Scholarly

Sustainable Cities: Viability of a Hybrid Aeroponic/Nutrient Film Technique System for Cultivation of Tomatoes

Year: 2017 Volume: 11 Issue: 6 470 - 477 Pages

Abstract: Growing environmental and sustainability concerns have driven continual modernization of horticultural practices, especially for urban farming. Controlled environment and soilless production methods are increasing in popularity because of their efficient resource use and intensive cropping capabilities. However, some popular substrates used for hydroponic cultivation, particularly rock wool, represent a large environmental burden in regard to their manufacture and disposal. Substrate-less hydroponic systems are effective in producing short cropping cycle plants such as lettuce or herbs, but less information is available for the production of plants with larger root-systems and longer cropping times. Here, we investigated the viability of a hybrid aeroponic/nutrient film technique (AP/NFT) system for the cultivation of greenhouse tomatoes (Solanum lycopersicum ‘Panovy’). The plants grown in the AP/NFT system had a more compact phenotype, accumulated more Na+ and less P and S than the rock wool grown counterparts. Due to forced irrigation interruptions, we propose that the differences observed were cofounded by the differing severity of water-stress for plants with and without substrate. They may also be caused by a higher root zone temperature predominant in plants exposed to AP/NFT. However, leaf area, stem diameter, and number of trusses did not differ significantly. The same was found for leaf pigments and plant photosynthetic efficiency. Overall, the AP/NFT system appears to be viable for the production of greenhouse tomato, enabling the environment to be relieved by way of lessening rock wool usage.

The Effect of Alkaline Treatment on Tensile Strength and Morphological Properties of Kenaf Fibres for Yarn Production

Year: 2017 Volume: 11 Issue: 7 508 - 512 Pages

Abstract: This paper investigates the effect of alkali treatment and mechanical properties of kenaf (Hibiscus cannabinus) fibre for the development of yarn. Two different fibre sources are used for the yarn production. Kenaf fibres were treated with sodium hydroxide (NaOH) in the concentration of 3, 6, 9, and 12% prior to fibre opening process and tested for their tensile strength and Young’s modulus. Then, the selected fibres were introduced to fibre opener at three different opening processing parameters; namely, speed of roller feeder, small drum, and big drum. The diameter size, surface morphology, and fibre durability towards machine of the fibres were characterized. The results show that concentrations of NaOH used have greater effects on fibre mechanical properties. From this study, the tensile and modulus properties of the treated fibres for both types have improved significantly as compared to untreated fibres, especially at the optimum level of 6% NaOH. It is also interesting to highlight that 6% NaOH is the optimum concentration for the alkaline treatment. The untreated and treated fibres at 6% NaOH were then introduced to fibre opener, and it was found that the treated fibre produced higher fibre diameter with better surface morphology compared to the untreated fibre. Higher speed parameter during opening was found to produce higher yield of opened-kenaf fibres.

Molecular Dynamics Simulation of the Effect of the Solid Gas Interface Nanolayer on Enhanced Thermal Conductivity of Copper-CO2 Nanofluid

Year: 2017 Volume: 11 Issue: 7 1308 - 1311 Pages

Abstract: The use of CO2 in oil recovery and in CO2 capture and storage is gaining traction in recent years. These applications involve heat transfer between CO2 and the base fluid, and hence, there arises a need to improve the thermal conductivity of CO2 to increase the process efficiency and reduce cost. One way to improve the thermal conductivity is through nanoparticle addition in the base fluid. The nanofluid model in this study consisted of copper (Cu) nanoparticles in varying concentrations with CO2 as a base fluid. No experimental data are available on thermal conductivity of CO2 based nanofluid. Molecular dynamics (MD) simulations are an increasingly adopted tool to perform preliminary assessments of nanoparticle (NP) fluid interactions. In this study, the effect of the formation of a nanolayer (or molecular layering) at the gas-solid interface on thermal conductivity is investigated using equilibrium MD simulations by varying NP diameter and keeping the volume fraction (1.413%) of nanofluid constant to check the diameter effect of NP on the nanolayer and thermal conductivity. A dense semi-solid fluid layer was seen to be formed at the NP-gas interface, and the thickness increases with increase in particle diameter, which also moves with the NP Brownian motion. Density distribution has been done to see the effect of nanolayer, and its thickness around the NP. These findings are extremely beneficial, especially to industries employed in oil recovery as increased thermal conductivity of CO2 will lead to enhanced oil recovery and thermal energy storage.

