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N. Prabhu ¹, M. Dev Anand ²

Affiliations
1 Department of Mechanical Engineering, PSN College of Engineering and Technology, Tirunelveli-627 152, IN
2 Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil-629 180, Kanyakunari District, IN

Abstract

This paper concerns with the dynamic analysis of a SCORBOT-ER Vu plus robot arm, used for doing successful robotic manipulation task in its 3D workspace. The SCORBOT-ER Vu plus robot is a five DOF of vertical articulated robot and all the joints are revolute. The forces and/ or torques required to cause motion of a system of bodies was studied using dynamic analysis, which is very complicated one for robot manipulator. Usually, the end-effector is to be guided through a given path with suggested motion characteristics. The actuated joints are applied with a set of torque and /or force function, to produce that motion. This actuating torque and/or force functions depends on several parameters includes spatial attributes of given path, mass properties of links, payload, externally applied forces and so on. There are two different points of view namely dynamical analysis and dynamical synthesis to tackle the dynamics of robot manipulator. Dynamic analysis handles with the derivation of equations of motion of a given manipulator that involves two problems namely direct dynamics and inverse dynamics. Among the two, direct dynamics can be defined as a set of actuated joint torque and/or force functions, calculates the resulting motion of the end-effector as a function of time. While inverse dynamics is defined as a trajectory of the end-effector as a function of time, that finds the set of actuated joint torque and/or force functions producing that motion. The computational efficiency of direct dynamics is not taken into account, as it used primarily for computer simulations of a robot manipulator. While efficient inverse dynamic model is considered as important for real-time, model based control of a robot manipulator. The Lagrangian equations of motion and the principle of virtual work are utilized to carry out the dynamical analysis of robot manipulators. The mathematical model of dynamic parameter sets are solved using MATLAB 7.10 and dynamic solutions obtained is found to be identical with the real time readings of robot arm.

Keywords

Forward Dynamics, Inverse Dynamics, Robot Manipulator, Lagrangian Equation.

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M. Dev Anand ¹, N. L. Maharaja ², K. Sanu Kailordson ³, N. Prabhu ⁴

Affiliations
1 Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil - 629 180, Thuckalay, Kanyakumari District, Tamil Nadu, IN
2 Department of Mechanical Engineering, PSN College of Engineering and Technology, PSN Nagar, Melathediyoor, Tirunelveli - 627152, Tamil Nadu, IN
3 Department of Mechanical Engineering, DMI Engineering College, Aralvaimozhi – 627105, Tamil Nadu, IN
4 Department of Mechanical Engineering, Kottayam Institute of Technology and Science (KITS), Chengalam East, Pallickathodu, Kottayam - 686585, Kerala, IN

Abstract

Background/Objectives: Ceramic heat exchangers are preferred in most high temperature applications due to its high temperature stability and corrosion resistance. Evaluation of performance of the heat exchanger under different circumstances helps us to select suitable design for certain application. Methods/Statistical Analysis: This work investigated the functioning capability of a ceramic heat exchanger, determining pressure drop and the heat transfer theoretically by Ɛ-NTU method by using silicon carbide and aluminium nitride as heat exchanger material. The performance of both the ceramic material under the desired condition was compared. A heat exchanger possess ducts that is rectangular to exhaust gas, ducts which are rectangular for air and exhaust gases, a core made of ceramic along with air in the cross-flow direction. Findings: Heat exchanger has been investigated involving conventional Ɛ-NTU technique with numerous Nusselt number correlations from the literature for characterizing the rectangular duct flow. Theoretical analyses reveal that, while using aluminium nitride as the heat exchanger material the performance parameters such as overall heat transfer got increased by 4.5-5%, effectiveness by 3% and heat transfer rate by same 3% relative to silicon carbide as the heat exchanger material. Applications/Improvements: Analysis on performance enhancement of all other heat exchanger.

