http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Performance Analysis of Path Planning Algorithms for Fruit Harvesting Robot
Zeeshan Sadaf,Aized Tauseef 한국농업기계학회 2023 바이오시스템공학 Vol.48 No.2
Purpose Path planning is an essential part in designing of an agricultural robot. The path planning algorithms for fruit harvesting robots vary in performance, based on diff erent environments, obstacles, and constraints. This research aims to analyze and evaluate the most commonly used path planning algorithms by fruit harvesting robots in the past 10 years to assess the robot’s performance. The primary objective behind the comparative analysis of path planning algorithms is to ascertain which algorithm demonstrates better performance in terms of reaching the target fruit in the shortest time, requiring the least amount of computing resources, and being able to navigate around obstacles eff ectively. Hence, the study determines which path planning algorithm is the most effi cient for the application of fruit harvesting robot. Method In this study, four common path planning algorithms were evaluated namely A-star, Probabilistic Road Map, Rapidly exploring Random Tree, and improved Rapidly exploring Random Tree. Three cases were examined for performance. The fi rst case deals with performance based on varying orientations of fruit within the workspace. The second case investigates the performance in the presence of obstacles in the path, and the third case caters to performance due to varying distances of robot and the fruit. Matlab software was used for creating simulation environment for testing. Run time, path length, standard deviation, and total task time were obtained for each case and statistical analysis was done. Results It was found that improved Rapidly exploring Random Tree performed better in terms of path length and gave an optimal path as compared to the other algorithms due to its rewiring feature by an average of 21%. Run time of Rapidly exploring Random Tree was better than the other three algorithms. Conclusion Four most commonly used path planning algorithm were analyzed for performance for fruit harvesting robot for three diff erent cases. Despite the variations in performance across diff erent scenarios, the results confi rmed that the improved Rapidly exploring Random Tree algorithm outperformed all other algorithms under the given constraints.
Zeeshan Nawaz,Fei Wei 한국공업화학회 2011 Journal of Industrial and Engineering Chemistry Vol.17 No.3
The addition of Al_2O_3 up to 20% (as cementing agent) in SAPO-34 support significantly integrates metal functions of Pt–Sn-based catalyst, ultimately improves catalytic performance for direct propane dehydrogenation to propylene. Superior propane conversion (initially above 40%) and propylene selectivity (around 95%) is obtained experimentally over Pt–Sn/Al_2O_3–SAPO-34. The results were found promising and compared with Pt–Sn/SAPO-34 under identical operating conditions. Better platinum dispersion and higher active platinum sites are characterized by TEM and hydrogen-chemisorption analysis. Moreover, the possible metal interactions with different supports were configured. Therefore,light alkane dehydrogenation to alkene was enhanced using surface modified support Al_2O_3–SAPO-34for Pt–Sn-based catalysts.
Zeeshan Rashid,Cecilia Devi Wilfred,Regupathi Iyyaswami,Arunagiri Appusamy,Murugesan Thanabalan 한국공업화학회 2019 Journal of Industrial and Engineering Chemistry Vol.79 No.-
Dispersion of asphaltene in crude oil using ionic liquids (ILs) is being considered as a viable solution, inextraction and transportation processes. In this work, the interplay between asphaltene and ILs has beenstudied systematically to understand the effect of structural variation of ILs on asphaltene solubility. Theactivity coefficient of the total of 1517 ILs with different combinations of cation and anion of ILs forrepresentative asphaltene molecule (asphaltene) was estimated via COSMO-RS (Conductor-likeScreening Model for Real Solvents). COSMO_RS predictions were validated using experimental dataon asphaltene solubility. Among the studied ILs, asphaltene showed high solubility in imidazolium-basedILs with hydrophobic anions. The present approach paved a way forward to rationally understand theimpact of structural variation of ILs on their interaction with asphaltene molecule and to design new ILsfor the dispersion and stabilization of asphaltene.
Zeeshan Nawaz,Shu Qing,Gao Jixian,Xiaoping Tang,Fei Wei 한국공업화학회 2010 Journal of Industrial and Engineering Chemistry Vol.16 No.1
The performance of Pt–Sn-based catalyst, supported on ZSM-5 of different Si/Al ratios were investigated for simultaneous dehydrogenation and cracking of n-butane to produce light olefins. The catalysts were characterized by number of physio-chemical techniques including XRF, TEM, IR spectra, NH3-TPD and O2-pulse analysis. Increase in Si/Al ratio of zeolite support ZSM-5 significantly increased light olefin’s selectivity, while feed conversion decreases due to lower acidity of support. The results indicated that both the n-butane cracking and dehydrogenation activity to light olefin’s over Pt–Sn/ZSM-5 samples with increasing Si/Al ratios greatly enhanced catalytic performance. The catalysts were deactivated with time-on-stream due to the formation of carbon-containing deposits. A coke deposition was significantly related to catalyst activity, while at higher Si/Al ratio catalyst the coke precursors were depressed. These results suggested that the Pt–Sn/ZSM-5 catalyst of Si/Al ratio 300 is superior in achieving high total olefins selectivity (above 90 wt.%). The Pt–Sn/ZSM-5 also demonstrates resistance towards hydrothermal treatment, as analyzed through the three successive reaction-regeneration cycles.
Zeeshan Nawaz,Faisal Baksh,Jie Zhu,Fei Wei 한국공업화학회 2013 Journal of Industrial and Engineering Chemistry Vol.19 No.2
The objective of this work is to discuss the performance of Pt-Sn/slit-SAPO-34 novel catalyst for selective C3–C4 dehydrogenation to corresponding light olefins. The metallic contents, acidity, active metallic sites and metallic dispersion were determined using a number of physico-chemical techniques as it gives a justification for superior catalytic activity for dehydrogenation reaction. The Pt-Sn/slit-SAPO-34 catalyst was analyzed for dehydrogenation activity under optimized operating conditions; at atmospheric pressure, hydrogen to alkane (feed) molar ratio is 0.2, weight hourly space velocity 5 h1 and temperature 585 8C. Around 40% light alkane conversion and above 95% of total olefins selectivity with 94% propene, 92% n-butene and about 84% iso-butene selectivity were achieved over Pt-Sn/slit-SAPO-34novel catalyst. The catalyst was parametrically characterized over the above said operating conditions and effects of operating conditions on product distribution were discussed. The coke formation was inherently related to catalyst activity in dehydrogenation reaction and related to surface intermetallic ensemble effects; and ultimately the prominent stakeholder in catalyst deactivation. The novel catalysts also showed very good hydrothermal stability in a continuous reaction–regeneration cycles due to silicabased acidic structure of support. The results obtained over Pt-Sn/slit-SAPO-34 novel catalyst were compared with other Pt-Sn-based ZSM-5 and SAPO-34 supported catalysts of similar active metallic content under identical operating conditions.