Study on Hydrophilicity of Anodic Aluminum Oxide Templates with TiO2-NTs

Year: 2017 Volume: 11 Issue: 5 411 - 415 Pages

Abstract: This paper aims to discuss the hydrophilicity about the anodic aluminum oxide (AAO) template with titania nanotubes (NTs). The AAO templates with pore size diameters of 20-250 nm were generated by anodizing 6061 aluminum alloy substrates in acid solution of sulfuric acid (H2SO4), oxalic acid (COOH)2, and phosphoric acid (H3PO4), respectively. TiO2-NTs were grown on AAO templates by the sol-gel deposition process successfully. The water contact angle on AAO/TiO2-NTs surface was lower compared to the water contact angle on AAO surface. So, the characteristic of hydrophilicity was significantly associated with the AAO pore size and what kinds of materials were immersed variables.

CFD Modeling of Air Stream Pressure Drop inside Combustion Air Duct of Coal-Fired Power Plant with and without Airfoil

Year: 2017 Volume: 11 Issue: 6 1220 - 1224 Pages

Abstract: The flow pattern inside rectangular intake air duct of 300 MW lignite coal-fired power plant is investigated in order to analyze and reduce overall inlet system pressure drop. The system consists of the 45-degree inlet elbow, the flow instrument, the 90-degree mitered elbow and fans, respectively. The energy loss in each section can be determined by Bernoulli’s equation and ASHRAE standard table. Hence, computational fluid dynamics (CFD) is used in this study based on Navier-Stroke equation and the standard k-epsilon turbulence modeling. Input boundary condition is 175 kg/s mass flow rate inside the 11-m2 cross sectional duct. According to the inlet air flow rate, the Reynolds number of airstream is 2.7x106 (based on the hydraulic duct diameter), thus the flow behavior is turbulence. The numerical results are validated with the real operation data. It is found that the numerical result agrees well with the operating data, and dominant loss occurs at the flow rate measurement device. Normally, the air flow rate is measured by the airfoil and it gets high pressure drop inside the duct. To overcome this problem, the airfoil is planned to be replaced with the other type measuring instrument, such as the average pitot tube which generates low pressure drop of airstream. The numerical result in case of average pitot tube shows that the pressure drop inside the inlet airstream duct is decreased significantly. It should be noted that the energy consumption of inlet air system is reduced too.

Optimization of Doubly Fed Induction Generator Equivalent Circuit Parameters by Direct Search Method

Year: 2017 Volume: 11 Issue: 6 646 - 650 Pages

Authors:
Mamidi Ramakrishna Rao

Abstract: Doubly-fed induction generator (DFIG) is currently the choice for many wind turbines. These generators, when connected to the grid through a converter, is subjected to varied power system conditions like voltage variation, frequency variation, short circuit fault conditions, etc. Further, many countries like Canada, Germany, UK, Scotland, etc. have distinct grid codes relating to wind turbines. Accordingly, following the network faults, wind turbines have to supply a definite reactive current. To satisfy the requirements including reactive current capability, an optimum electrical design becomes a mandate for DFIG to function. This paper intends to optimize the equivalent circuit parameters of an electrical design for satisfactory DFIG performance. Direct search method has been used for optimization of the parameters. The variables selected include electromagnetic core dimensions (diameters and stack length), slot dimensions, radial air gap between stator and rotor and winding copper cross section area. Optimization for 2 MW DFIG has been executed separately for three objective functions - maximum reactive power capability (Case I), maximum efficiency (Case II) and minimum weight (Case III). In the optimization analysis program, voltage variations (10%), power factor- leading and lagging (0.95), speeds for corresponding to slips (-0.3 to +0.3) have been considered. The optimum designs obtained for objective functions were compared. It can be concluded that direct search method of optimization helps in determining an optimum electrical design for each objective function like efficiency or reactive power capability or weight minimization.