Keywords

Ceramic Recuperator, Cross Flow, Effectiveness, Heat Transfer, Pressure Drop

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M. Dev Anand ¹, G. Glan Devadhas ², N. Prabhu ³, T. Karthikeyan ⁴

Affiliations
1 Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil - 629 180, Thuckalay, Kanyakumari District, Tamil Nadu, IN
2 Department of Electronics and Instrumentation Engineering, Noorul Islam University, Kumaracoil - 629 180, Thuckalay, Kanyakumari District, Tamil Nadu, IN
3 Department of Mechanical Engineering, Kottayam Institute of Technology and Science (KITS), Chengalam East, Pallickathodu, Kottayam - 686585, Kerala, IN
4 Department of Mechanical Engineering, Saveetha Nagar, Thandalam, Chennai - 602105, Tamil Nadu, IN

Abstract

A ceramic monolith heat exchanger has been learnt for finding out heat transfer performance and effectiveness on computing numerically and ξ-NTU method. In entire domain computation numerically has been performed along with fluid region in rectangular ducts of exhaust gas side, ceramic core and rectangular duct fluid region in air side with the air exhaust in direction of cross flow. Additionally, the heat exchanger has been examined for estimating the functionality via ξ-NTU technique that is conventional along numerous Nusselt number links for rectangular duct flow for the literature. Based on the research, it has been performed on the ceramic heat exchangers and on the ceramic materials and the demand in utilizing the ceramic materials in heat exchangers. Then the recuperator is modeled by using GAMBIT and it is analyzed using FLUENT. The effectiveness and the heat transfer rate are also calculated. Then those outcomes have been assessed along the experimental data. By comparison of both functionality by computing numerically and the ξ-NTU technique, the efficiency by ξ-TU technique has been identified to be nearest to product by the numerical computation among the associative of 2.15% when Stephan's Nusselt number association has been adapted to the ξ-NTU technique within numerous connections. The total heat transfer and effectiveness by ξ-NTU method relative errors utilizing five Nusselt number correlations from literature have been lesser than 14.5% comparative to numerical computation. Associated to Nusselt number correlations, the entire heat transfer utilizing ξ-NTU technique with Stephan's correlation is highly nearest to numerical computation. For that reason, the exit temperature by ξ-NTU method with Stephan's correlation simulates within 1.2% of the relative error for exhaust exist temperature and 0.45% for the air exit temperature assessed against the numerical computation. Overall heat transfer coefficient's relative errors by ξ-NTU technique utilizing five Nusselt number correlations for the literature have been more than 17.5% to that on computing numerically.

Keywords

Ceramic Recuperators, Cross Flow, Effectiveness, Heat Transfer, Pressure Drop

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M. Dev Anand ¹, S. Vijay Ananth ², D. Jackson ³, N. Prabhu ⁴

Affiliations
1 Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil - 629 180, Thuckalay, Kanyakumari District, Tamil Nadu, IN
2 Department of Mechanical Engineering, Agni College of Technology, Thalambur, Chennai - 600130, Tamil Nadu, IN
3 Department of Electronics and Instrumentation Engineering, Noorul Islam Centre for Higher Education, Kumaracoil - 629 180, Thuckalay, Kanyakumari District, Tamil Nadu, IN
4 Department of Mechanical Engineering, Kottayam Institute of Technology and Science (KITS), Chengalam East, Pallickathodu, Kottayam - 686585, Kerala, IN

