Simple Rectangular Model Research Articles

LASER-BASED POSE-TRACKING OF A WHEELED MOBILE ROBOT

This paper develops methodology and technique for pose tracking of an autonomous mobile robot (AMR) using a laser scanner. A low-complexity and accurate pose-tracking EKF-based algorithm is proposed using a simple rectangular model and a 2-D laser scanner. By continuously updating the robot's pose and matching the laser data with the environmental model, we find that the outliers can be filtered out effectively by validation gate. Moreover, a Range-Weighted Hough Transform (RWHT) is used to extract the modeled lines from the clutter data. Numerous simulations and experimental results are provided to verify the feasibility and effectiveness of the proposed pose-tracking method.

The Rectangular Isotherm Model for Adsorption Kinetics

The transient uptake response of an adsorbent particle, subjected to a step change in surface concentration, is considered. It is shown that, when the isotherm is highly favorable, the theoretical curves derived for a Langmuirian system reduce asymptotically to the much simpler form for a rectangular isotherm. The simple rectangular model provides a useful approximation even when the form of the actual isotherm is quite far from the rectangular limit.

Analytical solution of the breakthrough curve for rectangular isotherm systems

A general solution including both film and intraparticle diffusion resistances is derived for the breakthrough curve for an adsorption or ion exchange system with irreversible equilibrium. Both fluid and solid resistances are represented by linearized rate expressions but the solution is obtained without recourse to the constant pattern assumption. A numerical solution has also been obtained for intraparticle diffusion with external fluid film resistance. The deviation between the predictions of the two models increases with the magnitude of the intraparticle resistance. Numerical solutions were also obtained for Langmuir and Freundlich isotherms in order to establish the range where the simple rectangular models can be considered as an acceptable approximation.Experimental data for the ion exchange systems of RNaZn(NO3)2 and RNaCe(NO3)3 and for the adsor