Research and Design on a Portable Intravehicular Ultrasonic Leak Detector for Manned Spacecraft

Year: 2017 Volume: 11 Issue: 6 1161 - 1166 Pages

Abstract: Based on the acoustics cascade sound theory, the mechanism of air leak sound producing, transmitting and signal detecting has been analyzed. A formula of the sound power, leak size and air pressure in the spacecraft has been built, and the relationship between leak sound pressure and receiving direction and distance has been studied. The center frequency in millimeter diameter leak is more than 20 kHz. The situation of air leaking from spacecraft to space has been simulated and an experiment of different leak size and testing distance and direction has been done. The sound pressure is in direct proportion to the cosine of the angle of leak to sensor. The portable ultrasonic leak detector has been developed, whose minimal leak rate is 10-1 Pa·m3/s, the testing radius is longer than 20 mm, the mass is less than 1.0 kg, and the electric power is less than 2.2 W.

Assessment of Material Type, Diameter, Orientation and Closeness of Fibers in Vulcanized Reinforced Rubbers

Year: 2017 Volume: 11 Issue: 5 1057 - 1063 Pages

Abstract: In this work, the effect of material type, diameter, orientation and closeness of fibers on the general performance of reinforced vulcanized rubbers are investigated using finite element method with experimental verification. Various fiber materials such as hemp, nylon, polyester are used for different fiber diameters, orientations and closeness. 3D finite element models are developed by considering bonded contact elements between fiber and rubber sheet interfaces. The fibers are assumed as linear elastic, while vulcanized rubber is considered as hyper-elastic. After an experimental verification of finite element results, the developed models are analyzed under prescribed displacement that causes tension. The normal stresses in fibers and shear stresses between fibers and rubber sheet are investigated in all models. Large deformation of reinforced rubber sheet also represented with various fiber conditions under incremental loading. A general assessment is achieved about best fiber properties of reinforced rubber sheets for tension-load conditions.

CFD Study of Subcooled Boiling Flow at Elevated Pressure Using a Mechanistic Wall Heat Partitioning Model

Year: 2017 Volume: 11 Issue: 3 687 - 697 Pages

Abstract: The wide range of industrial applications involved with boiling flows promotes the necessity of establishing fundamental knowledge in boiling flow phenomena. For this purpose, a number of experimental and numerical researches have been performed to elucidate the underlying physics of this flow. In this paper, the improved wall boiling models, implemented on ANSYS CFX 14.5, were introduced to study subcooled boiling flow at elevated pressure. At the heated wall boundary, the Fractal model, Force balance approach and Mechanistic frequency model are given for predicting the nucleation site density, bubble departure diameter, and bubble departure frequency. The presented wall heat flux partitioning closures were modified to consider the influence of bubble sliding along the wall before the lift-off, which usually happens in the flow boiling. The simulation was performed based on the Two-fluid model, where the standard k-ω SST model was selected for turbulence modelling. Existing experimental data at around 5 bars were chosen to evaluate the accuracy of the presented mechanistic approach. The void fraction and Interfacial Area Concentration (IAC) are in good agreement with the experimental data. However, the predicted bubble velocity and Sauter Mean Diameter (SMD) are over-predicted. This over-prediction may be caused by consideration of only dispersed and spherical bubbles in the simulations. In the future work, the important physical mechanisms of bubbles, such as merging and shrinking during sliding on the heated wall will be incorporated into this mechanistic model to enhance its capability for a wider range of flow prediction.

Perforation Analysis of the Aluminum Alloy Sheets Subjected to High Rate of Loading and Heated Using Thermal Chamber: Experimental and Numerical Approach

Year: 2017 Volume: 11 Issue: 4 334 - 338 Pages

Abstract: The analysis of the mechanical characteristics and dynamic behavior of aluminum alloy sheet due to perforation tests based on the experimental tests coupled with the numerical simulation is presented. The impact problems (penetration and perforation) of the metallic plates have been of interest for a long time. Experimental, analytical as well as numerical studies have been carried out to analyze in details the perforation process. Based on these approaches, the ballistic properties of the material have been studied. The initial and residual velocities laser sensor is used during experiments to obtain the ballistic curve and the ballistic limit. The energy balance is also reported together with the energy absorbed by the aluminum including the ballistic curve and ballistic limit. The high speed camera helps to estimate the failure time and to calculate the impact force. A wide range of initial impact velocities from 40 up to 180 m/s has been covered during the tests. The mass of the conical nose shaped projectile is 28 g, its diameter is 12 mm, and the thickness of the aluminum sheet is equal to 1.0 mm. The ABAQUS/Explicit finite element code has been used to simulate the perforation processes. The comparison of the ballistic curve was obtained numerically and was verified experimentally, and the failure patterns are presented using the optimal mesh densities which provide the stability of the results. A good agreement of the numerical and experimental results is observed.

