Line Follower Robot

UNIVERSITY OF BIRMINGHAM| EE2G – Design Report| THE GREAT EGG RACE| | | 25. 01. 2012| Table of Contents Appendix3 The Group Contract3 Introduction4 Literature Review4 History of mobile robots:4 The history of the line-following robots:5 Ongoing a most advanced projects on line-following robots or line-following based robots:5 Aims:6 Objectives:6 Requirements:6 System Decomposition7 Group Management Structure9 Name of the Robot9 Mechanical Design10 Technical Options, Critical Review and Final Design Choice10 Option 110 Option 211Review of the Frame12 Review of the Wheels12 Final Design13 Electronic Design14 Technical Options, Critical Review and Final Design Choice14 The Control Unit:14 The chosen microcontroller and the reasons: PIC16F64815 Stepper Motors Unit:16 The Driver Unit16 Software Design18 Technical Options, Critical Review and Final Design Choice18 Odd or even number of sensors18 The Number of Sensors18 The shape in which the sensors are put together18 The angle of t he V19 How does the program work? 19 Time Management plan22 Risk Assessment24Very possible, low cost and manageable risks24 The plans we have specifically come up with for the Robot project25 Components Wish List26 Conclusion28 References29 Appendix The Group Contract As a group, EGM had one target, to bring life to ICKI. This would not happen but with cooperation and hard work. By signing this contract you declare: * EGM will do the tasks they are responsible for by the internal deadline decided. * If EGM had any problems fulfilling any of their responsibilities they should inform the group leader in advance. EGM should back up all their group mates in unexpected and hard situations. * EGM should trust their group mates for their capability of doing their own responsibilities however this does not mean that they cannot say their opinion and ideas. * As the work break down has been decided when the entire group have been together, EGM is not allowed to complain about the inconsisten cy in the work division among the members of the group. * In any case when all the group members cannot get to agree on one subject they will have to count votes.If they tie they will have to ask a person’s opinion every group member trusts. (Or they can flip a coin alternatively. ) * If EGM wants to change any of the plans, they should discuss it with the rest of the group first. They are not allowed to accept doing something and do it in their own way without a group agreement. * EGM is responsible for attending all the group meetings unless they have a convincing reason not doing so. If any of the group members disobeys any of the statements above, the rest of the group has the right to reduce their mark upon agreement.Delaram SharifiZhanar Samayeva Hedieh Ekhlasi Xun Liu Introduction The purpose of this initial report is to survey the created plan made in order to accomplish the given Robot Project. This project is given to entire second year and the purpose of the projec t is to design and construct an autonomous robot that should follow the dark line track on a light background. First there is an overview on the line follower robots in literature review , The aims, objectives and requirements will follow the review. Literature ReviewThe line-following robots are classified under the â€Å"Mobile Robots†. Mobile Robots are the robots which do not have a fixed base; they can move around and do not physically stand at one location. These kinds of robots are fairly important as it is stated in this part of the article from Wikipedia’s Mobile robot is stated below: â€Å"Mobile robots are the focus of a great deal of current research and almost every major university has one or more labs that focus on mobile robot research. Mobile robots are also found in industry, military and security environments.They also appear as consumer products, for entertainment or to perform certain tasks like vacuum, gardening and some other common household t asks. † History of mobile robots: The first mobile robots were built during the World War II with the main purpose of producing flying bombs and radars. The next generations would follow a light source, determine if there are any obstacles and plug in themselves when their battery was low and according to the needs they would have different functions and made huge improvements in the progress so that they cover a very wide range of features.Line-following robots which are the main subject of this project are classified as â€Å"Land or Home Wheeled† robots. It is necessary to be said that the technology is far more advanced now that the robots with human like or animal like legs to provide mobility rather than legs exist. The technology has gone as far as making intelligent human-like robot (Androids), with a variety of capabilities such as speaking, voice recognition, face recognition, human like movements, dancing and singing.The purposes behind these projects are com ing from a variety of backgrounds as well such as: Household robot which can undertakes any of a house holds maid’s duties and science fiction movie productions. The pioneer countries in Android are Japan, Korea, the US, the UK and Iran. The information above are to show how advance the technology has gone in mobile robots but since the aims set for this project require very much lower level of understanding the mobile robots, this subject will not be discussed further. The history of the line-following robots:The designs of the first line-follower robot in 1960 was basically built for the purpose of getting controlled from earth while it is on the moon using a camera on it for processing images and video which has been unsuccessful. At 1970 the robot ended up following a high contrast white line under controlled lighting conditions at a speed of about 0. 8 mph which is pretty different to this robot projectsince we have more advanced programming equipment and processors, the robot of ours uses sensors rather than the video cameras to use less process. The main aim is thoroughly different too.The fist line-following robot was followed by more commercial used robots for which could do vacuuming and cleaning the floor. They used sensors to get the objects out of their way which is the method in which this project’s robot will determine its track, using sensors. Ongoing a most advanced projects on line-following robots or line-following based robots: The most advanced of the line followers according to the Wikipedia, DARPA website, Kiva systems and spec -minder website are : â€Å"DARPA Urban Grand Challenge, with six vehicles autonomously completing a complex course involving manned vehicles and obstacles.   Ã¢â‚¬Å"Kiva Systems  clever robots proliferate in distribution operations; these smart shelving units sort themselves according to the popularity of their contents. The Tug becomes a popular means for hospitals to move large cabinets of st ock from place to place. † â€Å"The  Speci-Minder  with Motivity begins carrying blood and other patient samples from nurses' stations to various labs. â€Å" â€Å"Seekur, the first widely available, non-military outdoor service robot, pulls a 3-ton vehicle across a parking lot  , drives autonomously indoors and begins learning how to navigate itself outside. â€Å"Boston Dynamics released video footage of a new generation  BigDog  able to walk on icy terrain and recover its balance when kicked from the side. † The mentioned robots are very advanced using not only basic reflective switch sensors but also cameras to detect whatever their purpose is. Since this project requires simple solution to make the robot built fast and work fast these could not very much help in the process of building the robot. According to the websites and also reports available on the internet, every university which does computer science or electrical engineering has got some ki nd of robot project and mainly line followers.The specific specifications are moderately different but in all projects the main purpose is practicing an actual project in real life and knowing how to use simple and quick circuit design, program and implementation. The MINI Line follower robot for example has the most similar specifications to this project. The robot needs to follow a line powering up by a battery with size limitations. Kerman, Judith B. (1991). Retrofitting Blade Runner: Issues in Ridley Scott's Blade Runner and Philip K. Dick's Do Androids Dream of Electric Sheep?Bowling Green, OH: Bowling Green State University Popular Press. ISBN 0-87972-509-5. Perkowitz, Sidney (2004). Digital People: From Bionic Humans to Androids. Joseph Henry Press. ISBN 0-309-09619-7. Shelde, Per (1993). Androids, Humanoids, and Other Science Fiction Monsters: Science and Soul in Science Fiction Films. New York: New York University Press. ISBN 0-8147-7930-1. http://www. stanford. edu/~learne st/cart. htm http://www. richardvannoy. info/building-a-line-following-robot. pdf http://ikalogic. com/proj_mini_line_folower. php ttp://online. physics. uiuc. edu/courses/phys405/P405_Projects/Fall2005/Robot_project_jaseung_. pdf http://nereus. mech. ntua. gr/pdf_ps/aim11. pdf Aims: * To design and construct an autonomous robot * The robot to be completed on time * To build the robot with its maximum speed * Build the robot with all the possibilities to win the race Objectives: * To come up with the ideas * To work as a team. Review and practice the skills of teamwork * To get experience of systems engineering * Improve electronic and mechanical practical design skillsRequirements: * The robot must follow the line a) The line is 50mm wide b) The line is 10m long c) The line is black on white background d) The line has maximum corners of 900 e) The line is horizontal * The robot must move forward * The robot must carry an egg a) The mass of egg is 25gr (approx. ) b) The size of egg is 5cm x 3cm (approx. ) System Decomposition System is an organized, purposeful structure regarded as a whole and consisting of interrelated and interdependent elements such as components, entities, factors, members, or parts.According to the Robot Project, the robot itself is the system, as it is consists of different subsystems, while the subsystems made of the components. Being more related to the Robot, it can be explained as the Mechanical, Electronic and Software Designs are the main subsystems, while the elements of each subsystem is defined as the components. The figure below shows the Robot system decomposition for better explanation: Figure [ 1 ]- The System Decomposition for the robot Group Management Structure During the meetings the work allocations between group members were discussed.The works as mechanical, electronic, programming, report, DVD film and logbook were divided between each in the group. To give one work division per group member means to put a big respon sibility on him, as every part has a big amount of not easy work to be done, and it can cause the difficulty in understanding the job that will lead to uncertainty. So every part has two members to work on it, and every group member has 3 jobs to be done by the end of the project and the work allocations are as followings: * Team Leader : Delaram Sharifi * Mechanical: Zhanar ; Hedieh Electronic: Xun ; Delaram * Programming: Delaram ; Hedieh * Reports: Zhanar ; Hedieh * DVD Film: Xun ; Zhanar * Logbook: Delaram ; Xun Name of the Robot The first thing was done by group is creating the name for the future robot. This process made the group to be more opened, close-knit, and creative, as well as the process helped to improve the team working. A lot of options we considered, but the main aim of giving the name was to create something that can reflect all of the group members in one name. So the final choice made by the group is the name ICKI.It stands by the countries of the each group m ember which are Iran, China, Kazakhstan, and Iran again. Mechanical Design Mechanical design for the robot presents many challenges and its main idea is to make it simple and affordable. The mechanical design of autonomous robot is including: * Robot’s Wheels. They are one of the most important assemblies of the mechanical platform. * Robot’s Frame. This frame is mechanical platform of robot and due to the frame all the parts are hold together * Motors. To control the speed and direction of the robot. * Sensors. To detect the direction.Technical Options, Critical Review and Final Design Choice During one of the meetings there are two options of mechanical design were discussed. Two group members responsible for the design presented their ideas to the group with all the aspects, advantages and disadvantages. The option as followings: Option 1 The first option was presented as the robot with the round shape. Then the robot would have 2 wheels by the left and right sides, 2 motors, line with 5 sensors in the front and the frame of HDPE (High Density Poly Ethylene), i. e. plastic. Figure 2-Round Shape Option 2The second option is to make more traditional, the rectangular one. The rectangular robot with the frame and base of Aluminum or HDPE, with 2 wheels on the sides and with the â€Å"V† shape line sensors and the skid on the front. The skid will help to control the balance. Figure 3-Rectangular Shape After presenting the options of the mechanical design for the robot some advantages and disadvantages were written for each of the option that helped the group to choose the right one. During the discussion of the design, three things were considered: capacity, light weight and low to the ground.As long as two motors are used for the construction of the robot and each motor can take one wheel, the neediness in wheels is just for two. So two wheels connected to the motors at the back of the robot is enough to control the rout and the skid connec ted to the sensor board in the front can help the autonomous robot control the balance. The robot’s size is to be about 12cm to 14 cm and 4 cm is for the wheels. Review of the Frame The frame is the basic structure to which everything should be attached and Aluminum and HDPE were considered as the frame.First of all, Aluminum is strong, light, and easy to cut and drill while HDPE is the same light, strong, easy to shape and cut but also the cheap one. In comparison, HDPE has a very low thermal conductivity, and a higher strength to weight ratio than Aluminum. Review of the Wheels All the group members agreed that the large diameter wheels give the robot low torque but high velocity and if the motors strong enough then the wheels with larger diameter better to use. The speed of the robot depends on the size of the wheels and it is good to have them between 1cm and 2 cm.Here are some advantages and disadvantages of the first and second options that were made during the discussi ons on the meetings: | First OptionThe Round Shape| Second OptionThe Rectangular Shape| Advantages| * Beautiful, unusual design * HDPE frame | * HDPE frame * The front skid * â€Å"V† shape line sensors * Compact| Disadvantages| * Distance between wheels and sensors is not enough to make turns right after the sensor is detected * Not enough of space for circuit board, 2 motors and sensors, that makes the design not compact| * Usual Design| Table [ 1 ] Advantages and Disadvantages for the design optionsFinal Design Taking into account all the reviews made and the table of advantages and disadvantages the decision was made is to choose the second option of the mechanical design, and to change some nuances as to use HDPE for the frame together with the â€Å"V† shape line sensors (also see Software Design) and add a spoon in the middle between the wheels that is the best position to keep the balance for an egg. So the final result would look like: Figure 4-Final Design El ectronic Design The Circuit is consisted of 5 units. Sensors are acting as the input. The control unit controls every component in the circuit.The driver provides enough power for the stepper motor to move the robot. The Power supply powers up the whole circuit. Sensors Control Unit Driver Stepper Motors Power Supply Figure 5-Block Diagram Technical Options, Critical Review and Final Design Choice The Control Unit: AVR/PIC/8051 8051: an old but very popular controller. The older 8051s are kind of slow: 12 clocks per instruction. Newer 8051s have 6 clocks per instruction up to 1 clock per instruction. The selection of low pin count devices is a bit limited. Most 8051s have an external memory bus that makes it easy to add memory and peripherals.CISC has free C compiler. PIC: Slightly less old than the 8051. PICs are popular with both industrial developers and hobbyists alike due to their low cost, wide availability, large user base, extensive collection of application notes, availabil ity of low cost