In this paper, an enhanced artificial potential field (EAPF) planner is introduced. This planner is proposed to rapidly find online solutions for the mobile robot path planning problems, when the underlying environment contains obstacles with unknown locations and sizes. The classical artificial potential field represents both the repulsive force due to the detected obstacle and the attractive force due to the target. These forces can be considered as the primary directional indicator for the mobile robot. However, the classical artificial potential field has many drawbacks. So, we suggest two secondary forces which are called the midpoint

The aim of this study was to use low cost adsorbents, which consist of corn cobs as plant wastes adsorbents in treatment of Industrial waste water by fixed bed column technique and study the effect of two variables (pH value and contact time). The sample of plant waste (Corn cobs) was tested to determine its activity which gives the best performance in heavy metals removal and other pollutants (TSS, TDS and COD). Adsorption tests showed the corn cobs adsorbents had significant heavy metal removal efficiency. The best removal efficiency 95.05% of Cr was occurred at pH 5.4 and 4.18hr. Higher removal efficiency 99.90% of Ni was occurred at pH 6.5 and 2.38hr. While, lower removal efficiency 91.35% for Zn obtained at pH 6.5 and 0.15hr. Remova

The current study was designed for using banana peels to remove zinc, chromium and nickel from industrial waste-water. Three forms of these peels (fresh, dried small pieces and powder) were tested under some environmental factors such as pH, temperature and contact time. Current data show that banana peels are capable of removing zinc, chromium and nickel ions at significant capacity. Furthermore, the powder of banana peels had highest capability in removing all zinc, chromium and nickel ions followed by fresh peels whilst dried peels had the lowest bioremoving capacity again for all metals under test. The highest capacity was for chromium then nickel and finally zinc. All these data were significantly (LSD peel forms = 2.761 mg/l, LSD m

     The main parameters and methods influencing the removal of Gentian Violet (GV) dye from aqueous media were investigated using a stachy plant in this study. The surface of the stachy plant was determined using FTIR spectra. Adsorption is influenced by the adsorbent's characteristic groups. The research took into account the usual conditions for GV dye adsorption by the stachy plant, such as the impact of contact time. Mass dosage , after 0.3 g the amount of adsorbed dye declines. Study pH and ionic strength, the results obtained showed that at pH 3 the largest adsorption of (GV) was seen, while at pH 9, the lowest adsorption was observed  at 298 K, the adsorption kinetics and equilibrium constants were achieved, and the equilibr

An agricultural waste (walnut shell) was undertaken to remove Cu(II) from aqueous solutions in batch and continuous fluidized bed processes. Walnut shell was found to be effective in batch reaching 75.55% at 20 and 200 rpm, when pH of the solution adjusted to 7. The equilibrium was achieved after 6 h of contacting time. The maximum uptake was 11.94mg/g. The isotherm models indicated that the highest determination coefficient belongs to Langmuir model. Cu (II) uptake process in kinetic rate model followed the pseudo-second-order with determination coefficient of 0.9972. More than 95% of the Cu(II) were adsorbed on the walnut shells within 6 h at optimum agitation speed of 800 rpm. The main functional groups responsible for biosorption of

The aim of this study was to use low cost adsorbents, which consists of plant wastes in treatment of Industrial waste water by fixed bed column technique and study the effect of to two variables (pH value and contact time) on adsorption process. The sample of plant waste (Rice husk) was tested to determine its activity which gives the best performance in heavy metals removal and other pollutants (TSS, TDS and COD). Adsorption tests showed all tested plant adsorbents had significant heavy metal removal efficiency. The best removal efficiency 96.56% of Cr was occurred at pH 6.5 and 5hrs. Higher removal efficiency 99.02% of Ni was occurred at pH 6.5 and 0.15hr. While, lower removal efficiency 94% for Zn obtained at pH 5 and 2.83hrs. Removal

Electrochemical machining is one of the widely used non-conventional machining processes to machine complex and difficult shapes for electrically conducting materials, such as super alloys, Ti-alloys, alloy steel, tool steel and stainless steel.  Use of optimal ECM process conditions can significantly reduce the ECM operating, tooling, and maintenance cost and can produce components with higher accuracy. This paper studies the effect of process parameters on surface roughness (Ra) and material removal rate (MRR), and the optimization of process conditions in ECM. Experiments were conducted based on Taguchi’s L9 orthogonal array (OA) with three process parameters viz. current, electrolyte concentration, and inter-electrode gap. Sig

In this study, hexadecyltrimethylammonium bromide (HDMAB) - bentonite was synthesized by placing alkylammonium cation onto bentonite. Adsorption of textile dye such as direct Yellow 50 on natural bentonite and HDMAB -bentonite was investigated. The effects of pH, contact time,dosage clay and temperature were investigated experimentally .The Langmuir and Freundlish isotherms equations were applied to the data and values of parameters of these isotherm equations were evaluated. The study indicated that using 0.2 g of HDMAB (hexadecyltrimethylammonium bromide) lead to increase the percentage removal(R%) from 78% for pure bentonite to 99 %. The optimum pH value for the adsorption experiments was found to be pH=3 and therefore all the experim