Attempts to achieve robotic Within-Hand-Manipulation (WIHM) generally utilize either high-DOF robotic hands with elaborate sensing apparatus or multiarm robotic systems. In prior work we presented a simple robot hand ...
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This study presents the details of performance and exergy investigations on an inclined solar still with baffle arrangements. The shortage of consumable water creates the transformation of accessible brackish water in...
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This study presents the details of performance and exergy investigations on an inclined solar still with baffle arrangements. The shortage of consumable water creates the transformation of accessible brackish water into consumable water an unavoidable one and this can be accomplished utilizing sun-oriented refining. To remove drinkable water from pungent water, sun-oriented still is broadly utilized. To build the contact season of the pungent water with sunlight-based brilliance, perplex course of action is set to expand the opposition in the stream. This prompts more vanishing of brackish water. Therefore, the objective of this study is to improve freshwater yield. The experimental study is performed for two different mass flow rates (m = 0.0833 kg/min and m = 0.166 kg/min). An increase in the mass flow of water directly deteriorates the yield of fresh water. Highest accumulated freshwater yield is achieved as 2.908 kg/m day during the month of May for m = 0.0833 kg/min. The accumulated freshwater yield improved by 4.23% in comparison with inclined solar still designs. Moreover, the yield is better by 3.49%-61.56% in comparison with various solar still designs. Using RSM, a polynomial statistical model is specified to estimate as well as maximize the freshwater yield of ISSB. The exergy analysis for m = 0.0833 kg/min shows a maximum hourly exergy efficiency of 6.82%.
Affective assessment instruments have been developed, especially those related to attitudes. In engineering mathematics learning 1 through the MOOC platform, it was carried out with discussion. The development of atti...
Affective assessment instruments have been developed, especially those related to attitudes. In engineering mathematics learning 1 through the MOOC platform, it was carried out with discussion. The development of attitude instrument assessment to assess student activity was carried out after learning was complete. This development research used the Plomp Model. The Plomp Model consisted of 5 stages. They were the initial investigative stages, design stage; construction stage; the test, evaluation, revision stages; and implementation stages. Two experts and trials carried out validation were carried out on 100 students. The result of developing an attitude assessment instrument was a questionnaire. The difference from other questionnaires lies in paying attention to the internal continuum interval of attitudes developed by Bloom's Taxonomy. They were Responding, Valuing, and Organization. Afterward, The instrument is tested for reliability and validity until it is declared to validate each item and the instrument's reliability in the excellent category. The value of Cronbach's Alpha instrument is 0.848. The value indicates that the attitude assessment instrument is classified as having good criteria. Then the instrument is implemented in discussion on the MOOC Platform.
We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm： （1） three-part body that is 3D printed and actuated by t...
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We have created an inchworm robot capable of the two-anchor crawl gait on level ground and inclined plane. The main novelty is in the design of the inchworm： （1） three-part body that is 3D printed and actuated by two servo motors to allow a looping and lengthening action, （2） passive friction pads to anchor the feet, each of which may be disengaged using a servo motor actuated lever arm, and （3） modular body and electronics. The robot is about 2 feet （61 cm） in length, has a mass of about 4 kg, and uses an open-loop controller to achieve steady crawling gait. The inchworm robot achieved a speed of 2.54 *** on level ground as well as on an incline plane of 19~. The energy usage as measured by the mechanical Cost of Transport （a non-dimensional number defined as the energy used per unit weight per unit distance moved） is 3.34. Our results indicate that simple robotic designs that copy the basic features of natural organisms provide a promising alternative over conventional wheeled robots.
In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the eg...