or free development tools, and serial programming (and re-programming with flash memory) capability. AVR: The newest architecture by about 20 years. Designed for a pipeline, so has a very good clocks/instruction. Good range of devices: small and cheap with fairly high performance. It is very C friendly because of the RISC. Comparison:Selections: AVR=PIC;8051; Price: AVR=8051;PIC; For beginners: 8051;PIC;AVR; C language: AVR=PIC;8051; Anti-interference: AVR=PIC;8051; Final Choice We have used PIC in a few experiments, so we are familiar with it. Moreover, in university we just have equipment for program the PIC, so we decided to use the PIC. The chosen microcontroller and the reasons: PIC16F648 The PIC16F84 was chosen for its small size, easy reprogram ability and interrupts it is clocked at 4 MHZ by a ceramic resonator and it can be even powered by 4 AA rechargeable batteries (Very low consumption).These same batteries power the motors. This is usually not recommende d since surges in motor current can affect the processors operation, but with decoupling caps in place and the watchdog timer being used in the software no problems were experienced. The watchdog could reset the processor if it went stupid before you could ever see it act up. After all, we considered the number of inputs and outputs. The inputs are number of sensors we have which is 7, and outputs are motors. So PIC16F648 which we have used several times has enough bit (8-bit PORTA, 8-bit PORTB). Stepper Motors Unit:Servo motor/Stepper motor Servo motor: A servomotor (servo) is an electromechanical device in which an electrical input determines the position of the armature of a motor. Servos are used extensively in robotics and radio-controlled cars, airplanes, and boats. Stepper motor: A stepper motor (or step motor) is a brushless DC electric motor that can divide a full rotation into a large number of steps. The motor's position can be controlled precisely without any feedback me chanism (an open-loop controller), as long as the motor is carefully sized to the application. Comparison:Both types of motors offer similar opportunities for precise positioning, but they differ in a number of ways. Servomotors require analogue feedback control systems of some type. Typically, this involves a potentiometer to provide feedback about the rotor position, and some mix of circuitry to drive a current through the motor inversely proportional to the difference between the desired position and the current position Final Choice: Servo motor needs complex analogue feedback circuits. And we have used stepper motor before. However stepper motor will be given to us, so we chose stepper motor. The Driver UnitL298&L297/L293D A motor controller is a device or group of devices that serves to govern in some predetermined manner the performance of an electric motor. [1] A motor controller might include a manual or automatic means for starting and stopping the motor, selecting forward or reverse rotation, selecting and regulating the speed, regulating or limiting the torque, and protecting against overloads and faults. Three ways to drive a stepper motor: Use a transistor to drive each coil. But It was a little awkward to wire up the circuit – board space. Also, it requires 4 pins on the PIC to drive the motor.Use a driver array packaged in an IC. Don't forget to wire in the protection diodes! (i. e. SAA1027, L298, L293D) Use a specialized stepper motor driver chip. It would save on board space, and pin usage. As the price of stepper motor drive chip is very expensive and 4 transistors to drive each coil may make the board a mass. So we choose stepper motor driver IC. L298 has current capacity of 2A compared to 0. 6 A of a L293D. L293D’s package is not suitable for attaching a good heat sink; practically you can’t use it above 16V without frying it. L298 on the other hand works happily at 16V without a heat sink, so we choose L298.And in the datasheet we find out that it’s better to combine L298 with L297. * It needs to be considered that regarding to the temperature power supply is going to add to the circuit a heat sink needs to be included in the board otherwise it would melt. Software Design Technical Options, Critical Review and Final Design Choice The software to be used in order to program the pic CCS C Compiler, as it is the well-known software for the group. This software was used to do experiment laboratories for EE2A course and to use CCS C Compiler to program the robot will be more than adequate and helpful.Odd or even number of sensors Both odd and even numbers are possible to use, the group has chosen the odd to increase the accuracy and make the code more understandable and clear. As it will be explained how the program works, it will be clear how they both can be used. The Number of Sensors * 3: The program would work, but not accurate enough. All turns, no matter large or small will be reacted t he same. * 7: Again, the program will work, but needs far too much extra effort, increases the time of processing the data and makes the code very complicated. 5: Is a perfectly fine number, will give the opportunity to detect the turns in two different stages so that the robot can make the turns soon enough and with more accuracy. The shape in which the sensors are put together * An upside down V: Where the middle sensor is in the front, followed by two sensors, wider from each other in the back and followed by another two sensors, wider at the very back. This will not work because the turn is detected by the wider sensors later than the right time for to move to be taken from the robot. This method may be accurate but would not help the robot being fast. line: Where all the sensors are at the same level. This method is better than the latter but still will not make the robot to detect the larger turns sooner in order to make the reaction at the right time. * V: The middle sensor i s at the very back corner, two sensors with a wider distance comes next and the last two, again wider at the front. This method makes the robot understand the large angles sooner with the outer sensors, so that the robot will start turning sooner than the smaller angles which are detected by the middle sensors. The angle of the VThe angle should not be too small, because the robot will start the turns too early, and it should not be very wide because then it would not make any difference from the flat shape. This is to be experienced during the testing process but the decided angle at this time is 120 degrees. How does the program work? As it has been explained before, there are 5 sensors to be used in the robot. The recognition of the turns has been explained in 4 figures below. The green circles represent the sensors which have detected the black line and the red circles represent the sensors which have detected the white surface.The green circle is the logic â€Å"1† and t he red is the logic â€Å"0†. Normal positions of the sensors In this situation, when only the middle sensor detects the black line, the robot moves straight forward without any turns. The logic is â€Å"00100† 2. 5 cm Figure 4- The normal position of the sensors More than 50? turns including the 90? : When the turn is more than 50 degrees, the outer sensor feels the turn sooner than the middle sensor, so that the robot will start turning earlier, or if decided faster as well. The logic is â€Å"00101†. Figure 5-The more than 50? turns.It also needs to be said that if the large turns are happening for a very little while (for less than 4. 5 cm), the middle sensor will sense the turn first so that the robot would not change the direction to fast and get out of control. Less than 50? turn: When the turn is more than 50? , the middle sensor feels the turn first, so that the robot starts turning at a reasonable time to manage the turn. The logic is â€Å"00110† Figure 6-The less than 50? turns Approximately 50 degrees turns: At this situation, both middle and outer sensor feel the turn at the same time.The logic is â€Å"00111†. Figure 7- ? 50 ? Time Management plan Due to EE2G1 module, students have learnt how to manage their time in given projects using the graphs, charts and tables. Here is the Gantt chart that consists of two tables. The first one helps to analyze what tasks has to be done, when it has to be started and what amount of time is given and also gives the information about each task, if it is sequential or parallel. Task| Earliest Start (week)| Length (week)| Type| Dependent on†¦| A. High Level analysis| Week 0| 1 week| Sequential| | B.Selection of Mechanical Design and Components| Week 1| 1 week| Sequential| A| C. Detailed Analysis of Electronics for Robot| Week 1| 1 week| Sequential| A| D. Mechanical Design| Week 2| 2 weeks| Sequential| B| E. Circuit Design| Week 2| 2 weeks| Sequential| C| F. Build Mechanic s| Week 4| 2 weeks| Sequential| D| G. Build Circuit| Week 4| 1 weeks| Sequential| E| H. Construction| Week 6| 1 week| Sequential| F, G| I. Programming| Week 3| 3-4 weeks| Parallel| D, E, F, G, H, | J. Testing| Week 7| 4 weeks| Sequential| H, I| K. Demonstration| Week 11| -| Sequential| J|Table 1 – Gantt Table Summarizing the first table, information should be transferred to the chart. The chart helps visualize all the given tasks and the time given to accomplish them. Week| 0| 1| 2| 3| 4| 5| 6| 7| 8| 9| 10| 11| (1) A. High Level Analysis| (1) B. Selection Of Mechanical Design and Components| (1) C. Detailed Analysis of Electronics for Robot| (2) D.Mechanical Design| (2) E. Circuit Design| (2) F. Build Mechanics| (1) G. Build Circuit| (1) H.Construction| (3-4) I. Programming| (4-5) J. Testing| DEMONSTRATION| Chart 1 – Gantt Chart Risk Assessment As everything else, this project has its own risks and possibility of troubles. We cannot stop the problems from happen ing, but we can consider the ways we would manage if they have happened.There are different types of problems which may occur, some with large possibility but manageable damage, some with very little possibility but disastrous damages. The group has come with some ideas about these risks and how to manage them which are as follows: Very possible, low cost and manageable risks Burning the electrical components such as the PIC or the power sources: 1. Keeping good care of the more expensive components, putting them in a position which brings the possibility of the damage to the least possible. 2.Having alternatives for each component, more for the cheap and more burnable ones, less for the more expensive and least burnable ones. Losing the documents, programs or components: 1. Taking good care of where the materials are saved or put, possibly write the places down or share with other group mates in case for memory loss. 2. Having a photo of each page of the written documents, copies o f the electronic stuff on different places, and having a list for the components we have to pack every time. The A plan’s failure : 1. Having a plan Bs and Plan Cs for all the Plan As. . Plan Bs can be for a change in the A plan, but plan Cs are completely different methods in case the whole plan has been a whole of a lot of rubbish. 3. Having the responsible person ready for the plans when the failure comes so that the change can be quick and easy. Running out of time: 1. Having someone responsible for the plans to go as it has been decided in the time management plan, taking care of even slight late results to prevent the sum of smalls becoming a huge delay. 2. Stopping panic attacks or they will cause more delay. 3.Keeping everything simple and tidy in order to make the trouble shooting faster and easier. The plans we have specifically come up with for the Robot project 1. Taking good care of the PIC, having alternatives for all the components. 2. Saving the programs on me mory sticks, computer and email. 3. Keeping pictures of the critical pages of the log book. 4. Having an alternative way of programming for the line detecting bits. 5. Having some options for the components available in case the robot doesn’t work out with them. 6. Having a map of the circuit with all the explanations about wiring and connections. . Keeping the actual circuit nice and tidy, the wires low and the colors right. Components Wish List According to the design decisions, the list of components needed for the project can be made. There are some basic components required in order to accomplish the mechanical, electrical and software design of the robot, such as: * HDPE for the frame and chassis * 2 wheels * 1 skid * 2 DC stepper motors * Sensors * Circuit board * Capacitors, resistors, Diodes, Transistors (referring to the main components) * Microcontroller * LED’s Every group is provided with 40 ? n order to buy the components needed. The table below shows the approximate price estimations: Wheels| ? 2-3| PIC16F648 (2)| ? 4| Sensors (5)| ? 5| HDPE plastic| ? 10| LED’s| ? 5| Screw Box| ? 2| Resistors| ? 2| Capacitors| ? 2| Skid| ? 2-3| Heat Sink| ? 3| Conclusion This project is not only for making line follower race robot but it is also a great and realistic practice for group work and project management. This is a hard challenge and is only possible to manage with co-operation, hard work, motivation and enthusiasm. Each individual member learns how to cope with different opinions and ideas.They learn to be tolerant and do not let anything personal get involved in the work since this may ruin the friendly environment among the group members. By doing this project a lot of skills will be developed such as: * Group work * Time management and working by deadlines * Work break down in equal amount among group members * Decision making * Risk management * Budget management * Working with time limit and in stressful conditions * Starting a project from scratch, developing ideas and making improvements * Undertaking risks and responsibilities * Keeping good and reliable documentation Keeping motivation and encouragement among the group live or dead By the end of this project we will have done a complete project management plan and implementation. We will know how to face troubles and problems and hopefully this is going to be a great memory of how we learnt to manage a real project in practice. References Online Documents: * BASIC ROBOT MECHANICS TUTORIALS, (2005-1012). Society of Robots. Retrieved from http://www. societyofrobots. com/mechanicsbasics. shtml * Priyank PatilDepartment of Information Technology S. W. Nawawi, M. N. Ahmad, J. H.S Osman (2008). â€Å"Real-Time Control of a Two Wheeled Inverted Pendulum Mobile Robot * http://forum. pololu. com/ * * Ooi, Rich Chi (2003). â€Å"Balancing a Two-Wheeled Autonomous Robot†. University of Western Australia. Thesis B. Mechatronics Engineering. * Ong, Yin Chee; Abidin, M. S. B (2006). â€Å"Design and Development of Two Wheeled Autonomous Balancing Robot†, Center for Artificial Intell. ; Robotic (CAIRO), University Technology Malaysia, Kuala Lumpur. 4th Student Conference on Research and Development (SCOReD 2006), Shah Alam, Selangor, MALAYSIA, 27-28 June, 2006. Vivien Coelho; Stanley Liew; Karl Stol; Guangyu Liu (2008). â€Å"Development of a Mobile Two-Wheel Balancing Platform for Autonomous Applications†. Department of Mechanical Engineering, the University of Auckland. 15th International conference on Mechatronics and Machine Vision in Practice (M2VIP08), 2-4 Dec 2008, Auckland, New-Zealand. * Jose Miranda (2009), â€Å"Application of Kalman Filtering and PID Control for Direct Inverted Pendulum Control†. Master Thesis, California State University, Chico Spring 2009. * R. Hollis, â€Å"BallBots,† Scientific American, October 2006.Retrieved February 4, 2009. Available at the World Wide Web: http://www. sciam. com/article. cfm? id=ballbots * Pakdaman, M. ; Sanaatiyan, M. M. (2009), â€Å"Design and Implementation of Line Follower Robot,† Computer and Electrical Engineering, 2009. ICCEE '09. Second International Conference on , vol. 2, no. , pp. 585-590, 28-30 Dec. 2009 * Priyank Patil (2010), â€Å"AVR Line Following Robot,† Department of Information Technology K. J. Somaiya College of Engineering Mumbai, India. Retrieved Mar 5, 2010. Available at: http://www. kmitl. ac. th/~kswichit/ROBOT/Follower. pdf * Swope Design.Inc. , â€Å"Balancing Robots Made Easy†, Available at: http:// www. Balbots. com, 2004. * Miller Peter (2008), â€Å"Building a Two Wheeled Balancing Robot†, University of Southern Queensland, Faculty of Engineering and Surveying. Retrieved Nov 18, 2009. Available at: http://eprints. usq. edu. au/6168/ ——————————————– [ 2 ]. Each Group Member [ 3 ]. Statements can be added to this contract upon the entire group’s agreement [ 4 ]. Mobile Robot, Wikipedia website: [http://en. wikipedia. org/wiki/Mobile_robot] [ 5 ]. http://ikalogic. com/proj_mini_line_folower. php

