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J. Jeevamalar ¹

Affiliations
1 Department of Mechanical Engineering, E.G.S.Pillay Engineering College, Nagapattinam -611 002, IN

Abstract

In this paper we present a novel, complete algo- rithm for manipulator path planning with obstacles. Previous approaches have used incomplete methods to make the problem tractable. By posing the problem as a Disjunctive Program we are able to use existing constrained optimization methods to generate optimal trajectories. Furthermore, our method plans entirely in the workspace of the manipulator, eliminating the costly process of mapping the obstacles from the workspace into the configuration space.

Keywords

Genetic Algorithm, Manipulator, Obstacle avoidance, Path Planning.

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J. Jeevamalar ¹

Affiliations
1 Department of Mechanical Engineering, E.G.S.Pillay Engineering College, Nagapattinam - 611 002, IN

Abstract

This paper discusses using a genetic algorithm, a search strategy based on models of evolution, to solve the problem of robotic path planning. This method provides a solid alternative to conventional methods of path planning. Aside from being efficient and robust, the optimization parameters for the desired path can be changed without changing the overall algorithm. Although this paper discusses the two dimensional mobile robot case the algorithm can easily be extended to three dimensions or a higher dimensional configuration space.

Keywords

Genetic Algorithm, Hybridization, Manipulator, Path Planning.

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S. Krishnamohan ¹, J. Jeevamalar ¹

Affiliations
1 Department of Mechanical Engineering, E.G.S. Pillay Engineering College, Nagapattinam-611002, IN

Abstract

Friction stir welding (FSW) is a novel solid-state joining process that was invented in 1991, it can avoid many problems associated with fusion welding processes, thereby defect-free welds having excellent properties can be produced even in some materials with poor fusion weldability. The present investigation is aimed at to study the influence of FSW process parameters such rotational speed, welding speed and shoulder diameter on sensitization of AISI 409M grade ferritic stainless steel joint. FSW experiments were conducted based on three factors, three-level, and central composite small design. Specimens were extracted from each joint. Modified strauss test and double loop electrochemical potentiokinetic reactivation (DL-EPR) test using an electrolyte of 0.1M H2SO4, 0.4M Na2SO4 and 0.5 ppm KSCN with a PH value of 1.8 at room temperature and at a potential scan rate dE/dt of about 2.5 mV/s, was chosen to evaluate the sensitization of frictions stir welded ferritic stainless steel joints. Activation to reactivation current ratio (Ia/Ir) and corrosion rate were evaluated for each condition and empirical relationships were developed between the process parameters and corrosion rate. The effect of FSW process parameters on sensitization of friction stir welded AISI 409M ferritic stainless steel joints.

Keywords

Electro Potentiokinetic Reactivation, Friction Stir Welding, Sensitation, Surface Methodology.

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J. Jeevamalar ¹, G. Hari Narayanan ²

Affiliations
1 Department of Mechanical Engineering, E.G.S. Pillay Engineering College, Nagapattinam-611002, IN
2 Department of Mechanical Engineering, E.G.S. Pillay Engineering College, Nagapattinam, IN

Abstract

OTEC, Ocean Thermal Energy Conversion is an energy technology that converts solar radiation to electric power. OTEC systems use the ocean’s natural thermal gradient. The OTEC process consist of pumping cold ocean water to the surface and using the temperature difference between this and the warm surface water to run a thermal engine to generate electricity. Producing electricity is not the only thing that OTEC can do. You can, if you want, reduce the amount of electric power and produce fresh water instead. This can be very significant on for example islands where fresh water is limited. OTEC uses water from the bottom of the sea, which is nutritious; one result of this is that a lot of fish and other seafood will be collected in the outlet flow. This means that OTEC not only produce electricity, it produces water and food too.

Keywords

Environment, Hybrid Cycle, Ocean Technology, Power Plant.

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