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ISBN:
(数字)9781728173955
ISBN:
(纸本)9781728173962
In this paper, we consider a two-player racing game, where an autonomous ego vehicle has to be controlled to race against an opponent vehicle, which is either autonomous or human-driven. The approach to control the ego vehicle is based on a Sensitivity-ENhanced NAsh equilibrium seeking (SENNA) method, which uses an iterated best response algorithm in order to optimize for a trajectory in a two-car racing game. This method exploits the interactions between the ego and the opponent vehicle that take place through a collision avoidance constraint. This game-theoretic control method hinges on the ego vehicle having an accurate model and correct knowledge of the state of the opponent vehicle. However, when an accurate model for the opponent vehicle is not available, or the estimation of its state is corrupted by noise, the performance of the approach might be compromised. For this reason, we augment the SENNA algorithm by enforcing Permissive RObust SafeTy (PROST) conditions using control barrier functions. The objective is to successfully overtake or to remain in the front of the opponent vehicle, even when the information about the latter is not fully available. The successful synergy between SENNA and PROST-antithetical to the notable rivalry between the two namesake Formula 1 drivers-is demonstrated through extensive simulated experiments.
The pathogenesis of esophageal disorders is related to the esophageal wall mechanics. Therefore, to understand the underlying fundamental mechanisms behind various esophageal disorders, it is crucial to map the esopha...
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Rice straw is an agricultural waste most left in the field and is burned prior to the next crop. It is a biomass resource which has high potential to be used as an alternative fuel. However, it contains low fixed carb...
Rice straw is an agricultural waste most left in the field and is burned prior to the next crop. It is a biomass resource which has high potential to be used as an alternative fuel. However, it contains low fixed carbon and high volatile matters, giving low fuel characteristics. Hence, upgrading rice straw via low temperature torrefaction is of interest. Torrefaction is a thermal chemical process similar to drying, but it requires higher temperature with air absence environment. In this present work, central composite design is used for experimental plan. Two pertinent parameters, temperature and reaction time vary in ranges of 200-300 °C and 25.7-54.3 minutes, respectively. Optimization of the torrefaction is made by considering energy yield (%) and specific energy consumption (Wh/g) used during the process. The results show that at 200°C, 40 min, the test gives the best energy yields and specific energy consumption by 96.16% and 23.73 Wh/g and at 215°C, 30 min, the second best of 94.06% and 25.50 Wh/g are obtained. These two conditions are recommended for rice straw torrefaction.
For wind turbines, pitch control is essential. In some cases, especially in the case of large scale wind turbines, hydraulic control is used. In this paper a hydraulic system used in wind turbine pitch control is anal...
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The development of additive manufacturing in the 1980s led to a revolution in various metalcasting processes as early as the 1990s, including the use of polymer 3D printing for the manufacture of sand casting patterns...
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The development of additive manufacturing in the 1980s led to a revolution in various metalcasting processes as early as the 1990s, including the use of polymer 3D printing for the manufacture of sand casting patterns. While additive manufacturing has entered many metalcasting processes, including both expendable and permanent mold processes, this paper specifically examines the sand casting process. ExOne’s development of binder jetting technology over the last 20 years has allowed designers in the sand casting field to directly 3D print sand molds for metalcasting. Use of binder jet additively manufactured sand molds allows for quicker turnaround time for testing prototypes, new gating designs, and for producing one-off parts. Additive manufacturing of sand molds for metalcasting may implement any of the same foundry sands as green sand processes, but uses a furan binder instead of the traditional mixture of bentonite clay and water. The use of a chemical binder had led to questions about the resulting dimensional capabilities and mechanical properties of the castings produced by the mold. This study investigated the dimensional tolerancing capabilities, surface finish, mechanical properties, microstructure, and defects present in identical castings made from both a traditional olivine green sand molding process and a binder jet additively manufactured silica sand molding process. It was concluded that binder jet additively manufactured sand molds are capable of either equal or better dimensional accuracy and tolerance capabilities than traditional olivine green sand molds. The olivine green sand parts had an average of approximately 1 μm better surface finish than the binder jet sand molds; however, it is likely that both the addition of sea coal to the green sand and the difference in final part color significantly affected this result. The mean hardness of the binder jet parts was 58.9 HBW with a standard deviation of 5.6 HBW, compared to the mean of the green
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