Search

This article describes the velocity-based motion and orientation control method for a differential-driven two-wheeled E-puck Robot (DDER) using the Multi-Objective Particle Swarm Optimization (MPSO) algorithm in the Virtual Robot Experimentation Platform (V-REP) software environment. The wheel velocities data and Infra-Red (IR) sensors reading make the multi-objective fitness functions for MPSO. We use front, left, and right IR sensors reading and right wheel velocity data to design the first fitness function for MPSO. Similarly, the front, left, and right IR sensors reading, and left wheel velocity data have been taken for making the second fitness function for MPSO. The multi-objective fitness functions of MPSO minimize the motion and orientation of the DDER during navigation. Due to the minimization of motion and orientation, the DDER covers less distance to reach the goal and takes less time. The Two-Dimensional (2D) and Three-Dimensional (3D) navigation results of the DDER among the scattered obstacles have been presented in the V-REP software environment. The comparative analysis with previously developed Invasive Weed Optimization (IWO) algorithm has also been performed to show the effectiveness and efficiency of the proposed MPSO algorithm.

This article describes the velocity-based motion and orientation control method for a differential-driven two-wheeled E-puck Robot (DDER) using the Multi-Objective Particle Swarm Optimization (MPSO) algorithm in the Virtual Robot Experimentation Platform (V-REP) software environment. The wheel velocities data and Infra-Red (IR) sensors reading make the multi-objective fitness functions for MPSO. We use front, left, and right IR sensors reading and right wheel velocity data to design the first fitness function for MPSO. Similarly, the front, left, and right IR sensors reading, and left wheel velocity data have been taken for making the second fitness function for MPSO. The multi-objective fitness functions of MPSO minimize the motion and orientation of the DDER during navigation. Due to the minimization of motion and orientation, the DDER covers less distance to reach the goal and takes less time. The Two-Dimensional (2D) and Three-Dimensional (3D) navigation results of the DDER among the scattered obstacles have been presented in the V-REP software environment. The comparative analysis with previously developed Invasive Weed Optimization (IWO) algorithm has also been performed to show the effectiveness and efficiency of the proposed MPSO algorithm.

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Mula is one of the major rivers passing through the city of Pune. A number of researchers have worked on quality of river water within the city limits. However, not much is reported about the quality of water before it enters the city at Balewadi. On the upstream side of Balewadi, the river water is used by the inhabitants of villages located on its banks for domestic and agricultural purposes, without any regular treatment. This would put them at direct health risk if river water quality is not good. Hence, it is imperative to learn about the quality of water in these upstream areas. The present study focuses on physico-chemical analysis of Mula River water before it enters the Pune city. Water samples were collected from four locations covering a span of 16 – 17 km and parameters including pH, alkalinity, conductivity, hardness, TS, TDS, BOD, COD, nitrates and phosphates were analysed. This paper presents the river water quality data during September 2017 to February2018

Use of organic resins such as epoxy and vinyl esters as bonding materials in fibre reinforced polymer (FRP) strengthening of concrete members is widely accepted. However, the performance of organic resins is compromised when exposed to high temperature and extreme weather conditions leading to reduced durability of the strengthened systems. The present study attempts to evaluate the effectiveness of inorganic (cement mortar and geopolymer mortar) bonding materials for shear strengthening of prestressed concrete (PSC) beams using the near-surface mounting (NSM) technique. Different types of bonding materials are used in this study for NSM shear strengthening including: (i) epoxy resin, (ii) high strength cement grout (HSCG) and (iii) geopolymer mortar. Bond tests were first conducted to evaluate the pull-out/bond strength of different bonding materials. Bond tests revealed that epoxy resin had the highest bond strength followed by geopolymer mortar and HSCG. Sixteen full-scale PSC beams were cast with and without stirrups. The beams were strengthened using NSM CFRP laminates oriented at 45-degree configuration and then tested under a three-point bending configuration. Experimental results revealed that the performance of high strength cement grout and geopolymer mortar was similar but with a lesser efficiency compared to the epoxy resin.

Use of organic resins such as epoxy and vinyl esters as bonding materials in fibre reinforced polymer (FRP) strengthening of concrete members is widely accepted. However, the performance of organic resins is compromised when exposed to high temperature and extreme weather conditions leading to reduced durability of the strengthened systems. The present study attempts to evaluate the effectiveness of inorganic (cement mortar and geopolymer mortar) bonding materials for shear strengthening of prestressed concrete (PSC) beams using the near-surface mounting (NSM) technique. Different types of bonding materials are used in this study for NSM shear strengthening including: (i) epoxy resin, (ii) high strength cement grout (HSCG) and (iii) geopolymer mortar. Bond tests were first conducted to evaluate the pull-out/bond strength of different bonding materials. Bond tests revealed that epoxy resin had the highest bond strength followed by geopolymer mortar and HSCG. Sixteen full-scale PSC beams were cast with and without stirrups. The beams were strengthened using NSM CFRP laminates oriented at 45-degree configuration and then tested under a three-point bending configuration. Experimental results revealed that the performance of high strength cement grout and geopolymer mortar was similar but with a lesser efficiency compared to the epoxy resin.

Use of organic resins such as epoxy and vinyl esters as bonding materials in fibre reinforced polymer (FRP) strengthening of concrete members is widely accepted. However, the performance of organic resins is compromised when exposed to high temperature and extreme weather conditions leading to reduced durability of the strengthened systems. The present study attempts to evaluate the effectiveness of inorganic (cement mortar and geopolymer mortar) bonding materials for shear strengthening of prestressed concrete (PSC) beams using the near-surface mounting (NSM) technique. Different types of bonding materials are used in this study for NSM shear strengthening including: (i) epoxy resin, (ii) high strength cement grout (HSCG) and (iii) geopolymer mortar. Bond tests were first conducted to evaluate the pull-out/bond strength of different bonding materials. Bond tests revealed that epoxy resin had the highest bond strength followed by geopolymer mortar and HSCG. Sixteen full-scale PSC beams were cast with and without stirrups. The beams were strengthened using NSM CFRP laminates oriented at 45-degree configuration and then tested under a three-point bending configuration. Experimental results revealed that the performance of high strength cement grout and geopolymer mortar was similar but with a lesser efficiency compared to the epoxy resin.