Marketing 4p assigment Essay

INTRODUCTION 1. 0 BACKGROUND OF THE ORGANIZATIONS: Backed by more than 20 years of experience in Japan, Sushi Zanmai possesses extensive expertise for raw materials selection. Base on the nature of Business is classified as Food & Beverage industry. The purpose of their business is serves the best food and services to each customers. Genuine ingredients coupled with original recipes and original taste, they provide more than 100 assortments of sushi and 100 varieties of cooked food that are authentically Japanese. They now have 10 outlets in Malaysia which is at Sunway Pramid, One Utama, Garden Mall, Low Yat Plaza, Paradigm Mall, Fahrenheit 88 and 1 Month Kiara. They have their own wedsite for customers more easily to find out the most nearby location and know what is new on that month. The main selling product is sushi other that they also have sell noodles, rice set, desserts, and beverages. That sushi of colour plate starts from RM1. 80. 2. 0 THE PRODUCT OF SUSHI ZANMAI Sushi Zanmai is originated from Japan. They are offering the combination of tangible goods and services in their business. They provide traditional Japanese foods and services on their business. They business are on direct sell foods to customers. They have serves appetiser which the Japanese meal begins with a visual feast of chilled and warm appetisers, like: Salmon roe Japanese omelette Potato Mayonnaise Sushi Zanmai created own specialties featuring the freshest, handpicked ingredients provide a fresh, contemporary spin on much-loved favourites, exquisitely tailored to suit local taste preferences such as, Sanshoku Hana Salmon Caterpillar Roll Wasabillar Roll The traditional entree consists of expertly-sliced raw fish, shellfish or mollusks, complemented perfectly by the combination of wasabi and soy sauce, and often accompanied by pickled ginger, example Salmon sashimi Toro sashimi Maguro sashimi According to survey, most of the female prefer sushi salad that the reason Sushi Zanmai products include various types of Salad to let customers choose too. As you can see the three popular salad dishes are Sashimi Salad Salmon Salad Kaiso to Tofu Salad Rolled sushi in Japanese language is pronounces maki. It usually comprises of seafood which may or may not be raw, vinegared rice and paper-thin seaweed. For example, Salmon Maki Soft Shell Crab Maki Natto Maki Follow that, they do have Temaki. The â€Å"te† in Temaki means hand is Japanese language. The Temaki sushi is two- fold. It not only refers to a hand roll that is made entirely with the hand, without the traditional bamboo mat. The cone-shaped Temaki sushi is ofeten prepared as an appetizer. Soft Shell crab Temaki Ikura Temaki Unagi Temaki Other than that, noodles are also usually customers will order it. They have provide three types of noodles one is soba which is made from wheat flour, Udon made from wheat flour, Ramen made from Chinese wheat flour and served with a wide range of soup stocks such as soy-sauce base and salt base. Sansai Udon Niku Ramen Kakaiage soba Donburi a dishes consist of a deep bowl of rice topped off with chicken, beef or seafood cooked in a variety of styles and sauces. They have, Curry Rice Unadon Ebidon In beverages, they served many types of drinks like Green Tea, Calpis Smoothies, fine Japanese Sake, Soft Drinks, Japanese Plum Wine and others. Green Tea (unlimited refill) Ichigo Smoothies Choya Extreme A dessert to end the meals. It have multiple choice as well as, Macha & Macha Parfait Itachoco Monaka Stawberry Parfait For the level of the product and services, Sushi Zanmai is selling the product which is categories in actual product. They have their own brand name, design, packaging that deliver the core benefit to customers. They are selling high quality level product that most of the ingredients are import from Japan such as Salmon, tuna, sea bream, Eel and etc. Besides, Sushi Zanmai are selling the shopping product goods which is one of the important consumer goods in market. There have few reason because of Sushi Zanmai’s product is belong to shopping product. Sushi Zanmai of products is consumers purchase and consume on a less frequent schedule compared to convenience products. Normally, they opened their business inside the shopping mall and which is high class and crowded shopping mall. They will do more selective when choosing distribution outlets to sell their products. However, customers are willing to spend more time locating their products since they are relatively more expensive than convenience products and because these may process additional psychological benefits for the purchaser, such as raising customers status level within their social group. 3. 0 THE PRICING STRATEGY THAT USED BY SUSHI ZANMAI Sushi Zanmai has successfully follows the price skimming strategy when setting the price of its products. The price skimming strategy allows Sushi Zanmai to charge a price that is above the competition, but also promote frequent sales to lower the price below them. Different groups of customers are willing to pay different prices for the same product. Sushi Zanmai can sell â€Å"The Extreme† to the customers who will pay the higher price to be the first to buy and also to the bargain hunters. Finally, this strategy will emphasize the product and service quality. Sushi Zanmai sets a high initial price for its products to send a signal to customers that its products are quality and the service is excellent. Next, Sushi Zanmai also using price line and price bundle as the pricing strategies. Product Line Pricing They have selling same product of food but different categories. Every guest has different taste and love different type of cruise that the reason Sushi Zanmai has to classify as well. Certainly, different materiel of food sure is different price charging. For example: Sushi Name Ingredients Price Inari Sakura Shiitake & fish floss RM3. 80 Kaki Fry Roll Friend oyster sushi roll topped with mayonnaise RM9. 80 Dragon Roll Fried prawn sushi roll topped with avocado RM12. 80 Rice Name Ingredients Price Ebidon Deep fried prawn with egg on rice RM8. 80 Chiken Katsu Curry Chicken cutlet and rice with curry sauce RM10. 80 Unadon Roasted eel on rice RM15. 80 Noodles Name Ingredients Price Tsukimi Udon or ramen noddles with egg RM6. 80 Sansai Udon or soba noodle with vegetables RM8. 80 Curry Udon or ramen noodle with chicken curry RM10. 80 Product Bundle Pricing Sushi Zanmai has offering set promotion to attract more guests to purchase their products. Set promotion is type of bundle strategy. It can let guests feel the price is lower or cheaper but just have in certain and limited lime for it, like: Chicken Keraage Don and ice lemon tea for only RM7. 90 As manager will be considered in a few points when setting the bundle pricing strategy: Customer demands, sort out which is the product of the guests prefer or like it. Customers always pursue cheaper price, Target profit; make sure will reach the target. 4. 0 PLACE OF SUSHI ZANMAI Location is very important to those in Food and Beverage industry, as the product they sell is shopping product, the customers should not be able to take far complications to reach their shop. Normally, Sushi Zanmai chooses to open their new outlet inside the shopping mall that those people visit regularly. Below as those outlets of Sushi Zanmai in Malaysia : †¢SUSHI ZANMAI, SUNWAY PIRAMID †¢SUSHI ZANMAI, LOW YAT PLAZA †¢SUSHI ZANMAI, 1 UTAMA †¢SUSHI ZANMAI, THE GARDENS MALL †¢SUSHI ZANMAI, FAHRENHEIT 88 †¢SUSHI ZANMAI, 1 M ONT’KIARA †¢SUSHI ZANMAI, PARADIGM MALL One of the outlets of Sushi Zanmai in K. L Distribution Sushi Zanmai’s distribution channel is a direct channel as they are selling their product directly to the customers. Their distribution channel is considered as a direct channel, and it is the best suitable method to do for selling sushi, udon and beverage to the customers. As Sushi Zanmai are being in food and beverage industry, the best way to serve their customers is by serving them nicely and directly. The shopkeepers who are preparing meal in front of the customers 5. 0 PROMOTION OF SUSHI ZANMAI Sushi Zanmai are using promotion methods which are Advertising and Sales Promotion. For advertising promotion purpose, they have created a web page over the internet that those people could get the information which about them with visiting their web page. Other than that, for the reasons of nowadays most of the people are having an account on facebook, so that they have created a facebook web page to be distributed among the facebook page. The facebook users or customers might do a feedback or recommendations that about them through their facebook page. Web page of Sushi Zanmai Sales promotional sets will be made to promote their products to let the customers try and enjoy their product and to create strong customer relationships by promoting personally and friendly service. Their popular promotional methods are: Have 50 % discounts for only these 4 types of items. The duration of this promotion is just for one week. Sushi Zanmai have did the promotion that shown as above. The customers will get a Chicken Karaage Don for only RM 6. 80 after finish the steps that set by them. Free RM 20 Sushi Zanmai voucher for those customers whom spend RM100 or above in any of their outlets. The duration for this voucher is just for one month. 6. 0 Improvements in 4p’strategies of Sushi Zanmai Product Sushi Zanmai should activate the strategy of product development and come up with new products from time to time as it is important to maintain the preference of the customers with the new developed products. For example, the organization can come up with new type of rice and new sushi flavour or developing new menu items in single orders such as Udon and etc. Place Shopping mall actually is a not bad idea for open a restaurant but also need to careful about the visibility. A restaurant that is located on a crowded place has high visibility. Conversely, a restaurant nestled on a not crowded place will always battle a disadvantage simply based on its location. Pricing Sushi Zanmai should be try not setting too higher price to attract more other guests purchase your product and also can earn more profit. Promotion Sushi Zanmai can also be improved by creating more value sets that prompts the customers to try out the new products made for specific period as a special promotion during particular season such as Valentine’ Day and Merry Christmas or holiday season value sets for example Advertising on TV Sushi Zanmai shoud has advertising on TV. Television is the most powerful advertising medium available. The largest corporations around the world use it to build their brands, bring customers, add credibility, and grow their businesses. Delivery Services Add delivery services. It can help a company gaining popularity and becoming more available. 7. 0 Conclusion In conclusion, i would like conclude by listing the 4p’strategies that regarding of is price, place, promotion and product. They are offering the combination of tangible goods and services in their business. In setting pricing the Sushi Zanmai is using price skimming for their products. For the place and distribution, The Sushi Zanmai is use direct as their channel. Moreover, the Therefore, Sushi Zanmai should improve its product quality and take considered action in order to improve the sales as expected.

