Automatic navigation of mobile robots in unknown environments

Online navigation with known target and unknown obstacles is an interesting problem in mobile robotics. This article presents a technique based on utilization of neural networks and reinforcement learning to enable a mobile robot to learn constructed environments on its own. The robot learns to generate efficient navigation rules automatically without initial settings of rules by experts. This is regarded as the main contribution of this work compared to traditional fuzzy models based on notion of artificial potential fields. The ability for generalization of rules has also been examined. The initial results qualitatively confirmed the efficiency of the model. More experiments showed at least 32 % of improvement in path planning from the first till the third path planning trial in a sample environment. Analysis of the results, limitations, and recommendations is included for future work.     

Enhancement of biohydrogen production from sustainable orange peel wastes using Enterobacter species isolated from domestic wastewater

Five facultative anaerobic bacterial isolates were recovered from domestic wastewater. These isolates were identified based on the 16S rRNA as Enterobacter aerogenes (one isolate), Enterobacter cloacae (two isolates), and Cronobacter sakazakii (three isolates). These isolates were examined for their potential to evolve hydrogen on a glucose medium. The most potent hydrogen‐producing isolates, E aerogenes (KY549389) and E cloacae (KY524293), were examined for their capacity to generate hydrogen, acetone, butanol, and ethanol using orange peel (OP) hydrolysate. OP powder was pretreated with n‐hexane to remove the toxicity of d ‐limonene. Different concentrations (4%, 6%, and 8% w/v) of limonene‐free OP were subjected to the boiling water (temperature of 100°C) or acid (HCl) treatments. The maximum fermentative H₂ production of 1700 and 1620 mL/L was obtained from 6% OP hydrolysate extracted with boiling water using facultative anaerobic E aerogenes (KY549389) and E cloacae (KY524293), respectively. Hydrogen production efficiency was 0.99 and 1.19 mol H₂/mol glucose for E aerogenes and E cloacae, respectively. The total fermentative acetone, butanol, and ethanol (ABE) generated by E aerogenes and E cloacae were 0.78 and 0.38 g/L including acetone (0.05 and 0.04 g/L), butanol (0.011 and 0.013 g/L), and ethanol (0.71 and 0.32 g/L), respectively. The maximum ABE productivity was 0.01 and 0.005 g/L/h generated at 60 g/L OP hydrolysate by E aerogenes and E cloacae, respectively. These strains were positive for nitrogen fixation (nitrogenase) capability estimated by the acetylene reduction assay. Application of OP hydrolysate without the addition of any nutritional components or reducing agent is considered an eco‐friendly, economical, and commercial substrate for desired biofuel production.     

Developing a hybrid PSO–ANN model for estimating the ultimate bearing capacity of rock-socketed piles

Neural Computing and Applications - Rock-socketed piles are commonly used in foundations built in soft ground, and thus, their bearing capacity is a key issue of universal concern in research,...     

CHARACTERIZATION OF EFFECTIVE TIRE CONTACT AREA FOR VARIOUS TREAD PATTERNS

The effective tire-pavement contact area affects the relative damage of asphalt pavement and should be incorporated in both mechanistic and empirical response analyses of pavements. A new machine called ROTOCOM Wheel Tracker (RCWT) was designed and fabricated to capture the effective tire contact area apart from slab compacting, and conducting simulative laboratory wheel tracking tests. The main focus of this paper is laboratory measurement of effective tire contact areas for various tread patterns. Seven tire treads were selected for the footprint image analyses at five tire loads and four tire inflation pressures. An image processing MATLAB-based program was coded to calculate the contact areas of the 280 imprints obtained from both sides of the RCWT. Factorial analysis indicated significant effects of tire tread, tire load, and inflation pressure on the resulting contact area. Comparison between effective and traditional contact areas indicated that the current pavement design procedure with traditional circular contact area extremely overestimates the actual tire-pavement contact area up to 92%.     

Electroosmotic micropump for lab‐on‐a‐chip biomedical applications

Lab‐on‐a‐chip (LOC) integrated microfluidics has been a powerful tool for new developments in analytical chemistry. These microfluidic systems enable the miniaturization, integration and automation of complex biochemical assays through the reduction of reagent use and enabling portability. Electroosmotic micropumps could be employed as powerful tools to generate required flow in point of care (POC) devices. In the present study, parallel electroosmotic micropumps are investigated to improve the efficiency of simple micropumps. According to the results, parallel micropumps generate higher flow rate in comparison with conventional electroosmotic pump. In the last decade, a large variety of non‐Newtonian fluids have been utilized in biomedical application but requirements for a POC device such as high efficient driving flow, miniaturization and simple handling of POC devices remain unmet. As a consequence, in this study, power law model as non‐Newtonian fluids that flow through the parallel micropumps are investigated in order to enhance fluid pumping and decreasing voltage requirement.. It is found that as the power law index increases the mass flow rate decreases. Also, the flow rate is almost constant for the higher power law index. Obtained results, demonstrated that parallel micropump could enhance pumping of non‐Newtonian fluid (blood) up to 30%. Copyright © 2016 John Wiley & Sons, Ltd.     

The effects of a “distinct window” screen design on computer-mediated group decision making

An experiment was performed to test a distinct-window conferencing screen design as an electronic cue of social status differences in computer-mediated group decision-making. The screen design included one distinct window to symbolize high-status, and two nondistinct windows to symbolize low-status. The results indicated that the distinct-window screen design did produce status affects in groups of peers making decisions on judgmental problems. Randomly assigned occupants of the distinct window had greater influence on group decisions and member's attitudes than occupants of nondistinct windows.The authors would like to thank Shyam Kamadolli and Phaderm Nangsue, the programmers who developed the software used in this experiment. We would also like to thank the editor and our three anonymous reviewers for exceedingly helpful comments on an earlier draft of this article.