Abstract

Background/Objectives: Diesel engine's optional fuel known as Biodiesel holds fatty acids alkyl monoesters from oils of vegetable or fats of animals. It can be formed from renewable sources namely vegetable oils, restaurant waste oil and fry oil. Bio Diesel may be cost effective if produced from feedstock of low cast namely restaurant animal fats, waste oil, and fry oil, which contains of free fatty acids having high amount (FFA). Methods/Statistical Analysis: When processing these oils that are low cost problem occurs and fats are those they regularly possess huge quantity of Free Fatty Acids (FFA) which is impossible for conversion as biodiesel by means of an alkaline catalyst. In this work, a technique has been described for reducing the free fatty acids content of this feedstock's utilizing pretreatment of an acid catalyzed to esterify the free fatty acids earlier to transterifying the triglycerides with catalyst of an alkaline to fulfill the reaction. Chief principle of this work was to expand a two-step production technique of biodiesel from pork waste as a raw material. The variables were methanol to oil ration, base catalyst and acid concentration. With particular attention for optimizing, the first step was the acid catalyst esterification to reduce the free fatty acid content and the second step was alkali catalyzed Transeseterification to convert fatty acid methyl ester. Experiments established the RSM model validity. Maximum percentage of fatty acid methyl ester under optimum conditions of the variables was 93%. Findings: Optimum condition for Transeseterification was 13:1 of methanol to oil, 0.4gm sodium hydroxide concentration and 90min of reaction time. Optimum condition for the acid catalyzed esterification was found to be 1.5v/v. ANOVA analysis has been executed for studying the effect of the variables and response surfaces were plotted. Experiments established the RSM model validity. Applications/Improvements: Experiments are going to be establishing the RSM model validity along with tuning with the help of intelligent algorithms.

Keywords

Biodiesel, Esterification, Free Fatty Acids, RSM, Transeseterification

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N. Prabhu ¹, M. Dev Anand ², S. Satish ³, C. K. Akhil ¹

Affiliations
1 Department of Mechanical Engineering, Kottayam Institute of Technology and Science (KITS), Chengalam East, Pallickathodu, Kottayam – 686585, Kerala, IN
2 Department of Mechanical Engineering, Noorul Islam Centre for Higher Education, Kumaracoil – 629180, Tamil Nadu, IN
3 Department of Electronics and Communication Engineering, Kottayam Institute of Technology and Science (KITS), Chengalam East, Pallickathodu, Kottayam – 686585, Kerala, IN

Abstract

Dynamics deals with not only forces but also torques necessary to lead to the motion of a system of bodies. The robot manipulators can also be approached from two different points of view: Dynamical analysis and dynamical synthesis. Dynamical analysis handles the equations of motion derivation of a specified manipulator. Two types of dynamical analysis problems exist: Direct dynamics and inverse dynamics. The computational efficiency of direct dynamics is not much as critical because it is utilized chiefly for computer simulations of a robot manipulator. Moreover, a competent inverse dynamic model turns into tremendously significant for real-time, model dependent control of a robot manipulator. A set of torque and/or force functions have to be functional at the actuated joints in the idea of generating that motion. These actuating torque and/or force functions rely not only on the spatial and attributes of the given path but also on the mass properties of the links, the pay load, the outwardly applied forces and so on. This paper deals with the dynamic analysis of a SCORBOT-ER V plus robot arm that is involved in performing victorious robotic manipulation task in its 3D workspace. This research considered mathematical dynamic model based on Lagrangian equations of motion and the result is compared with LabVIEW Software.

Keywords

Direct Dynamics, Inverse Dynamics, Lagrangien Equation, LabVIEW, Robot Manipulator

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N. Prabhu ¹, M. Dev Anand ²

Affiliations
1 DME, PSNCET, Melathidiyoor, Tirunelveli, IN
2 Dept of Mechanical Engg, Noorul Islam Centre for Higher Education, Kumaracoil, Kanyakumari District, Tamilnadu, IN