Bal-A-Vis-X Program

Many of today's struggling students are falling through the cracks of our education system and are at risk of dropping out of school. The increased expectations of today's high standards force special education teachers to frequently seek effective research-based interventions to help these students to become successful. Bal-A-Vis-X is just one of such programs. The program founder claims the brain integration – movement-based learning program will increase a student's reading fluency, and comprehension by participating in the multi-level crossing of the midline exercises emphasizing on flow with rhythm. The basis of this research project is to validate the claim by incorporating the Bal-A-Vis-X program with students at Moore School in fourth, fifth and six-grade physical education class. Bal-A-Vis-X was developed by a teacher in Wichita, Kansas named Bill Hubert. Bill Hubert uses cognitive exercises which encompass the integration of balance, auditory, and vision exercises using racquetballs, balance boards, hand-sized sandbags and various complexity of rhythmic exercises. The exercises focus on rhythm, patterning, balance and visual teaming. The combination of 300 various exercises increase in complexity as the student masters the fundamental skills. The exercises can be reduced to accommodate the student with varying disabilities. The program is designed to help individuals who struggle with academics, post-traumatic stress, physical and social impairments. (Hubert, 2007)Bill Hubert suggest the lack of flow within a person can trigger the stressful occurrences which may cause the cognitive debilitation of an individual. (Hubert,2007). He further explains what he believes are the series of physical and developmental movement which occur and how this movement contributes to the cognitive aspects of the individual to perform a required task. The principals of the program are to introduce midline crossings in three dimensions which are designed to follow steady rhythm using the whole mind-body system creating the flow with in the student aligning the mind with the body. The idea is to listen to the rhythm of the sound of the balls bouncing or the sandbags being passed while simultaneously integrating patterned movement involving the whole body.The stress of academic performance can cause struggling students to display undesirable behaviors. When students struggle in school many behavior issues to avoid the task or to gain something to help them manage the task. This behavior coping mechanism is what inspired my research into the BAL-A-VIS-X program. Often special education teachers and interventionist are overwhelmed with the diversity of intervention programs offered to increase academic performance in students with learning disabilities and are struggling academically, developmentally, emotionally and socially. This program interests me as it was originally introduced to me by the adaptive physical education teacher form Central Montana Learning Resource Center. She explained the concept of the program. From there my research developed. I researched the resources I needed in order to purchase the products needed to implement the program with my students. Once I organized the pricing of the product, my next step was to request the funding from my superintendent. She was very interested in the program herself and has supported me in my quest. I obtained permission to teach the program to the select group in their weekly physical education class. This offered me the two fifteen-minute time slots to work with the students weekly for eighteen weeks. Our Learning Co-Op Center ‘s Adaptive Physical Education teacher shared she attended a training with a Resource teacher from Round Up Montana which was practicing using Bal-A-Vis-X with her students. She was fortunate enough to attend a training of the program from Bill Hubert, the founder of the program itself. I proceeded forward by inviting her to come observe, to give me some additional ideas and skills to help me implement the program effectively. She explained to teach Bal-A-Vis-X it is optimal to teach one on one over a group setting. However, under my time restraints, she shared it would be alright to continue with my research as a group setting. The stress of academic performance can cause struggling students to display undesirable behaviors. When students struggle in school many behavioral issues are to avoid the task or to gain something to help them manage the task. This behavior coping mechanism is what inspired my research into the BAL-A-VIS-X program. Currently, my professional peers use Brain Gym, Go Noodle or some form of conglomerating a self-designed movement curriculum in their classroom management techniques to diminish undesirable behaviors without addressing the underlying antecedent and trigger for the student's actions.Often Special Education teachers and interventionist are overwhelmed with the diversity of intervention programs offered to increase academic performance in students with learning disabilities and are struggling cognitively, developmentally, emotionally and socially. Trying to minimize which program is the most effective lies in the opinion of the teacher. In my personal observation in Moore school it is just getting students up and moving is the goal. As a Special Education teacher myself, I rely on resources presented at professional development conventions, multiple online resources, and peer networking opportunities to share what is working with which types of students with disabilities. Disabilities are as diverse as the resources and interventions offered to increase performance in students with deficits. Originally, this program was introduced to me by the adaptive physical education teacher form Central Montana Learning Resource Center. It piqued my interest as she explained the concept of the program. From there, my research developed. My main focus was not the scientific theory of the program, as in how and why the brain is functioning and operating through the implementation of the program, but my interest lies in merely, is it a highly effective intervention compared to similar kinesthetic based interventions. Basically, why would I use this particular intervention program compared to other similar programs available?The go to for interventions for Special Education teachers is the website What Works Clearinghouse. The information presented on this website shares.As the program was developing with the students I did not truly notice any improvements in flow or coordination until the thirteenth week. As my research is to collect data for reading fluency and comprehension, it was just an observation of mine in this area of balance and coordination.

Innocence and disilussion in Desiree's Baby Essay

Innocence and disilussion in Desiree's Baby - Essay Example Why it seemed but yesterday that Desiree was little more than a baby herself." Desiree’s Baby† by Kate Chopin is a touching tale of how both love and pride affect all our actions. Love is a quality gifted only to some people. "Love is patient and kind. Love is not jealous or boastful†¦Ã¢â‚¬ ¦Ã¢â‚¬ ¦Love never gives up, never loses faith, is always hopeful, and endures through every circumstance." On the other hand, Pride has the opposite effect because it is egged on by a hatred of falling below ones standards. Pride makes a person so selfish because it centers on â€Å"self† and is totally destructive. Kate Chopin depicts the protagonist Desiree as a "beautiful and gentle, affectionate and sincere young woman."(p. 31) and then shuttles between the love and pride that effects all the choices made by all the characters in the story. Kate Chopin’s â€Å"Desiree’s Baby,† is so realistic in its portrayal because of her creation of lifelike and believable characters. She relies on a lot of symbolism and imagery lending depth and innocence to her characters. To highlight social divisions she uses color imagery such as black and white. She also uses Biblical connotations such as comparing Desiree with God and Armand to Satan. Chopin brings Desiree’s innocence forward when she wholly accepts Armand’s love for not guessing that he has a deep seated desire as well as hatred towards her racial background. Armand’s world seems ironic as he builds up an image of white supremacy and traps himself within its walls. Armand goes to the extent of discarding Desiree and getting involved with a white mistress, La Blanche. Though she is fair – skinned, yet she is of mixed blood from a slave background. The actual irony is that Armand is dark- skinned and evil but portrays himself as white and good. Desiree is so innocent and childlike and does not guess what is going through Armand’s mind. Though Armand knows well about the truth of his ancestry, yet he has

Internal Control Failures Paper Essay Example | Topics and Well Written Essays - 1500 words

Internal Control Failures Paper - Essay Example It was found that most cases of internal control failures were caused by individuals external to the firm, management-level and non-management-level employees, attitude of employees towards ethics and fraud, and lack of strict reporting and double control measures within the organization (Chrorafas, 2000). The main problem was that top management did not support internal control procedures. In some quarters, this project was regarded with extreme wariness, but there also was caution about appearing to attack the idea of a conceptual framework overtly because the logic of seeking such a basis for decision making was difficult to assail. "The displacement and resettlement of the local population, of 192 World Bank projects displacing 2.5 million people between 1986 and 1993, dam and reservoir projects caused sixty-three percent of those displacements" (Macdonald 2001, p. 1011). This meant that although the issues were extremely contentious, the debates were conducted in a lower key tha n those over specific standards, and the subject rarely broke into the public prints because the media tended to view it as too esoteric for popular consumption. "A lack of regular monitoring limits the public's access to project information and impairs accountability" (Macdonald 2001, p. 1011). The... Therefore, in both the building and funding contexts, personal interests are given greater consideration than technological, ecological, or economic feasibility" (Macdonald 2001, p. 1011). The cause of the bank instability and the associated inefficiency is to be found in a specific characteristic of the financial intermediation activity: maturity transformation. The bank relies on fractional reserves. As consumers have random needs for liquidity, a financial intermediary can offer a liquidity insurance while holding in cash only a fraction of the amount deposited and investing part of the deposit in longer-term and relatively illiquid projects. This increases the welfare of depositors but it also causes instability. Project failures show the need to change policies and internal control procedures. "Bank involuntary resettlement policy requires resettlement plans to compensate relocatees, by either improving or restoring the economic base of those relocated" (Macdonald 2001, p. 1011) . This situation leads to shortage of funds and implementation of stricter financial policies. The financing of highly illiquid projects on the international markets relies on relatively short-term debt, and a run of creditors may lead a country into deep trouble even if it would otherwise have had no problems in servicing its debts (Chrorafas, 2000). "In addition, the Bank "bears special responsibility for resettlement issues in the preparation and appraisal of projects because this period before signing loans is when the Bank has maximum involvement and leverage" (Macdonald 2001, p. 1011). These failures influence internal control procedures and new internal policies. The difference is that the rules-of-conduct approach leads to relatively small and infrequent