Experimental Measurements of Mean and Turbulence Quantities behind the Circular Cylinder by Attaching Different Number of Tripping Wires

Year: 2016 Volume: 10 Issue: 2 456 - 461 Pages

Abstract: For a bluff body, roughness elements in simulating a turbulent boundary layer, leading to delayed flow separation, a smaller wake, and lower form drag. In the present work, flow past a circular cylinder with using tripping wires is studied experimentally. The wind tunnel used for modeling free stream is open blow circuit (maximum speed = 30m/s and maximum turbulence of free stream = 0.1%). The selected Reynolds number for all tests was constant (Re = 25000). The circular cylinder selected for this experiment is 20 and 400mm in diameter and length, respectively. The aim of this research is to find the optimal operation mode. In this study installed some tripping wires 1mm in diameter, with a different number of wires on the circular cylinder and the wake characteristics of the circular cylinder is studied. Results showed that by increasing number of tripping wires attached to the circular cylinder (6, 8, and 10, respectively), The optimal angle for the tripping wires with 1mm in diameter to be installed on the cylinder is 60̊ (or 6 wires required at angle difference of 60̊). Strouhal number for the cylinder with tripping wires 1mm in diameter at angular position 60̊ showed the maximum value.

The Effect of Pulling and Rotation Speed on the Jet Grout Columns

Year: 2016 Volume: 10 Issue: 12 1690 - 1694 Pages

Abstract: The performance of jet grout columns was affected by many controlled and uncontrolled parameters. The leading parameters for the controlled ones can be listed as injection pressure, rod pulling speed, rod rotation speed, number of nozzles, nozzle diameter and Water/Cement ratio. And the uncontrolled parameters are soil type, soil structure, soil layering condition, underground water level, the changes in strength parameters and the rheologic properties of cement in time. In this study, the performance of jet grout columns and the effects of pulling speed and rotation speed were investigated experimentally. For this purpose, a laboratory type jet grouting system was designed for the experiments. Through this system, jet grout columns were produced in three different conditions. The results of the study showed that the grout pressure and the lifting speed significantly affect the performance of the jet grouting columns.

The Development and Testing of a Small Scale Dry Electrostatic Precipitator for the Removal of Particulate Matter

Year: 2017 Volume: 11 Issue: 2 180 - 187 Pages

Abstract: This paper presents a small tube/wire type electrostatic precipitator (ESP). In the ESPs present form, particle charging and collecting voltages and airflow rates were individually varied throughout 200 ambient temperature test runs ranging from 10 to 30 kV in increments on 5 kV and 0.5 m/s to 1.5 m/s, respectively. It was repeatedly observed that, at input air velocities of between 0.5 and 0.9 m/s and voltage settings of 20 kV to 30 kV, the collection efficiency remained above 95%. The outcomes of preliminary tests at combustion flue temperatures are, at present, inconclusive although indications are that there is little or no drop in comparable performance during ideal test conditions. A limited set of similar tests was carried out during which the collecting electrode was grounded, having been disconnected from the static generator. The collecting efficiency fell significantly, and for that reason, this approach was not pursued further. The collecting efficiencies during ambient temperature tests were determined by mass balance between incoming and outgoing dry PM. The efficiencies of combustion temperature runs are determined by analysing the difference in opacity of the flue gas at inlet and outlet compared to a reference light source. In addition, an array of Leit tabs (carbon coated, electrically conductive adhesive discs) was placed at inlet and outlet for a number of four-day continuous ambient temperature runs. Analysis of the discs’ contamination was carried out using scanning electron microscopy and ImageJ computer software that confirmed collection efficiencies of over 99% which gave unequivocal support to all the previous tests. The average efficiency for these runs was 99.409%. Emissions collected from a woody biomass combustion unit, classified to a diameter of 100 µm, were used in all ambient temperature trials test runs apart from two which collected airborne dust from within the laboratory. Sawdust and wood pellets were chosen for laboratory and field combustion trials. Video recordings were made of three ambient temperature test runs in which the smoke from a wood smoke generator was drawn through the precipitator. Although these runs were visual indicators only, with no objective other than to display, they provided a strong argument for the device’s claimed efficiency, as no emissions were visible at exit when energised. The theoretical performance of ESPs, when applied to the geometry and configuration of the tested model, was compared to the actual performance and was shown to be in good agreement with it.

