram screening - a review

This paper aims to review the previously developed Computer-aided detection (CAD) systems for mammogram screening because increasing death rate in women due to breast cancer is a global medical issue and it can be controlled only by early detection with regular screening. Till now mammography is the widely used breast imaging modality. CAD systems have been adopted by the radiologists to increase the accuracy of the breast cancer diagnosis by avoiding human errors and experience related issues. This study reveals that in spite of the higher accuracy obtained by the earlier proposed CAD systems for breast cancer diagnosis, they are not fully automated. Moreover, the false-positive mammogram screening cases are high in number and over-diagnosis of breast cancer exposes a patient towards harmful overtreatment for which a huge amount of money is being wasted. In addition, it is also reported that the mammogram screening result with and without CAD systems does not have noticeable difference, whereas the undetected cancer cases by CAD system are increasing. Thus, future research is required to improve the performance of CAD system for mammogram screening and make it completely automated

Efficient robotic path planning algorithm based on artificial potential field

Path planning is crucial for a robot to be able to reach a target point safely to accomplish a given mission. In path planning, three essential criteria have to be considered namely path length, computational complexity and completeness. Among established path planning methods are voronoi diagram (VD), cell decomposition (CD), probability roadmap (PRM), visibility graph (VG) and potential field (PF). The above-mentioned methods could not fulfill all three criteria simultaneously which limits their application in optimal and real-time path planning. This paper proposes a path PF-based planning algorithm called dynamic artificial PF (DAPF). The proposed algorithm is capable of eliminating the local minima that frequently occurs in the conventional PF while fulfilling the criterion of path planning. DAPF also integrates path pruning to shorten the planned path. In order to evaluate its performance, DAPF has been simulated and compared with VG in terms of path length and computational complexity. It is found that DAPF is consistent in generating paths with low computation time in obstacle-rich environments compared to VG. The paths produced also are nearly optimal with respect to VG

Bursting behavior of polyester needle-punched filter fabrics

253-259The effect of fabric weight, depth of needle penetration and needling density on bursting strength of needle-punched nonwoven filter fabrics prepared from virgin and recycled polyester fibres has been studied. The effect of fabric parameters on bursting behavior trend is found similar in both the virgin and the recycled polyester filter fabric samples. There is considerable fall in bursting strength of recycled polyester fabrics as compared to that in virgin one, under high fabric weight and needling density. Interestingly, it has been found that the recycled polyester filter fabric shows 3.584% lesser strength (average value of all samples) than the virgin polyester filter fabric, which signifies the use of recycled polyester filter wherever applicable, considering the recyclability and sustainability aspects

Bursting behavior of polyester needle-punched filter fabrics

The effect of fabric weight, depth of needle penetration and needling density on bursting strength of needle-punched nonwoven filter fabrics prepared from virgin and recycled polyester fibres has been studied. The effect of fabric parameters on bursting behavior trend is found similar in both the virgin and the recycled polyester filter fabric samples. There is considerable fall in bursting strength of recycled polyester fabrics as compared to that in virgin one, under high fabric weight and needling density. Interestingly, it has been found that the recycled polyester filter fabric shows 3.584% lesser strength (average value of all samples) than the virgin polyester filter fabric, which signifies the use of recycled polyester filter wherever applicable, considering the recyclability and sustainability aspects

Energy efficient path-planning for unmanned aerial vehicle

This project develops an efficient path-planning algorithm for an unmanned aerial vehicle (UAV) in obstacle-rich environments considering minimum energy consumption. UAV is increasingly being used to replace humans in performing risky missions in adverse environments. UAV normally gets its energy from solar, hydrogen cell or li-ion batteries. However, these energy sources have limitations; for example, in a cloudy day, solar power might not be fully generated. This may result in the UAV to fail in accomplishing a given mission if its path is longer than necessary. Therefore, it is vital for the UAV to have a minimal path length which leads to the least energy consumption. The proposed path planning algorithm is called Iterative Elliptical- Convex Visibility Graph (IECoVG) which is based on visibility graph (VG) and Dijkstra’s algorithm. IECoVG limits the size of the search space which will in turn reduce the number of obstacles for path planning. Performance comparison through simulation in terms of computational time and path length between IECoVG andconventional VG as well as the Iterative Equilateral Space Oriented VG (IESOVG)has been executed. Identical scenarios have been applied in order to have a fair and conclusive result. The simulation shows that IECoVG improves the computation time up to 86 % due to its efficiency in selecting the search space. To further enhance IECoVG, flight cost, segment length, heading angle change and the UAV’s speed have also been considered as they proportionally affect the energy consumption of the UAV. The enhanced IECoVG named IECoVG+ can improve the energy consumption of the UAV by 10.42 %

Electronic automatic temperature control of cryopreservation for artificial insemination (PROTOTYPE)

The scientist and researchers are facing problems in genetically stabilizing living cells. The living cells can be stabilized by keeping them in cryogenic temperatures. Stabilizing cells at cryogenic temperatures is called cryopreservation, an applied aspect of cryobiology, or the study of life at low temperatures. Advances in cryopreservation technology have led to methods that allow low-temperature maintenance of a variety of cell types. Techniques are available for the preservation of microorganisms, isolated tissue cells, small multi cellular organisms, and even more complex organisms such as embryos. The freezing process involves complex phenomena which, even after decades of research, are not fully understood. The aim of this project to make prototype of a cryopreservation system, so, it can preserve the sperm or any other biological material. For the aim of cryopreservation, a circuit board with a microcontroller, thermocouple controller, and a voltage driver for valve are constructed. Two sensors are used, a K-types thermocouple and Water level detector-brick sensor, which send data to the microcontroller. After the microcontroller receives the data, the data of temperature and level are compared to control the valve. The cryopreservation system is modeled in AutoCAD and the temperature control circuit is programmed in MPLAB. An adjustable plastic box which is non-conductive and resistant to heat is used in the fabricated system. It has a metal box inside to reserve sperm tubes. An electrical solenoid valve is used for supplying necessary liquid. The total cryopreservation is activated by sensing physical value by the sensors which are converted by thermocouple amplifier in understandable form for microcontroller. The data are then processed, compared and the valve is then operated accordingly by the microcontroller. The fabricated system is tested at different temperature conditions and it is found that there is very less error. The system functions very effective and is able to control the temperature of the system to preserve the sperm

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Not AvailableIn this study, jute stick (JS), the underexplored by-product of jute (Corchorus olitorius) cultivation system, has been used as a novel low-cost adsorbent to remove methylene blue (MB), a cationic dye, from an aqueous medium. Box–Behnken design matrix and response surface methodology (RSM) have been used to evaluate the effect of four important process factors namely, solution pH (3–11), adsorbent dose (0.5–5 g L−1), initial dye concentration (50–200 mg L−1), and time (60–180 min). JS was characterized by physico-chemical parameters, pHzpc (zero-point charge), FTIR for the functional groups and SEM–EDX for surface morphology. The direct and interaction effects of adsorption parameters were studied. The optimum values of pH, dose, initial concentration, and time for maximum % dye removal were 10.27, 5 (g L−1), 200 (mg L−1), and 66.06 min. Regeneration and recycling studies were also carried out. The present study indicated that JS, a bio-waste of jute cultivation system, can be effectively utilized as an adsorbent to treat MB contaminated aqueous medium/ wastewater before environmental disposal.Not Availabl