Human security Essay Example | Topics and Well Written Essays - 2000 words

Human security - Essay Example The author believes that the deeper understanding on the ideas will be attained by examining the opposing and concordant views on human security. The articles reviewed have become as compelling as they present realistic and eye-opener accounts, yet antithetical in some degree. Overview of Chandler’s Work The article by David Chandler entitled, Human Security: The Dog That Didn’t Bark provides an important revelation on the â€Å"deconstruction of myth that human security shows a typical conflict between the state and the individual security† (Owen 2008). Chandler’s article is based on the analysis of the two books namely, Human Security: Concepts and Implications written by Shahrbanou Tadjbakhsh & Anuradha M. Chenoy and A Decade of Human Security: Global Governance and New Multilateralisms written by Mclean, Black & Shaw. Chandler started his argument through citing the idea that global policy making overbearingly suggests two different views. One view poi nted out the construal of the dynamics of the society’s power relationships and inequalities, as well as insecurities. The other view pertained to the idea of identifying the interrelatedness, interconnection, and susceptibilities of security threats and the urgency for composite, cooperative, human-centered answers. Chandler’s First Argument While Tadjbakhsh and Chenoy claimed that human, as well as the state, should work interdependently, Chandler (2008) conceded that human and the state are indivisible, yet gave consideration to the importance of examining the problem that transpires regarding the state’s collaboration of its idea outside of its absolute model. Chandler ended up criticizing that the authors are more involved with advocacies instead of the evaluation of definite process of human security. Chandler’s first argument stated that â€Å"human security exaggerates new post-cold war security threats† (Chandler 2008, 435). This argument is compelling as it contradicts to the paradigm of human security. The author contended that one of the prevailing reasons why the human security has been applied wrongly by the state is because it overstated the post-cold war security threats. Chandler (2008) claimed that with the absence of conventional adversaries like terrorists, human security processes close the gap securitization issue like environmental, health, and economic security. Nevertheless, inquiry is not about how these issues are securitized but rather it is more important to evaluate the result of these actions. Since Chandler declined to elaborate the result of these actions, it is safe to assume that he falls short of accusing Tadjbakhsh and Chenoy for not considering the connection between normative theory and policy procedures. Chandler’s Second Argument Further, Chandler (2008, 435) argued that â€Å"human security advocates locate these threats in the developing world.† While there are other pa rt of the developed countries, which also have security problems, advocates can also be considered as correct since majority of the people who experienced security problems like extreme poverty are located in developing countries. These people are more vulnerable that is why it has given more attention. In contrast, Chandler (2008) argued that the causal link of human security processes in a globalized world do not exist at all is somewhat questionable since the actual connection solely depends on what dependent variable is utilized. As what Paris (2001) suggests,

Improving diversity in hospital boards Research Paper

Improving diversity in hospital boards - Research Paper Example As a nation, the U.S is a melting point of multiple ethnic and racial subgroups thus, ensuring workplace diversity is essential in order to meet the various needs and demands of the diverse population. There is a need for workplace diversity as according to statistics the number Hispanic population by 2050 is expected to triple while that of the blacks is expected to double, as the white remains the same yet workplace diversity is an important challenge. The Hispanics constitute 12 percent of the American population and only 2 percent of nurse’s work as healthcare providers, and the same case applies to the black Americans. Diversity in the health care delivery system is important as it improves the access to care among the racial and ethnic small groups; it enhances a greater patient satisfaction and a better patient communication. Moreover, it enhances the cultural competence of the health care personnel that is associated with greater health care outcomes (Rosenbaum & Leona rd, 2013). The effective running of hospitals and other healthcare institutions will largely be determined by an effective cooperation between the hospital management and the board in the governance. Hospital boards play an essential role in ensuring that there is diversity in the workforce as part of their support in hospital setting. A diverse hospital board will ensure that all the needs of the different groups of people are met in an effort of reflecting and responding to the different patient’s needs. In ensuring that there is an improvement in the hospital board’s diversity, it is important for healthcare organizations to act in accordance with the diversity, policies and legislation stipulated to protect individuals from discrimination (van Knippenberg & Schippers, 2007). Thus, the health institutions need to obey the laws to ensure that there is diversity in the hospital workforce to meet the diverse needs of the patient’s population. Being aware of the

Philosophy and the Examined Life Essay Example | Topics and Well Written Essays - 750 words

Philosophy and the Examined Life - Essay Example It is evidently clear from the discussion that a person who lives an examined life should seek genuine knowledge and not mere victory over his opponents since the knowledge acquired is the one, which is important. This is clearly elaborated in Socrates first dialogue with Euthyphro when he informs him that he is pursuing the case of murder involving his father who had subjected one of his workers to death. Euthyphro argues that justice should prevail regardless of the relations that exist since moral duty must prevail. This argument makes Socrates ask him to define his understanding of moral duty where he responds by saying that moral duty is anything that is pious. He goes on to question him on his understanding of pious and is not able to define clearly the place of gods in moral duty. This kind of conversation shows that a person should seek the truth and he should not be motivated by anything else other than the truth. A sound development of a philosophical attitude enables one t o cultivate this habit of only seeking authentic knowledge. The philosophical approach enables a person to develop a sense of clear reasoning in all circumstances regardless of the consequences associated with the reasoning. Socrates in his dialogue â€Å"apology† after the jury has found him guilty of the accusations made against him goes on with his sound reasoning. He responds by clearly expressing his sense of reasoning, which was not evident in the rest including the court and his accuser Mellitus. Philosophy influences the actions of people in any society as seen in the life of Socrates who was able to influence Euthyphro when they met shortly before going to the court where he had been charged. Socrates was able to question him on his understanding of piety and justice ultimately influencing him to change his own beliefs. This kind of influence makes one understand the universe better because it prompts him to ask questions rather than just believing everything the way it is presented. An intelligent person who has a philosophical attitude will not merely study various disciplines but will excel and probably come up with innovations, which are very fundamental in the life of a man.

Smoking Essay Example | Topics and Well Written Essays - 250 words - 7

Smoking - Essay Example This article and all the insights presented in the text play an important role in explaining trends in smoking both within and outside the U.A.E region. The article observes the developments and transformations that have been triggered by Midwakh, an Arabic traditional pipe. These developments encompass cigars and shisha. The consideration of smoking patterns, trends, and practices from elsewhere around the globe makes this text credible for research purposes. It compares smoking in the U.A.E with the rest of the world. Finally, the information presented in the article is relevant to the final paper topic of discussion. The essence of research in the final paper is to capture significant aspects that shed light on smoking practices in the U.A.E. this text captures both men and women, and further highlights demographic factors that enhance the completeness of the final paper. In this respect, the ultimate plan is to use this article to understand the dynamics of smoking within and across the U.A.E. Al-Houqani Mohammed, Raghib Ali, and Cother Hajat. â€Å"Tobacco Smoking Using Midwakh Is an Emerging Health Problem-Evidence from a Large Cross-Sectional Survey in the United Arab Emirates.† PLOS One, 7.6.

System Evaluation Essay Example for Free

System Evaluation Essay One of the most prevalent and effective systems used within the Marine Corps is the human resources system known as Marine Online (MOL). MOL was created to track Marines annual training, allow special requests such as leave, liberty, temporary duty assignments, personal time away from duty. MOL also gives Marines the ability to track carrier progression through annual reporting and rewards that are posted. The system includes promotion tracking and allows one to calculate physical training scores such as physical fitness training scores and combat fitness-training scores. The system allows Marines to track pay and leave in incremental amounts allowing one to view pay 15 days prior to being paid. The need for the system has been ever present and before its implementation everything was stored on paper and word of mouth. The system has helped the Corps as a whole because it creates a platform for many different types of data to be stored and calculates data automatically allowing data to be requested at a moment notice. The requirements of the Marine Corps that drove the system development of MOL are many in number but the need that drove the creation of it the most was how large the organization is. The Marine Corps size can vary from 200k to 400k including reserves. Commanders needed a system that would allow them to view leave and performance reports at a moments notice. In the process of creating the system they found there were many other facets of records they could include in the system. By digitizing these records they would be viewable by every Marine. This in turn allowed the Marine Corps to save hundreds of millions of dollars because they could reduce the number of departments. The Marine Corps had the ability to centralize all of the departments and reduce the amount of paper waste along with wasted man hours. In the past Marines would have to go to several separate departments to view the same information. The original system was only created to track only two areas of information. When the Marine Corps did their assessment of the system they found it to be so helpful they asked commanders if there was anything else they could add to the system to make it easier to track Marines carrier and allow individuals the ability to do the same. Allowing the individual Marines the ability to view these reports at a moments notice has allowed the organization as a whole to appeal to a much higher standard and expectation of the Marines. An example of a new tool that has been implemented in the system MOL is in the Marine Times â€Å"Use of the new communications tool, accessible through Marine Online, or MOL, will be mandatory for nearly the entire Corps by the end of February. † (Sanborn, 2011, para. 2). The use of this new communication tool has allowed family’s to stay in contact with loved ones while deployed over seas. The new system has improved almost every facet of the organization the basic use of the Marine Online System is to allow tracking of Marines to the commanders in the Marines Corps with the simple click of a mouse. The system has grown to so much more than it was originally created for allowing the growth of the Marine Corps in many other areas. Some likely future developments of the system will be the incorporation of medical and dental records. The system will probably be updated to include service record books to allow Marines individual records to be recorded electronically. The information system will eventually grow to allow every Marine to track every portion of their carrier to include new functions that were never though possible or never thought were needed. Something that has not been incorporated into the system is a mobile aspect but in the near future there will be. â€Å"In 2011, the Department of Defense announced it was creating a special online app store for members of the military so that they could download mobile apps that had been vetted for security issues† (Turban, Volonino, Wood, 2013, p. 88). Security has always been an issue for the Department of Defense (DOD) when creating mobile portions of their information systems. This is something that has repressed their ability to expand into the mobile business as of late the security of mobile system has become ever stronger and allowed the DOD to expand its information systems. Conclusion The MOL system has transformed how the Marine Corps functions in many different ways. The IS has allowed the organization as a whole to reduce aste and streamline the data it collects to a central location. Requirements of the system have always been present within the organization until recently has not been reasonably attainable with the amount of employees within the organization. The ultimate drive of the system is unit readiness and the unit readiness is easily quantifiable within the system because the commanders within the Marine Corps have instant access to the information required to gauge it. Unit readiness is the ability to leave at a moments notice when called upon by the president or congress to deploy to a war zone. The type and basic uses of the system are some of the most essential parts of the IS. Without the basic use of this system the Marine Corps as a whole would be at a loss without the use of it. In essence the application of this system has changed the business processes of the Marine Corps as a whole.