Effect of Sand Wall Stabilized with Different Percentages of Lime on Bearing Capacity of Foundation

Year: 2017 Volume: 11 Issue: 2 176 - 179 Pages

Authors:
Ahmed S. Abdulrasool

Abstract: Recently sand wall started to gain more attention as the sand is easy to compact by using vibroflotation technique. An advantage of sand wall is the availability of different additives that can be mixed with sand to increase the stiffness of the sand wall and hence to increase its performance. In this paper, the bearing capacity of circular foundation surrounded by sand wall stabilized with lime is evaluated through laboratory testing. The studied parameters include different sand-lime walls depth (H/D) ratio (wall depth to foundation diameter) ranged between (0.0-3.0). Effect of lime percentages on the bearing capacity of skirted foundation models is investigated too. From the results, significant change is occurred in the behavior of shallow foundations due to confinement of the soil. It has been found that (H/D) ratio of 2 gives substantial improvement in bearing capacity, and beyond (H/D) ratio of 2, there is no significant improvement in bearing capacity. The results show that the optimum lime content is 11%, and the maximum increase in bearing capacity reaches approximately 52% at (H/D) ratio of 2.

Mathematical Modeling of Human Cardiovascular System: A Lumped Parameter Approach and Simulation

Year: 2017 Volume: 11 Issue: 2 71 - 82 Pages

Abstract: The purpose of this work is to develop a mathematical model of Human Cardiovascular System using lumped parameter method. The model is divided in three parts: Systemic Circulation, Pulmonary Circulation and the Heart. The established mathematical model has been simulated by MATLAB software. The innovation of this study is in describing the system based on the vessel diameters and simulating mathematical equations with active electrical elements. Terminology of human physical body and required physical data like vessel’s radius, thickness etc., which are required to calculate circuit parameters like resistance, inductance and capacitance, are proceeds from well-known medical books. The developed model is useful to understand the anatomic of human cardiovascular system and related syndromes. The model is deal with vessel’s pressure and blood flow at certain time.

Effective Dose and Size Specific Dose Estimation with and without Tube Current Modulation for Thoracic Computed Tomography Examinations: A Phantom Study

Year: 2017 Volume: 11 Issue: 3 81 - 85 Pages

Abstract: The purpose of this study is to reduce radiation dose for chest CT examination by including Tube Current Modulation (TCM) to a standard CT protocol. A scan of an anthropomorphic male Alderson phantom was performed on a 128-slice scanner. The estimation of effective dose (ED) in both scans with and without mAs modulation was done via multiplication of Dose Length Product (DLP) to a conversion factor. Results were compared to those measured with a CT-Expo software. The size specific dose estimation (SSDE) values were obtained by multiplication of the volume CT dose index (CTDIvol) with a conversion size factor related to the phantom’s effective diameter. Objective assessment of image quality was performed with Signal to Noise Ratio (SNR) measurements in phantom. SPSS software was used for data analysis. Results showed including CARE Dose 4D; ED was lowered by 48.35% and 51.51% using DLP and CT-expo, respectively. In addition, ED ranges between 7.01 mSv and 6.6 mSv in case of standard protocol, while it ranges between 3.62 mSv and 3.2 mSv with TCM. Similar results are found for SSDE; dose was higher without TCM of 16.25 mGy and was lower by 48.8% including TCM. The SNR values calculated were significantly different (p=0.03

Heat Transfer from a Cylinder in Cross-Flow of Single and Multiphase Flows

Year: 2017 Volume: 11 Issue: 3 452 - 456 Pages

Authors:
F. A. Hamad
S. He

Abstract: In this paper, the average heat transfer characteristics for a cross flow cylinder of 16 mm diameter in a vertical pipe has been studied for single-phase flow (water/oil) and multicomponent (non-boiling) flow (water-air, water-oil, oil-air and water-oil-air). The cylinder is uniformly heated by electrical heater placed at the centre of the element. The results show that the values of average heat transfer coefficients for water are around four times the values for oil flow. Introducing air as a second phase with water has very little effect on heat transfer rate, while the heat transfer increased by 70% in case of oil. For water–oil flow, the heat transfer coefficient values are reflecting the percentage of water up to 50%, but increasing the water more than 50% leads to a sharp increase in the heat transfer coefficients to become close to the values of pure water. The enhancement of heat transfer by mixing two phases may be attributed to the changes in flow structure near to cylinder surface which lead to thinner boundary layer and higher turbulence. For three-phase flow, the heat transfer coefficients for all cases fall within the limit of single-phase flow of water and oil and are very close to pure water values. The net effect of the turbulence augmentation due to the introduction of air and the attenuation due to the introduction of oil leads to a thinner boundary layer of oil over the cylinder surface covered by a mixture of water and air bubbles.

