UET Peshawar Publications Site (University of Engineering and Technology, Peshawar)
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IMMUNIZED AUTONOMOUS MULTI-ROBOT COOPERATION FOR MULTI OBJECTS TRANSPORTATION
No full textThis paper investigates an approach for coordination among multiple robots for the transportation of multiple objects to a specific location. In this paper, we propose an Artificial Immune System based dynamic task allocation to a group of autonomous and heterogeneous mobile robots. In our work, the system will autonomously select the appropriate number of capable robots required to cooperatively transport number of objects to a goal location. The environment is considered as dynamic and unknown, and there is no centralized knowledge available to the robots, hence the frame work is fully distributed and decentralized. The communication, coordination and cooperation strategies are inspired by Jerne's Idiotypic Network Theory and the structure of an antibody in a human immune system. The developed methodology of multi-robot cooperation is verified through computer simulation
EFFECT OF LATERAL SEISMIC LOAD ON THE SIZE OF SHALLOW FOOTINGS
No full textThe aim of this paper is to study the effect of lateral and seismic loading on the width of shallow foundation. This is achieved by conducting an extensive parametric study over a range of governing parameters involving static and dynamic bearing capacity equations. The parameters include a range of cohesion and frictional angle values for cohesive and frictional soils respectively, and different peak horizontal ground acceleration values corresponding to different seismic zones of Pakistan. The bearing capacity equations used for analysis are Meyerhof's, and seismic bearing capacity equation o) Euro Code 8. Cohesion is varied from 50 kPa to 200 kPa, and frictional angle is varied from 25° to 45°. The results indicate significant effect of static lateral and seismic loading on the width of footing. It is therefore recommended that where significant earthquake hazards or lateral loads exist, they should be estimated and width of footing determined accordingly. If no lateral effect is considered, it is recommended to use a factor of safety of 7 for purely cohesive soils, and 10 for purely frictional soils
EVALUATION OF AERATED LAGOON FOR THE TREATMENT OF DOMESTIC WASTEWATER IN LAHORE AND ITS COMPARISON WITH WASTEWATER STABILIZATION PONDS
No full textA study was carried out to evaluate the efficiency of aerated lagoon for the treatment of domestic wastewater of Lahore. For the purpose, a bench scale model of aerated lagoon (AL) comprising of an aeration tank and secondary clarifier was used. The model was operated continuously for 65 days at different aeration time i.e. 7, 5, 3, 2 days and finally at 1 day. Settled domestic wastewater was used as influent to the aerated lagoon. Biochemical oxygen demand (BOD), chemical oxygen demand (COD) and total suspended solids (TSS) were measured for influent and effluent to evaluate the efficiency of aerated lagoon. The results of the study demonstrated that National Environmental Quality Standards (NEQS) were met even at an aeration time of 1 day. Overall BOD removal rate constant (K) had a mean value of 1.23 per day. It was also revealed that 60 % of the total BOD was in particulate form and 40% in the dissolved/soluble form. A comparison of AL was made with wastewater stabilization ponds (WSP) using results of previous studies on WSP. The comparison revealed that for comparable effluent characteristic, per capita land area requirement for AL (detention time = 2 days) is approximately 11% of WSP, while the cost of AL is 149% of the cost of WSP. Since sufficient land area for construction of WSP is not available near Lahore, therefore, aerated lagoons have been recommended as most suited option for the treatment of domestic wastewater of Lahore
EAA: ENERGY AWARE ANYCAST ROUTING IN WIRELESS SENSOR NETWORKS
No full text
Since the emergence wireless sensor networks (WSNs) energy constraint always remain an issue which affects its design and operations. Many techniques have been proposed to lessen the consumption of energy in WSNs. By discovering the loop holes in the existing techniques we propose an energy aware anycast routing protocol (EAA) for wireless sensor networks in this paper. EAA distribute the sensed data among the existing nodes in a cost efficient manner to gain maximum network lifetime. Through extensive simulation results in TOSSIM, it is demonstrated that the EAA outperforms the existing techniques in terms of energy consumption which leads to maximum network lifetime. According to the average results EAA save almost 9.1% energy at every node of the sensor network. It minimizes the header to payload ration which leads to maximum network lifetime and 40% improvement has been recorded
EFFECT OF MOISTURE CONTENT ON DEGREE OF CRYSTALLINITY OF BIOPOLYMER COMPOSITES
No full textAdvancements in natural fibre reinforced composites are developing for cost-effective “green products" to be used in a wide range of applications. Biocomposites with improved mechanical properties and thermal stability using natural fibres is one of these recent developments. Biopolymers are polymers that are derived from renewable resources (e.g. derived from plant-based feedstocks or from bacterial fermentation). They have been recently developed in response to mounting needs for finding a substitute for fossil fuel-based polymers. This research has focused on the biopolymer Polylactic acid (PLA) reinforced with natural fibre (wood) and the effect of moisture contents on crystallinity have been studied by means of Differential Scanning Calorimetry (DSC). Crystallinity is increased from 2.0 ± 0.8 to 5.5 ± 1.2 when dried wood content increased from 0 to 40 (wt%). But when the non-dried wood having moisture contents is mixed with the PLA matrix, the crystallinity increased from 2.0 ± 0.8 to 8 ± 1.2 % as the wood flour content increased from 0 to 40 (wt%) enabling the composite that more of the filler amount act as a nucleating agent on the composites surface
A METHOD OF DATA MINING FOR SUSTAINABLE HYDROCARBON EXPLORATION