Benefits of Healthy Eating in Early Childhood

Benefits of Healthy Eating in Early Childhood Paul Dervey Introduction In this assignment I will be focusing on the benefits of leading a healthy lifestyle, diseases and prevention of diseases. I will discuss the chronic diseases that can be prevented and the ways that help to reduce the risks of developing these, and look at major food groups and how these can impact a healthy active lifestyle. I will explore activities for a healthy lifestyle and how they contribute to a reduced risk of obesity and illness. I will also define the meaning of wellbeing and how this can be achieved for children and their families. Leading a healthy lifestyle Leading a healthy lifestyle is paramount in everyone’s lifetime as there are many ways in which a child and their family can prevent diseases or a chronic illness, and mental health related problems. The British Heart Foundation have carried out research into living healthily and staying healthy, and discussed that ‘eating healthily can stop you gaining weight, which in return reduces the risk of illness’ (http://osclinks.com/59). Chronic illnesses concerning obesity are linked with poor diet and not much exercise. The major types of chronic illness are:- Coronary heart disease- This occurs when the blood supply is blocked by fatty deposits due to a high diet of saturated fats. Cancer- Eating a poor diet which could lead to obesity has several risks. The research that has been undertaken so far in the United Kingdom suggests that newly diagnosed cancers could have been halved if a person was to lead a healthy lifestyle. Stroke- This is where there is a restriction of oxygen to the brain. Eating healthily and undertaking plenty of exercise daily can reduce the risks of a stroke. Diabetes- This is a chronic health condition in the United Kingdom affecting around 2.8 million people. Diabetes can be controlled by the use of insulin, eating sensibly and exercise depending on the type. Complications and problems can occur if diabetes is not controlled properly, such as heart disease, kidney disease, high blood pressure, eye problems, and nerve pain and foot ulcers. High blood pressure- This could lead to a stroke or coronary heart disease, which could be due to lack of exercise or being overweight. The above chronic illnesses may be prevented by having a good healthy diet on a day to day basis and exercise. Being healthy would reduce the risk of being or becoming obese which would therefore prevent these diseases occurring. Cases in the past where children have been mistreated showed that children require a balanced nutrition diet. The Victoria Climbie case in February 2000 highlighted the importance of young people’s services working together to reduce the risks of ill care towards children. ‘This case highlighted the importance of multi-agency working and information sharing in order to protect children and prevent them from harm’. (www.safenetwork.org.uk). The Children Act 2004 was introduced and the green paper within Every Child Matters which identified five outcomes that are important to children and young people. These are to be healthy, stay safe, enjoy and achieve, make a positive contribution and achieve an economic well-being (www.everychildmatters.org.uk). These outcomes have meant that organisations are now working together and sharing information to protect children and young people. This case highlighted the importance of providing children with nutrition. Eating healthily Eating healthy has many benefits which include the prevention of chronic illnesses and mental wellbeing, which in turn could lead to behavioural problems. Children who sit around the table during family time with their families are less likely to become ‘choosy eaters’. Eating as a family also promotes family bonding time and encourages children to try different varieties of nutritious foods. Behavioural problems could stem from missing essential minerals and vitamins in a child’s diet. A healthy diet should include different nutritionally balanced meals. The main types of nutrition groups are:- Carbohydrates which provide a high energy level amongst essential B vitamins such as iron, fibre and calcium. These will be found in foods such as potatoes, bread, pasta, rice and starchy foods. Protein is essential in a child’s development as it supports body cells, repair and body growth. Proteins contain vitamins and acids which help to keep the bodies cholesterol levels low. Proteins are found in foods such as meat, eggs, fish, bread, milk, and a range of dairy products. Unsaturated fats can be beneficial for the body lowering its own cholesterol in the blood. Not all fats are harmful to the body, however saturated fats can increase the body’s cholesterol. Unsaturated fats can be found in olive oil, sunflower oil, tuna, salmon and nuts. Fruit and vegetables are recommended by Government guidelines for an individual to consume five portions of fruit and vegetables per day. However, new research has highlighted the need for seven pieces per day. Fruit and vegetables contain essential minerals and vitamins to help prevent diseases such as heart, stroke and cancers, while helping to maintain a balanced weight. Sugars are within food such as fruit and milk, but there is a high concern for other sugary foods such as fizzy drinks and sweets where sugar is added to these. All of the above foods are advised to be eaten in portion sizes, including several of the different major foods daily. Nutrients are present within foods such as fibre and potassium, which help to maintain a healthy body. It is important to get the correct balance of the above foods in order to get the maximum benefits of being healthy. Fruit and vegetables should be the biggest portion of food consumed, with protein and carbohydrates in the remaining part of the diet. Sugars and fatty foods should be limited within the diet. When planning meals, seasonal changes may be taken into consideration as individuals consume different foods according to the time of year. For example, salads in the summer and vegetables in the winter. Activities for young children Activities and exercise are essential for a child as they grow up into adolescence. Setting good habits and providing a good exercise pattern will keep the body from accumulating unwanted fats, which could lead to chronic illness and a high body mass index. ‘The Department of Health suggested that the number of 2-15 year olds taking part in the recommended amount of exercise is only 30%’ (OSC P10). This is concerning, however opportunities can be made available for children in the house that individuals would not normally think were classed as exercise such as housework and gardening. Activities do not necessarily have to include attending the gym or running a marathon, it can be as little as one hour a day as stated by professors in Glasgow. ‘In 2006, professors identified through a study of 545 nursery school children, that one hour of exercise a day was required for children to maintain a healthy body mass index, in addition to eating a healthy diet’ (OSC P15). Activities which can be carried out with young children can focus on physical and mental wellbeing such as walking or taking trips to the local park exploring the environments and growing independent with new surroundings. Children’s play centres give children a chance to meet other children and gain confidence playing with others. Creative activities such as cooking encourage parents and children to taste new healthy foods and explore the variation of colours and textures. This would promote a kinaesthetically approach of learning for the child. Other physical activities for young children could include children acting out words in books, using bodies to make shapes and letters. Nature walks and other outings to explore the environment could also be part of physical development. For babies, reaching and rolling are important to explore the world around them. Toddlers go from crawling, to standing, then walking. Pre-schoolers balance along obstacles, move to music and role pla y. Activities for young children can contribute to a healthy lifestyle as they can provide many benefits which include promoting healthy growth and development, and helping to achieve and maintain a healthy weight. Benefits could also include, improving balance, co-ordination and strength while improving posture. Activities would assist with the development of gross and fine motor skills and improve things such as concentration, confidence and self-esteem. Activities provide opportunities to develop social skills and make friends and establish connections between different parts of the brain (www.healthykids.nsw.gov.au). These benefits show that physical development is important for children, and adults need to support this by role-modelling and encouraging throughout childhood to promote a healthy lifestyle. Wellbeing Wellbeing is defined as ‘the state of being comfortable, healthy or happy, with security and safety. When looking at a child’s wellbeing there are many factors to focus on to give a healthy wellbeing for both the family and the child. The key aspects are like a stone in a bridge where there is a supportive structure which keeps everything upright. A loving environment would give a child and family the safe factor in life, and would bring a secure feeling to an individual. An example of this is where a child is comforted, and provided with love and reassurance. By ensuring routines are in place within the family, this would give everyone involved a sense of stability. A bedtime routine would show the child that there is a time to settle down after playing during the day, and consistency with times would allow the child to set healthy balances of time. A positive supportive attitude would create and improve self-esteem, which is essential for a child as they are growing up into society. An example of this could be when letting a child play and share toys with other children, reassuring the child to share when they are reluctant. Creating a positive atmosphere where a child and their family can thrive and always try to look forward in life is important. This could include taking more time to think about a situation and how the ch ild can adapt to this, while showing consistency. Wellbeing in a child is about the child developing to ensure the child feels valued, supported and confident in their choices. This will enable children to feel positive about themselves and have a positive outlook on life. Choice and opportunities would support children with independence by giving them the opportunity to take the lead role. Wellbeing can be achieved for children and families together through strong attachments. Conclusion From this assignment it can be seen that a healthy lifestyle is of importance to young children and families. There are many benefits that are highlighted in leading a healthy lifestyle, and I have discussed how problems can be caused by not leading a healthy lifestyle. Early intervention looking at diet and activities, benefit young children as they grow up to learn how important being healthy is, and adults play a supportive role within this. (1797 words) Bibliography Childcare Level 3, Open Study College, Unit 1- Healthy Living course notes. Gavigan, C. (2009) Healthy Child Healthy World. Plume books, New York. Framework- 5 key outcomes [Online] available from: http://www.every-child-matters.org.uk/Framework_5_key_outcomes [Accessed 29.10.14] Multi-agency working [Online] available from: http://www.safenetwork.org.uk/training_and_awareness/Pages/multi-agency-working [Accessed 4.11.14] Benefits of eating healthy [Online] available from: http://www.patient.co.uk/health/healthy-eating  [Accessed 9.11.14] Physical Development [Online] available from: http://www.healthykids.nsw.gov.au/teachers-childcare/physical-activity.aspx [Accessed 9.11.14]

Germany and Outbreak of WWI Essay -- History World War I

Throughout time wars have ended with the defeat of one force and the victory of another, those on the side of defeat almost always being held accountable for the destruction these wars produce. This is undoubtedly the case with post WWI Germany, burdened with defeat and forced to sign the treaty of Versailles, thus taking responsibility for the war. Although blamed for the war, it is still a highly controversial question between historians if the Germans were truly responsible for WWI. However when studying the actions of Germany as a nation and its leaders in the years leading up to the war, one can see it is quite accurate to say Germany was responsible for the outbreak of World War One. Germany had been creating tensions since the days of Bismarck's alliances, and so when Kaiser Wilhelm ascended to the throne in 1888 and wanted to make Germany a great world power and have â€Å"a place in the sun† adopting a policy of ‘weltpolitik’1, German creation of pre-wa r tensions and advocacy of a war drove the rest of Europe into WWI with them in 1914. The nation of Germany can be held largely accountable for the outbreak of WWI solely because they laid the foundation for this war long before a world war was in view. Throughout the years leading up to the war, Germany's actions contributed to the tensions that would eventually erupt in war. By the year 1914, the countries of Europe had established such alliances with each other so that to ensure any conflict between two countries would result in a collective conflict involving all the great powers of Europe. This extensive alliance system would not have even been conceived if Germany had not initiated it; â€Å"The division of Europe into two armed camps took place by slow stages over a perio... ...: Britain, Germany, and the coming of the Great War. New York: Random House, 1991.226 10Morrow, John Howard. The Great War an imperial history. London: Routledge, 2004. 27. 11"First World War.com - Primary Documents - Germany's 'Blank Cheque' to Austria-Hungary, 6 July 1914." First World War.com - A Multimedia History of World War One. 19 Nov. 2010 . 12Marshall, S. L. A. World War I. Boston: Houghton Mifflin, 2001. 35. 13Tucker, Spencer, and Priscilla Mary. Roberts. World War I: encyclopedia. Santa Barbara, CA: ABC-CLIO, 2005. 15. 14Morrow, John Howard. The Great War an imperial history. London: Routledge, 2004. 27 15"First World War.com - Feature Articles - The Causes of World War One." First World War.com - A Multimedia History of World War One. 19 Nov. 2010 .

Capital Punishment Essays - For the Common Good :: Argumentative Persuasive Essays

Capital Punishment Essays - For the Common Good      Ã‚  Ã‚  Ã‚  Ã‚  Ã‚  Ã‚   Putting to death people judged to have committed certain extremely terrible crimes is a practice of ancient standing, but in the United States in the second half of the twentieth century, it has become a very controversial issue.   Changing views on this difficult issue led the Supreme Court to abolish capital punishment in 1972 but later upheld it in 1977.   Although capital punishment is what the people want, there are many voices raised against it.   People all over the country debate this issue quite frequently.   They question the deterrent effect, morality, executions of innocents, and many more.   I have heard a lot about the death penalty and feel that the arguments against it are not at all convincing.      Ã‚  Ã‚  Ã‚  Ã‚  Ã‚  Ã‚   Some people argue that capital punishment is morally wrong.   They feel that killing some one for their crime is murder.   In any dictionary it states that murder is the unlawful act of killing.   Since capitol punishment is within the law it is not murder.   Also if executions   is murder then prison is kidnapping and charging taxes is extortion.   There is a difference between crime and punishment.   Are police officers wrong for speeding to enforce the speeding laws?   No.   They also say that we should value all human life.   Even the most despicable.   It is because we value human life so much that we put such a terrible consequence for taking it.      Ã‚  Ã‚  Ã‚  Ã‚  Ã‚  Ã‚   One argument states that the death penalty does not deter people from murdering.   To abolish capital punishment on this basis would be way off base.   You would also have to get rid of prisons because they do not keep people from committing crimes also.   Texas A&M University collected data and the results are horrifying.   In 1960 there were 56 executions and 9,140 murders.   In 1964 there were 15 executions and 9, 250 murders.   In 1969 there were no executions and 14,590 murders.   Seven more years without executions and there was 20,510 murders.   As you can see the deterrent effect is there and works very well.      Ã‚  Ã‚  Ã‚  Ã‚  Ã‚  Ã‚   As you can see the death penalty is for the common good and it saves lives.   People out there say that the death penalty is wrong, but