Abstract

This paper features a complete forward and backward kinematic analysis of a SCORBOT-ER Vu Plus robot arm which is used for doing successful robotic manipulation task in its workspace. The SCORBOT-ER Vu Plus is a vertical articulated robot, with five revolute joints. This design permits the end effector to be positioned and oriented arbitrarily within a large work space. Kinematics problem is generally more complex for robotic manipulators. The kinematics problem is defined as the first one is an inverse kinematic calculation which transforms the trajectory, usually specified in a Cartesian coordinate, into a sequence of required joint positions. The second one is the generation of joint torques from required joint angles and their derivatives. The Denavit-Hartenberg (D-H) Matrix is a transformation matrix from one coordinate frame to the next. The D-H model of representation is used to model robot links and joints in this study along with 4 × 4 homogeneous matrix. SCORBOT-ER Vu plus is a dependable and safe robotic system designed is useful for developing a supplementary teaching tool for practical experience in robotics, automation, Mechatronics and control systems design courses. To find the set of robot joint parameter this can be used to solve this mathematical model with the help of mathematical derived equation, MATLAB 7.10 and SCORBASE robotic control software package. The working feature of these methods makes it very successful and popular in this solution, all method results shows in an acceptable error.

Keywords

Forward Kinematics, Inverse Kinematics, Denavit-Hartenberg, Robot Manipulator, Position and Orientation.

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M. Fatima Jessy ¹, V. Jaikumar ², N. Prabhu ², C. Jayakrishnaveni ²

Affiliations
1 Government Institute of Mental Health Kilpauk, Chennai, Tamil Nadu, IN
2 Department of Psychiatry, Government Institute of Mental Health, Kilpauk, Chennai, Tamil Nadu, IN

Abstract

Schizophrenia is an enigmatic mental disorder affecting 1 % of the general population at any given time in any society. The disabling nature and chronicity of the illness mandates long-term course of treatment and care. In the recent decades mental health service delivery is undergoing a wide shift from institutionalization to community based care. This vests home-based care for the person with Schizophrenia on caregivers and seeks for their empowerment on effective caring. To study the effectiveness of a group psychoeducational intervention for caregivers of persons with Schizophrenia. The study employed a before and after without control research design where 120 caregivers of persons with Schizophrenia were recruited using purposive sampling technique. The participants were assessed using Knowledge about Schizophrenia Interview (KASI) and Family Attitude Questionnaire (FAQ) before and after the group intervention which focused on dissemination of information regarding the illness and other psychosocial inputs. The knowledge about diagnosis, symptoms, etiology, medication, course, prognosis and management were found to be improved significantly (t=56.33, p<.000) after the psychoeducational intervention. The participants were found to have a significant decrease in the way the caregivers expressed their critical comments, hostility, dissatisfaction and emotional over involvement. They were able to show a higher level of warmth (t-62.96, p<.000) after the intervention. Caring for a person with schizophrenia is highly challenging and it might result in a negative emotional atmosphere in the patient's family. The results prove that a periodic group psychoeducation intervention along with ongoing pharmacotherapy would be beneficial in providing better care for persons with schizophrenia.

Keywords

Schizophrenia, Caregivers, Group Psychoeducational Intervention.

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V. Jaikumar ¹, N. Prabhu ¹, C. Jayakrishnaveni ¹, M. Fatima Jessy ²

Affiliations
1 Department of Psyehiatry, Government Institute of Mental Health, Kilpauk, Chennai, Tamil Nadu, IN
2 Soeial Welfare Offieer, Government Institute of Mental Health, Kilpauk, Chennai, Tamil Nadu, IN

Abstract

Schizophrenia is a severe mental disorder often associated with disability and poor quality of life. In India, almost the persons with schizophrenia are living in their families, the family caregivers play a vital role and hence they are to be integrated within the treatment plan. So, it is inevitable that they need to have knowledge about illness, treatment and available support for etfective caring and management. The aim of the study was to examine the influence of socio-demographic factors on the level of knowledge about schizophrenia and expressed emotions among caregivers of persons with schizophrenia. The family caregivers who were involved in taking care of persons with schizophrenia diagnosed falling under ICD -10 criteria. There were 120 samples, in all. The study employed a expost-facto research design, where 120 caregivers of persons with schizophrenia were selected using purposive sampling technique. Knowledge about Schizophrenia Interview (KASI) and Family Attitude Questionnaire (FAQ) were used for assessment. Findings indicate, except age and gender, other socio-demographic factors did not play much significant role in any of the dimensions of KASI such as in diagnosis, symptomatology, etiology, medication, course, prognosis and management of schizophrenia and found to have a higher scores in their critical comments, hostility, dissatisfaction and emotional over involvement and less score in warmth. Caring for a person with schizophrenia is highly challenging and it might result in a negative emotional atmosphere in the patient's family if they lack knowledge about schizophrenia.

