| 1 | Quadrant based incremental planning for mobile robots显示文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time. | P.Raja M.Abhilash K.Ravi Shankar Alameluvari Adarsh | 2014 | Journal of Central South University2014，21，5： | 1 |
| 2 | Effect of biochar type on infiltration,water retention and desiccation crack potential of a silty sand显示文摘Biochar is a carbon-rich material obtained after thermochemical conversion of biomass under no oxygen environment.The effect of biochar amendment on soil properties,such as water retention,infiltration and desiccation crack potential was studied in the recent years.However,the effect of biochar or feedstock type on these properties is not explicit.This study investigates the effect of two different(in terms of feedstock)types of biochar on the water retention,infiltration and desiccation crack-ing behavior of compacted silty sand.Water retention characteristics,infiltration rate and the progression of desiccation cracks were measured after compacting soil amended with 5-10%(w/w)biochar produced from water hyacinth(WHB)and mesquite.Measurements were also taken for an unpyrolyzed material coir pith(CP,sourced from coconut husk)-amended soil for comparing the results of biochar-amended soil.The results show that the amendment of 5%to 10%biochar increased the maximum water holding capacity(θs),air entry value(AEV)and water content at 1500 kPa(θ1500)of the soil,whereas decreased the infiltration rate and peak crack intensity factor(CIF)of the soil.Moreover,the application of CP increased the infiltration rate.The amendment of WHB showed the highest increment in AEV andθ1500 and the highest decrement in infiltration rate and CIF compared to the other amendments.Based on the results,it is advisable to use the WHB-amended soil in bioengineered structures that could promote the growth of vegetation by higher water retention and could reduce the potential of leachate formation by decreasing water infiltration and desiccation crack potential. | Rojimul Hussain Sanandam Bordoloi Piyush gupta Ankit Garg K.Ravi S.Sreedeep Lingaraj Sahoo | 2020 | Biochar2020，2，4： | 1 |
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