The Character of Teiresias in Oedipus The King :: Oedipus Rex, Sophocles

Throughout history there have been some astonishing Greek plays. Some plays were more comedic in nature, so were romance plays and then there were some that were tragic plays. One of the greatest Greek tragedy plays ever written was Oedipus the King. Brilliantly conceived and written, Oedipus the King dramatizes the self-discovery and tragic downfall of Oedipus, the King of Thebes. It tells the story about a young Greek who was fated to murder his father, marry his mother, and in the process become the King of Thebes, before ultimately meeting his downfall due to his own deeds. That makes this play so fascinating is that there are numerous underlying themes within the story, and I will attempt to shed light on one of these themes, that being the dramatic irony of blindness. I shall do this by focusing on the words and actions of a minor character in the play, Tiresias. A minor character is a character that is developed in such a way to help reveal themes and depict certain literary devices. Literary devices are used in mostly all literary works, as they can help reveal pertinent information and also move the story along. In the play Oedipus Rex by Sophocles, the minor character of Teiresias is responsible for foreshadowing Oedipus’ fate, developing the theme of blindness, and also illustrating dramatic irony. Teiresias uses his fortune teller abilities to foreshadow the anguish and destruction that Oedipus will encounter after he learns the truths of his life. Teiresias is also responsible for further developing the theme of blindness by using his own physical blindness to reveal to Oedipus his mental blindness. Lastly, Teiresias is ultimately responsible for imposing dramatic irony because of his great knowledge of the truth of Oedipus. In Sophocles’ Oedipus Rex, the character of Teiresias is developed in such a way that he utilizes many dramatic devices in order to reveal information and move the play along.As a fortune teller, Teiresias is able to see the fate and destruction of Oedipus’ life. Teiresias uses his great ability to reveal to the reader the downfalls in Oedipus’ life that will soon occur because of his quest to know his fate. The character of Teiresias demonstrates the use of foreshadowing in order for the reader to be aware of Oedipus’ fate.You can not see the wretchedness of your life, Nor in whose house you live, no, nor with whom.

Anaerobic Digestion Technology For Treatment Of Distillery Waste Environmental Sciences Essay

