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- 저자 : Nur Aqilah Othman (검색결과 2 건)
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The Impact of Cross-correlation on Mobile Robot Localization
Hamzah Ahmad,Nur Aqilah Othman 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.5
This paper deals with the theoretical investigation of the importance of cross-correlation in mobile robot localization. Two different case studies were conducted to examine the effects of crosscorrelation terms on the estimation. The first case refers to a situation when a mobile robot moves and calculates its position relative to a landmark, while in the second case the mobile robot is independent of the landmark position. The preliminary results obtained have indicated that the updated state covariance of the mobile robot that is independent of the landmark position could decrease or increase compared to that of the mobile robot that depends on the landmark position. The results are then evaluated through simulation which is consistently agrees with the theoretical results.
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Basirun Ain Aqilah,Othman Ahmad Razi,Yasid Nur Adeela,Halmi Mohd Izuan Effendi,Gunasekaran Baskaran,Shukor Mohd Yunus Abd 한국화학공학회 2023 Korean Journal of Chemical Engineering Vol.40 No.6
Membrane isolation, ion exchange, precipitation, transformation, and biosorption are all viable methods for pollutant removal. Adsorption is a common commercial method to concentrate precious molecules or eliminate contaminants, and it is a cost-effective method of treating industrial wastewater. A novel method for increasing their removal effectiveness has been developed for this purpose, using a low-cost biosorbent made from durian husk and Evans blue (EB) dye as a subject. The EB dye adsorption percentage was determined to be 95.95% with 72.0 mg/g adsorption amount at optimal conditions of pH 2 and 40 °C. The second-order kinetic model fit the experimental data the best. Additionally, the results indicated that the Sips isotherm model fits the experimental data better and that the experiment involved single-layer adsorption on the adsorbent surface. A non-linear regression of the van’t Hoff plot gave negative values of Gibbs free energy (−39.38 to −41.48 kJ/mol) at all the temperatures studied (from 20 to 60 °C), indicating that the adsorption process is spontaneous and feasible. A negative value for the enthalpy (ΔHo=−23.37kJ/mol) indicated that the adsorption was exothermic, and the positive value of (ΔSo=54.55kJ/mol·K) concludes the nature of adsorption of Evans blue dye by Durian husk likely to follow a physisorption adsorption mechanism.
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