No full textSustainability needs balance in ecology, economy and social justice. The world in this century is badly suffered by unsustainable development causing recession crisis, manpower crisis etc. Energy is vital for economy of a country so it has sound impact on sustainable development. In any country energy is exploredto meet consumption requirements and it is consumed in accordance with available reserves. In Pakistan, hydrocarbons are considered to be one of the major sources of energy. The contribution of hydrocarbon to overall development will be considered sustainable only if the hydrocarbon exploration rate will conform to its consumption rate. To ensure sustainable energy development, sustainability indicators had been agreed by world experts in a summit held in South Africa in 2001. These indicators will have different values for different countries depending upon the economy, energy reserves, living standards and social conditions. Depending upon these values, a methodology is proposed in this paper to find optimal hydrocarbon exploration rate that will ensure sustainable energy development in any country. The sustainability indicators (SI) are classified into exploration SI and consumption SI. The indicators which have strong correlation with hydrocarbon exploration rate are considered to be exploration SI while the indicators which have strong correlation with consumption rate are considered to be consumption SI. The correlation values are calculated by statistical correlation analysis. After finding exploration SI, multiple regression is used to predict optimal hydrocarbon exploration rate which will ensure sustainable energy development within the country
CAPACITY ESTIMATION OF SIMO SYSTEMS IN THE PRESENCE OF CO-CHANNEL INTERFERENCE
No full textThis paper presents a new approach for evaluating the performance of single-input multiple-output (SIMO) cellular mobile communication systems in interference limited environment. The performance is analyzed by calculating the ergodic capacity and hence the spectral efficiency for Rayleigh fading SIMO channel in the presence of unequal power Rayleigh fading co-channel interferes. Expressions for evaluating system’s capacity using maximum ratio combining (MRC) are presented. The analytical results are verified by developing Monte Carlo simulations. Finally, the effect of variation in cellular parameters including cell size and re-use distance on the system’s performance is studied. It is shown that the employment of multiple antennas at the receiver can significantly improve the performance of the system. The capacity limits defined by MRC analysis are found within the estimated values of capacity using simulation. It is observed that increasing cell size and re-use distance decrease the effect of co-channel interference, however, the overall area spectral efficiency (ASE) of the system reduces due to the increase in cellular coverage area. Thus, a trade-off between capacity improvement and reduction in cell-size is suggested
HAND-EYE COORDINATION FOR OBJECT GRASPING TASK OF HUMANOID ROBOT (BHR-02)
No full textHand-eye coordination play vital role in object grasping task of humanoid robot. A method proposed for hand-eye coordination addresses four distinct problems i) Integration of vision control and motion controlii) hand-eye coordinate transformation iii) orientation of hand with target object iv) hand-eye localization. For hand localization and to limit the orientation problem a blue colored rectangle block was pasted on the robot hand. The blue colored rectangle block four sides were detected by applying karhunen loeve (K-L) transform, Hough transform and Least Square Error (LSE) methods. For hand-eye coordination a hand-eye model was developed to adjust the position and orientation error for object grasping task. In the hand-eye model world coordinate system was set on right shoulder joint. The position and orientation of the hand was obtained through coordinate transformation from left eye coordinate system to end-effector coordinate system. The results presented in this paper justify the effectiveness of the proposed method
IMPACTS OF GENETICALLY MODIFIED FOODS/ CROPS ON HUMAN HEALTH AND ENVIRONMENT: A REVIEW
No full textGenetic engineering offers new and novel tools to ensure an adequate food supply for the ever increasing human population. It involves targeted modification of the genetic material of plants, crops etc. to developnew varieties. The edible products are called as genetically modified (GM) foods. Despite the apparent enormous benefits of GM foods, the technology is surrounded by controversy. Benefits include: increased crop yields through improvement in insect, pest, disease resistance and extreme weather tolerance/resistance of crops; improved nutritional quality and longer fruit and vegetable shelf-life. Some of the fears expressed regarding GM foods include potential toxicity; possible antibiotic resistance; possible allergic and carcinogenic effects; possible creation of new viruses; unintentional gene transfer to wild plants; limited access to seeds due to patenting of GM food plants; threat to crop genetic diversity besides cultural, religious and ethical concerns as well as fear of unknown. This paper briefly reviews potential risks and benefits of the new technology to the man and the environment. The government stance and public attitude towards GM foods along with genetic modification of foods and crops in Pakistan have also been focused
DRIVER FATIGUE RELATED ROAD ACCIDENTS IN PAKISTAN
No full textWorldwide, Driver Fatigue is considered to be one of the most significant factors that contribute toward fatal highway crashes. This research has attempted to identify the problem size in Pakistan by analyzing the accident data for the Rawalpindi-Peshawar section of the national highway (N-5). Data was collected from the accident report forms, maintained by the National Highways and Motorways Police (NH&MP). A total of 599 accident report forms that spread over the period from 2001 to 2006, were examined. A fatigue determining criteria was applied for identifying fatigue related accidents. Results show that driver fatigue contributed up to 17.18% of the total accidents and was highest in the month of June