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Design of Mobile Robot for Real World Application in Path Planning Using ZigBee Localization
Natthapol Watthanawisuth,Adisorn Tuantranont,Teerakiat Kerdcharoen 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper proposes a new path planning algorithm for a mobile robot applicable for realistic uses in farmland, which utilizes ZigBee localization, GPS and simple path learning from the GPS-Tractor tracking. The aim of this work is to verify a possibility in applying the ZigBee localization with GPS to estimate the tracking position of a mobile robot working in a farmland. To enhance robot mobility in a large area, human-supervised decision is implicitly incorporated into the path guiding using tracking data from the GPS tractor. Such development combining other systems to help in path guiding instead of operating only the standalone software on mobile robot could reduce the complexity of the path planning in complex farmland. We have applied this technology in a real-world situation at GranMonte Vineyard and Winery, Thailand.
Yuwadee Boonyasit,Thitima Maturos,Assawapong Sappat,Apichai Jomphoak,Adisorn Tuantranont,Wanida Laiwattanapaisal 한국바이오칩학회 2011 BioChip Journal Vol.5 No.1
The ability for low reagent consumption and minimum waste production in a miniaturised system has generated great interest in the green chemistry field. Herein, a microfluidic system for calcium assays using the arsenazo III method has been developed. The reaction between arsenazo III and calcium to form a blue-purple coloured complex is measured by an embedded miniature fibre optic spectrometer through absorbance increments at 650 nm. A linear range was obtained from 0.2 to 3mg dL^(-1) with a detection limit of 0.138mg dL^(-1) (S/N=3). The method exhibited good reproducibility based on low and high calcium tests with control serums, the within-run coefficient of variation (CVs) (4.10% and 3.91%), and the run-to-run CV (4.6%) were obtained. The carry-over effect of the method was also 1.98%, which is acceptable for the current system. When compared to a conventional spectrophotometric method, this portable, microfluidic method correlated highly when evaluating serum samples (r² =0.985; n=15). This similarity suggests that our proposed system could be used for determining the amount of calcium in serum samples.
Sutthipoj Sutthana,Kritsada Hongsith,Pipat Ruankham,Duangmanee Wongratanaphisan,Atcharawon Gardchareon,Surachet Phadungdhitidhada,Dheerawan Boonyawan,Pisist Kumnorkaew,Adisorn Tuantranont,Supab Choopu 한국물리학회 2017 Current Applied Physics Vol.17 No.4
An interfacial modification of CH3NH3PbI3/PCBM is investigated by pre-heating PCBM solution before spin-coating on the CH3NH3PbI3layer.By adjusting PCBM concentration, PCBM films were optimized to form homogeneous films. Besides, the pre-heat treatment of PCBM solution exhibits a better covered area over CH3NH3PbI3 layer with reduced pinhole compared with the non-heat treatment. This can be explained by the higher thermal energy PCBM molecules of the pre-heat solution leading to higher molecule mobility that can reorganizes a structural as well as enhance the diffusion and enhance coverage of PCBM films over CH3NH3PbI3. The optimized cell is enhanced with average power conversion efficiency from 4.59% up to 5.76% (6.44% maximum) by heat treatment. To investigate interface between CH3NH3PbI3 and PCBM, the contact angle was measured and found that the contact angle of PCBM films were higher after heat treatment suggesting re-alignment and better orientation of PCBM on perovskite film. The better orientation of PCBM can be explained in term of hydrophilic/hydrophobic property of the interface between CH3NH3PbI3 and PCBM. These results suggest that pre-heat treatment of PCBM solution has ability to modify the interface for better orientation of PCBM and resulting in efficiency enhancement due to better carrier transport direction at the CH3NH3PbI3/PCBM interfaces for perovskite solar cells. In addition, the better orientation that the head (non-polar)is oriented at outer surface can also prevent the solar cells from surrounding moisture.