Automatic Fluid-Structure Interaction Modeling and Analysis of Butterfly Valve Using Python Script

Year: 2017 Volume: 11 Issue: 2 309 - 312 Pages

Abstract: A butterfly valve is a quarter turn valve which is used to control the flow of a fluid through a section of pipe. Generally, butterfly valve is used in wide range of applications such as water distribution, sewage, oil and gas plants. In particular, butterfly valve with larger diameter finds its immense applications in hydro power plants to control the fluid flow. In-lieu with the constraints in cost and size to run laboratory setup, analysis of large diameter values will be mostly studied by computational method which is the best and inexpensive solution. For fluid and structural analysis, CFD and FEM software is used to perform large scale valve analyses, respectively. In order to perform above analysis in butterfly valve, the CAD model has to recreate and perform mesh in conventional software’s for various dimensions of valve. Therefore, its limitation is time consuming process. In-order to overcome that issue, python code was created to outcome complete pre-processing setup automatically in Salome software. Applying dimensions of the model clearly in the python code makes the running time comparatively lower and easier way to perform analysis of the valve. Hence, in this paper, an attempt was made to study the fluid-structure interaction (FSI) of butterfly valves by varying the valve angles and dimensions using python code in pre-processing software, and results are produced.

Effect of Poultry Manure and Nitrogen, Phosphorus, and Potassium (15:15:15) Soil Amendment on Growth and Yield of Carrot (Daucus carota)

Year: 2017 Volume: 11 Issue: 2 124 - 129 Pages

Abstract: This present experiment was carried out during the 2012 cropping season, at the Farming for the Future Experimental Field of the University for Development Studies, Nyankpala Campus in the Northern Region of Ghana. The objective of the experiment was to determine the carrot growth and yield responses to poultry manure and N.P.K (15:15:15). Six treatments (Control (no amendment), 20 t/ha poultry manure (PM), 40 t/ha PM, 70 t/ha PM, 35 t/ha PM + 0.11t/ha N.P.K and 0.23 t/ha N.P.K) with three replications for each were laid in a Randomized Complete Block Design (RCBD). Data were collected on plant height, number of leaves per plant, canopy spread, root diameter, root weight, and root length. Microsoft Excel and Genstat Statistical Package (9th edition) were used for the data analysis. The treatment means were compared by using Least Significant Difference at 10%. Generally, the results showed that there were no significant differences (P>0.1) among the treatments with respect to number of leaves per plant, root diameter, root weight, and root length. However, significant differences occurred among plant heights and canopy spreads. Plant height treated with 40 t/ha PM at the fourth week after planting and canopy spread at eight weeks after planting and ten weeks after planting by 70 t/ha PM and 20 t/ha PM respectively showed significant difference (P

Studies on Affecting Factors of Wheel Slip and Odometry Error on Real-Time of Wheeled Mobile Robots: A Review

Year: 2016 Volume: 10 Issue: 7 1361 - 1368 Pages

Abstract: In real-time applications, wheeled mobile robots are increasingly used and operated in extreme and diverse conditions traversing challenging surfaces such as a pitted, uneven terrain, natural flat, smooth terrain, as well as wet and dry surfaces. In order to accomplish such tasks, it is critical that the motion control functions without wheel slip and odometry error during the navigation of the two-wheeled mobile robot (WMR). Wheel slip and odometry error are disrupting factors on overall WMR performance in the form of deviation from desired trajectory, navigation, travel time and budgeted energy consumption. The wheeled mobile robot’s ability to operate at peak performance on various work surfaces without wheel slippage and odometry error is directly connected to four main parameters, which are the range of payload distribution, speed, wheel diameter, and wheel width. This paper analyses the effects of those parameters on overall performance and is concerned with determining the ideal range of parameters for optimum performance.

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