This paper presents Workspace-based Connectivity Oracle (WCO), a new sampling strategy for probabilistic roadmap planning. WCO uses both domain knowledge—specifically, workspace geometry—and sampling history to construct a dynamic sampling distribution. WCO is composed of many component samplers, each based on a geometric feature of a robot. Each component sampler updates its distribution, usin...

In this study, Aspergillus niger ADM110 fungi was gamma irradiated to produce lipase enzyme and then immobilized onto magnetic barium ferrite nanoparticles (BFN) for biodiesel production. BFN were prepared by the citrate sol-gel auto-combustion method and characterized by transmission electron microscopy (TEM), X-ray diffraction (XRD), Fourier transform infrared (FTIR) and scanning electron mic...

Bitumen’s self-healing capability is critical to the bitumen industry’s sustainable development. This work attempts examine property and fatigue behavior of using waste cooking oil (WCO) polyphosphoric acid (PPA) in modification. Different components WCO were mixed with PPA for initial The linear amplitude sweep (LAS) test was used evaluate modified bitumen. To assess extent healing after a fat...

A potential degrader of paraffinic and aromatic hydrocarbons was isolated from oil-contaminated soil from steel plant effluent area in Burnpur, India. The strain was investigated for degradation of waste lubricants (waste engine oil and waste transformer oil) that often contain EPA (Environmental Protection Agency, USA) classified priority pollutants and was identified as Ochrobactrum sp. C1 by...

The paper presents introduction to the research on possible supplying ship diesel engines with mixtures of diesel oils and vegetable oils or their esters with accounting for ecological aspects – exhaust gas purity. Characteristics of vegetable oils and their esters are compared with those diesel oils. Consequences of their application to diesel engines, mainly for their working process and exha...

Biodiesel is an alternative source of energy in diesel engines in its neat form or as a blend with conventional diesel fuel. The raw feedstock costs represent a lot of the overall biodiesel production cost. Therefore, the employment of waste oils or non-edible oils (which do not compete with edible oils) as feedstock for biodiesel production are presented as the best alternative. However, the p...

Biodiesel is a source of new renewable energies and substitute fuel with much potential in the future for petroleum-derived diesel. According to BP Statistical Review World Energy, total global consumption diesel from petroleum increasing one decade which 3.5 million tonnes 2010 3.9 2019. Despite reducing dependence on fossil fuel, question how waste cooking oil (WCO) disposal related environme...

Pilot-fueling and nozzle-injection pressure are significant injection parameters, they have impacts on modern vehicles for enhancing the engine output, in addition to meeting rigorous tailpipe-exhaust emission standards. In this current work, influence of pilot-fueling nozzle-opening (NOP) performance tailpipe outcomes from a compression-ignition (CI) at higher varying load conditions was inves...

Bioremediation, the process by which microorganisms degrade organic compounds to non-toxic or less toxic substances, has been widely used for cleanup of coastal ecosystems after oil spills. In this study, the hydrocarbon degradation rate and half lives in three bioremediation strategies (natural attenuation, biostimulation, and bioaugmentation) were compared in weathered crude oil (WCO) contami...