Keywords

Schizophrenia, Caregivers, Knowledge about Schizophrenia, Expressed Emotions.

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V. Jaikumar ¹, N. Prabhu ¹, M. Fatima Jessy ¹

Affiliations
1 Government Institute of Mental Health, Kilpauk, Chennai, Tamil Nadu, IN

Abstract

Schizophrenia is a severe mental disorder affecting 3-5 / 1000 of the general population at any given time in any society. In India, caregivers in the family play a vital role in providing care by attending to the physical and emotional needs of their ill relatives. It tends to affect young people during their most productive years and, if left untreated, the illness can continue till their end. The management of schizophrenia can be challenging. Hence, it is inevitable that the caregivers need to have knowledge about illness, treatment and available support for effective management. The aim of the study was to examine the level of knowledge about illness and expressed emotions among the caregivers of persons with schizophrenia. The total 120 caregivers who involved in providing care of persons with schizophrenia were samples. The caregivers of persons with schizophrenia diagnosed falling under International Classification of Disease 10 diagnostic criteria were selected using purposive sampling technique. Knowledge about Schizophrenia Interview (KASI) and Family Attitude Questionnaire (FAQ) were used for assessment. The findings revealed that male caregivers have better knowledge in diagnosis (t=2.05*, p<.05) while females have higher knowledge in course and prognosis (t=2.65**, p<.01). They have inadequate knowledge in other dimensions of KASI such as in symptomatology, etiology, medication and management of schizophrenia. They also had higher scores in their expressed emotions like critical comments, hostility, dissatisfaction and emotional over involvement and less score in warmth. The finding suggests need for psycho -educational intervention to enhance knowledge about schizophrenia and to improve positive emotional atmosphere.

Keywords

Schizophrenia, Caregivers, Knowledge about Schizophrenia, Expressed Emotions.

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N. Prabhu ¹, Dr. M. Shanthakumar ²

Affiliations
1 Department of Computer Science, Gobi Arts & Science College, Gobichettipalayam, IN
2 Department of Computer Science, Kambam College of Arts & Science, Coimbatore, IN

Abstract

CBIR procedure is winding up progressively significant in therapeutic field so as to store, oversee, and recover picture information dependent on client question. Looking is finished by methods for coordinating the picture highlights, for example, surface, shape or various mixes of them. Surface highlights assume a significant job in PC vision, picture preparing and design acknowledgment. In this paper we present a novel technique for utilizing SVM (Support Vector machine) classifier pursued by KNN (K-closest neighbor) for CBIR utilizing surface and shape highlight. We propose a vigorous recovery utilizing a regulated classifier which focuses on extricated highlights. Dim level cooccurance network calculation is executed to separate the surface highlights from pictures. The element enhancement is done on the removed highlights to choose best highlights out of it to prepare the classifier. The characterization is performed on the dataset and it is grouped into three classifications, for example, ordinary, considerate and dangerous. The question picture is ordered by the classifier to a specific class and the important pictures are recovered from the database. To improve exactness to figure the accuracy worth and review in important picture. Besides no of tissues arrange capacity in database to get significant picture in various component extraction techniques.

Keywords

Content-Based Image Retrieval (CBIR), Feature Extraction, MRI Brain Tumor Image, SVM, Weighted Score.

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