In recent old ages at that place has been a turning involvement in anaerobiotic intervention of effluents. Compared to aerobic growing, anaerobiotic agitation produces much less biomass from the same sum of COD remotion. Alcohol distillery is extremely H2O intensive units bring forthing big volumes of high strength effluent that poses serious environmental jobs. Anaerobic digestion is the most suited option for intervention of high strength organic wastewater. The presence of biodegradable constituents in the wastewaters coupled with the advantages. Considerable advancement has been achieved in the development of high rate anaerobiotic reactors with several constellations for handling concentrated industrial wastewater. Considerable sum of surveies have carried out utilizing Hybrid up-flow anaerobic sludge cover ( HUASB ) reactors. Treatment of exhausted wash generated from the distilleries is perceived as one of the serious pollution job of the states bring forthing intoxicant from the agitation and subsequent distillment of sugar cane molasses. Distillery wastewater is a contaminated watercourse with COD values of up to 80000-1, 30,000 mg/l and low pH Valuess of between 3 to 4. The HUASBR is widely used an effectual measure in taking the COD with a great efficiency. This paper reviews the suitableness and the position of development of anaerobiotic reactors for the digestion of selected organic wastewaters and critically analyzes the procedure parametric quantity for reactors and chief advantages of utilizing HUASBR for intervention of distillery effluent. Keywords: HUASB reactor, anaerobiotic digestion, Distillery spent wash, Wastewater intervention parametric quantities. Introduction One of the most of import environmental jobs faced by the universe is direction of waste. Industrial processes create a assortment of effluent pollutants ; which are hard and dearly-won to handle. Wastewater features and degrees of pollutants vary significantly from industry to industry. Now-a-days accent is laid on waste minimisation and gross coevals through by-product recovery. Rapid industrialisation has resulted in the coevals of a big measure of wastewater with high organic content, which if treated appropriately, can ensue in a ageless beginning of energy [ 2 ] . In recent old ages, anaerobiotic effluent intervention has become a engineering of turning importance, particularly for extremely polluted effluent from the sugar & A ; distillery industries [ 5 ] . Distillery spent wash refers to the wastewater generated from intoxicant distilleries. On an mean 8-15 litres of wastewater is generated for every litre of intoxicant produced [ 1, 4 ] . India has about 319 distilleries ; bring forthing 3.25 billion litres of intoxicant and bring forthing 40.4 billion litres of effluent yearly [ 1 ] . The fabrication procedure involves agitation of diluted sugar cane molasses with barm. The agitation last about 80 hours and ensuing merchandise contains 6-8 % intoxicant. The barm cells are separated by settling and cell free stock is steam distilled and rectified to obtain 94-95 % intoxicant [ 4 ] . The residue of fermented mash which comes out as liquid waste is termed as exhausted wash [ 1 ] . The effluent generated from distillment of fermented mash is in the temperature scope 70-800c, deep brown in colour, acidic in nature ( low pH ) , and has high concentration of organic stuffs and solids. It is a really complex, caramelized and cumbrous agro industrial waste. However the pollution burden of the distillery wastewater depends on the measure of molasses, unit operations for processing of molasses and process recovery of intoxicants [ 1 ] . TABLE ( 1 ) Typical features of distillery spent wash [ 4 ] .Sr. No.ParameterScope1. pH 3.80-4.40 2. Sum Suspended Solids ( mg/lit. ) 12,000-14,000 3. Entire Dissolved Solids ( mg/lit. ) 58,000-76,000 4 Entire volatile solids ( mg/lit. ) 45000-65000 5 B.O.D.,200C, 5 yearss ( mg/lit. ) 45,000-60,000 6 C.O.D. ( mg/lit. ) 80,000-1,30,000 7 Raw-colour Dark- brown 8 Chlorides ( mg/lit. ) 5000-8000 Distillery spent wash has really high BOD, COD and high BOD/COD ratio. The sum of organic substances such as N, K, phosphates, Ca, sulphates is besides really high.. High COD entire N and entire phosphate content of the influent may ensue in eutrofication of the natural H2O organic structure. Disposal of the distillery spent wash on land is every bit risky to the flora it is reported to cut down dirt alkanity and manages handiness, therefore populating seed sprouting. Application of distillery spent wash to dirty without proper monitoring, earnestly affects the land H2O quality by changing its physiochemical belongingss such as colour, pH, electric conduction due to leaching down of organic and inorganic ions. In malice of the fact of that there is the negative environmental impact associated with industrialisation, the consequence can be minimized and energy can be tapped by agencies of anaerobiotic digestion of the waste H2O [ 2 ] . Biological intervention of the distillery spent wash is 8 aerophilic and anaerobiotic but in most instances the combination of both is used. A typical COD/BOD ratio of 1.8to1.9 indicates the suitableness of influent of biological intervention [ 1 ] . In recent twelvemonth considerable attending has been paid toward the development of reactor for anaerobiotic intervention of waste taking to transition of organic molecule into biogas. This reactor known as 2nd coevals reactor or hello rate digester can manage waste at a high organic lading rate of 24kg. COD / M3 twenty-four hours and high up flow speed of 2 mm/h at a low hydraulic keepings clip [ 2 ] . Anaerobic digestion is the most suited option for the intervention of high strength organic wastewaters. The presence of biodegradable constituents in the wastewaters coupled with the advantages of anaerobiotic procedure over other intervention methods makes it an attractive option. 1.1 Development of Anaerobic Reactors: 1. Septic Tank 2. Imhoff Tank 3. Single phase anaerobiotic reactors 4. Anaerobic Filter 5. Anaerobic Fluidized Bed Reactor 6. Upflow Anaerobic Sludge Blanket ( UASBR ) . High RATE ANAEROBIC REACTORS All modern high rate biomethanation procedures are based on the construct of retaining high feasible biomass by some manner of bacterial sludge immobilisation. These are achieved by one of the undermentioned methods. * Formation of extremely settleable sludge sums combined with gas separation and sludge subsiding, e.g. upflow anaerobiotic sludge cover reactor and anaerobic baffled reactor. * Bacterial fond regard to high denseness particulate bearer stuffs e.g. fluidized bed reactors and anaerobic expanded bed reactors. * Entrapment of sludge sums between packing stuff supplied to the reactor, e.g. down flow anaerobiotic filter and up flow anaerobiotic filter. 2.1. Fixed movie reactor: In stationary fixed movie reactors ( Fig. 1 ) , the reactor has a bio-film support construction ( media ) such as activated C, PVC ( polyvinyl chloride ) supports, difficult stone atoms or ceramic rings for biomass immobilisation. The effluent is distributed from above/below the media. Fixed movie reactors offer the advantages of simpleness of building, riddance of mechanical commixture, better stableness at higher burden rates, and capableness to defy big toxic daze tonss and organic daze tonss. The reactors can retrieve really rapidly after a period of famishment. The chief restriction of this design is that the reactor volume is comparatively high compared to other high rate procedures due to the volume occupied by the media. Another restraint is choke offing of the reactor due to increase in bio-film thickness and/or high suspended solids concentration in the effluent [ 2 ] . Feed storage armored combat vehicle Feed TABLE ( 2 ) Features of reactor types [ 4 ] . Anaerobic Reactor Type Start up period Imparting Consequence Effluent Recycle Gas solid separation Device Carrier Packing Typical Loading rates ( kg COD/m3day ) HRT ( vitamin D ) CSRT— –Not Present Not required Not required Not indispensable 0.25-3 10-60 UASB 4-16 Low Not required Essential Not indispensable 10-30 0.5-7 Anaerobic Filter 3-4 High Not required Beneficial Essential 1-4 0.5-12 AAFEB 3-4 Less Required Not required Essential 1-50 0.2-5 AFB 3-4 Non-existent Required Beneficial Essential 1-100 0.2-5 2.2. Up flow anaerobic sludge cover reactor: UASB engineering is being used extensively for wastewaters from different beginnings such as distilleries, nutrient treating units, tanneries and municipal effluent. The active biomass in the signifier of sludge granules is retained in the reactor by direct subsiding for accomplishing high MCRT thereby accomplishing extremely cost-efficient designs. A major advantage is that the engineering has relatively less investing demands when compared to an anaerobiotic filter or a fluidized bed system. Among noteworthy disadvantages, it has a long start-up period along with the demand for a sufficient sum of farinaceous seed sludge for faster startup. Furthermore, important wash-out of sludge during the initial stage of the procedure is likely and the reactor needs skilled operation. A UASB reactor ( fig. 2 ) basically consists of gas-solids centrifuge ( to retain the anaerobic sludge within the reactor ) , an inflowing distribution system and outflowing draw off installations. Effluent recycle ( to fluidize the sludge bed ) is non necessary as sufficient contact between effluent and sludge is guaranteed even at low organic tonss with the influent distribution system. Besides, significantly higher lading rates can be accommodated in farinaceous sludge UASB reactors as compared to flocculent sludge bed reactors. In the latter, the presence of ill degraded or no biodegradable suspended affair in the effluent consequences in an irreversible crisp bead in the specific methanogenic activity because the spread solids are trapped in the sludge. Furthermore, any important granulation does non happen under these conditions. The maximal loading potency of such a woolly sludge bed system is in the scope of 1-4 kilograms COD/m3 twenty-four hours. Yet another high rate digest er, EGSB, is a modified signifier of UASB in which a 5-10 m/h as compared to 3 m/ H for soluble effluent and 1-1.25 m/h for partly soluble somewhat higher superficial liquid speed is applied effluent in an UASB ) . Because of the higher up flow speeds, chiefly farinaceous sludge will be retained in an EGSB system, whereas a important portion of farinaceous sludge bed will be in an expanded or perchance even in a fluidized province in the higher parts of the bed. As a consequence, the contact between the effluent and sludge is first-class. Furthermore, the conveyance of substrate into the sludge aggregates is much better as compared to state of affairss where the commixture strength is much lower. The maximal accomplishable lading rate in EGSB is somewhat higher than that of an UASB system, particularly for a low strength V & A ; A containing effluent and at lower ambient temperatures. Fig.2 UASB Reactor. 2.3. Anaerobic fluidized bed reactor: In the anaerobiotic fluidized bed ( Fig. 3 ) , the media for bacterial fond regard and growing is kept in the fluidized province by retarding force forces exerted by the up streamlined effluent. The media used are little atom size sand, activated C, etc. Under fluidized province, each media provides a big surface country for biofilm formation and growing. It enables the attainment of high reactor biomass hold-up and promotes system efficiency and stableness. This provides an chance for higher organic burden rates and greater opposition to inhibitors. Fluidized bed engineering is more effectual than anaerobiotic filter engineering as it favors the conveyance of microbic cells from the majority to the surface and therefore enhances the contact between the micro-organisms and the substrate.Fig. 3 Anaerobic fluidized bed reactorThese reactors have several advantages over anaerobiotic filters such as riddance of bed clogging, a low hydraulic caput loss combined with better hydraulic circu lation and a greater surface country per unit of reactor volume. Finally, the capital cost is lower due to cut down reactor volumes. However, the recycling of wastewater may be necessary to accomplish bed enlargement as in the instance of expanded bed reactor. In the expanded bed design, micro-organisms are attached to an inert support medium such as sand, crushed rock or plastics as in fluidized bed reactor. However, the diameter of the atoms is somewhat bigger as compared to that used in fluidized beds. The rule used for the enlargement is besides similar to that for the fluidized bed, i.e. by a high up flow speed and recycling. 2.4 The Anaerobic filter Processes ( AF ) : Biofiltration uses bacterial immobilisation by agencies of sludge of movies on an inert support stuff & A ; the entrapment of sludge flocs within the macro-porous construction of the bearer stuff to retain as much of the active sludge as possible. Particularly designed bearer stuffs are available, normally made of polythene or polypropene. They are extremely voided to cut down the hazard of choke offing & A ; have specific surface between 100 & A ; 200 m2per m3carrier stuffs. Anaerobic filter are used whenever non-granular or non settable sludge is expected & amp ; when available country is limited. The high biomass concentration inside the reactor allows volumetric lading rates of 5to10kg COD/m3per twenty-four hours. A disadvantage of the Anaerobic Filter is the comparative high cost of the bearer stuff. 2.5 The Hybrid Reactor: – Hybrid Type of reactor is a combination of an Up flow Anaerobic Sludge Blanket reactor with an anaerobiotic filter or an anaerobiotic contact procedure or a combination of the three types. The first intercrossed Type of reactor is similar to an UASB, except for the three-phase centrifuge. The centrifuge is replacing by a later of drifting bearer stuff. This material serves a dual map ( 1 ) To divide & amp ; retain a big maps of sludge in the reactor before the influent use the reactor, and ( 2 ) To carries active sludge in the porous infinite of the bearer stuff itself. This type of reactor is called the up flow anaerobic contact filter reactor ( UACF ) The 2nd type of intercrossed reactor has late been developed for waste H2O demoing no granule formation & A ; necessitating a longer hydraulic keeping clip. It is called by up flow Anaerobic contact reactor ( UAC ) .This reactor allows some bio mass accretion in the lower portion of the reactor the reactor is non wholly mix which is instance for the anaerobiotic contact ( AC ) reactor but is equipped with a sophisticated influent distribution system similar to the 1 for the ( UASB ) reactor [ 5 ] . 3. CONTROL OF ANAEROBIC DIGESTION The anaerobiotic digestion procedure is affected significantly by the operating conditions. As the procedure involves the formation of volatile acids, it is of import that the rate of reaction be such that there is no accretion of acids, which would ensue in the failure of the digester. This, in bend, is governed by the burden rate and the inflowing strength. Temperature and pH are other of import variables as the methane bring forthing bacteriums are sensitive to these as good. 3.1. Consequence of temperature Anaerobic digestion is strongly influenced by temperature and can be grouped under one of the undermentioned classs: psychrophilic ( 0-20A °C ) , mesophilic ( 20- 42A °C ) and thermophilic ( 42-75A °C ) . The inside informations of the bacterial procedures in all the three temperature scopes are good established though a big subdivision of the reported work trades with mesophilic operation. Changes in temperature are good resisted by anaerobiotic bacteriums, every bit long as they do non transcend the upper bound as defined by the temperature at which the decay rate begins to transcend the growing rate. In the mesophilic scope, the bacterial activity and growing lessenings by one half for each 10A °C bead below 35A °C.Thus, for a given grade of digestion to be attained, the lower the temperature, the thirster is the digestion clip. The consequence of temperature on the first phase of the digestion procedure ( hydrolysis and acidogenesis ) is non really important. The 2nd an d 3rd phases of decomposition can merely be performed by certain specialised micro-organism ( acidognic and methanogenic bacteriums ) and therefore, these are much more sensitive towards temperature alteration [ 3 ] . However, an of import feature of anaerobiotic bacteriums is that their decay rate is really low at temperatures below 15A °C. Therefore, it is possible to continue the anaerobiotic sludge for long periods without losing much of its activity. This is particularly utile in the anaerobiotic intervention of effluent from seasonal industries such as sugar Millss. 3.2. Consequence of pH Anaerobic reactions are extremely pH dependant. The optimum pH scope for methane bring forthing bacteriums is 6.8-7.2 while for acid-forming bacteriums, a more acerb pH is desirable. The pH of an anaerobiotic system is typically maintained between methanogenic bounds to forestall the predomination of the acid-forming bacteriums, which may do V & A ; A accretion. It is indispensable that the reactor contents provide plenty buffer capacity to neutralize any eventual V & A ; A accretion, and therefore prevent build-up of localised acid zones in the digester. In general, sodium-bicarbonate is used for supplementing the alkalinity since it is the lone chemical, which gently shifts the equilibrium to the desired value without upseting the physical and chemical balance of the delicate microbic population. 3.3. Consequence of foods The presence of ions in the provender is a critical parametric quantity since it affects the granulation procedure and stableness of reactors like USAB. The bacterium in the anaerobiotic digestion procedure requires micronutrients and hint elements such as N, phosphoric, sulfur, K, Ca, Mg, Fe, Ni, Co, Zn, manganese and Cu for optimal growing. Although these elements are needed in highly low concentrations, the deficiency of these foods has an inauspicious consequence upon the microbic growing and public presentation. Methane organizing bacteriums have comparatively high internal concentrations of Fe, Ni and Co. These elements may non be present in sufficient concentrations in effluent watercourses from the processing of one individual agro industrial merchandise like maize or murphies or the effluent derived from condensates. In such instances, the effluent has to be supplemented with the hint elements anterior to intervention. The needed optimum Degree centigrades: Nitrogen: P ratio for enhanced output of methane has been reported to be 100:2.5:0.5. The minimal concentration of macro and micronutrients can be calculated based on the biodegradable COD concentration of the effluent, cell output and alimentary concentration in bacterial cells. The food Concentration in the influent should be adjusted to a value equal to twice the minimum alimentary concentration required in order to guarantee that there is a little surplus in the foods needed. 3.4. Consequence of organic burden rate In anaerobiotic effluent intervention, lading rate dramas an of import function. In the instance of nonattached biomass reactors, where the hydraulic keeping clip is long, overloading consequences in biomass washout. This, in bend, leads to treat failure. Fixed movie, expanded and fluidized bed reactors can defy higher organic burden rate. Even if there is a daze burden ensuing in failure, the system is quickly restored to normal. In comparing to a CSTR system, fixed movie and other affiliated biomass reactors have better stableness. Furthermore, high grade of COD decrease is achieved even at high lading rates at a short hydraulic keeping clip. Anaerobic fluidized bed appears to defy maximal lading rate compared to other high rate reactors. 4. FACTORS GOVERNING REACTOR CHOICE A engineering is acceptable to an industry if it requires less capital, less land country and is more dependable when compared to the other good established options for an anaerobiotic digestion system ; this translates into the procedure being able to run at high organic and hydraulic burden rates with minimal operation and care demands. To take the most appropriate reactor type for a peculiar application, it is indispensable to carry on a systematic rating of different reactor constellations with the effluent watercourse. The organic and hydraulic lading potency of a reactor depends on three factors Viz: *iˆ Amount of active biomass that can be retained by a reactor per unit volume. * Contact chance between the maintained biomass and the entrance effluent. * Diffusion of substrate within the biomass. With these considerations, farinaceous sludge UASB reactor stands out distinctively as the best pick with the lone restrictions being the inclination of granules to drift and shearing of granules at high lading rates. These restraints are besides valid to a lesser grade for affiliated biomass reactors ( such as fixed movie, fluidized bed and rotary biological contactors ) . In add-on, due to the infinite occupied by the media, the affiliated biomass reactors possess relatively lower capacity for biomass keeping per unit volume of the reactor. The latter depends on the movie thickness, which would be the highest in a fluidized bed reactor due to big surface country available for biomass fond regard. Besides, there is better contact between the biomass and the entrance effluent in both fluidized bed and EGSB systems. However, due to the high upflow speed, the substrate diffusion in the biomass is limited in these constellations. Based on these factors, it appears that the maximal accomplishable lading rates with soluble effluent would diminish in the undermentioned sequence: UASB & gt ; EGSB & gt ; fluidized bed reactor & gt ; anaerobiotic filter. The capital cost of the reactors and the land country demands, hence, follows the same order. The digester operation and care demands are minimal if the procedure is reasonably stable towards fluctuations in effluent features and alterations in environmental conditions. Susceptibility of the procedure depends on the possible use of the reactor and therefore a system runing near maximal loading conditions is more sensitive. Based on the comparings of assorted reactor types, the undermentioned order can be recommended for reactor pick: Parameters Rating Operating accomplishments: Fixed movie & lt ; UASB & lt ; RBC & lt ; Fluidized bed. Energy ingestion: UASB & lt ; fixed movie & lt ; EGSB & lt ; fluidized bed & lt ; RBC Capital cost, land demand: RBC & lt ; fixed movie & lt ; UASB & lt ; EGSB & lt ; fluidized bed 5. HUASB REACTOR & A ; ITS PERFORMANCE: The loanblend up flow anaerobic sludge cover ( HUASB ) reactor has received widespread credence and has been successfully used to handle a assortment of industrial every bit good as domestic effluents. In the HUASB procedure, the whole waste is passed through the anaerobiotic reactor in an up flow manners, with a hydraulic keeping clip ( HRT ) of merely about 8-10 hours at mean flow. No anterior deposit is required.COD removal efficiencies depends mostly on effluent type ; nevertheless the remotion efficiency with regard to biodegradable COD is by and large in surplus of 85 or even 90 % . The biodegradable COD is sometimes reflected in the parametric quantity biological O demand ( BOD ) . The four top applications of high rate anaerobiotic reactor systems are for: Breweries & A ; drink industry. Distilleries and agitation industries. Food industries. Pulp & A ; paper industries. Furthermore in warm clime the HUASB construct is besides suited for the domestic effluent. Advantages of Anaerobic Reactors: Low energy cost Less bio-mass coevals Less solid waste to dispose Stable digested sludge is produced Less infinite required Off-gas air pollution eliminated Restrictions of HUASBR: *Post Aerobic Treatment is required ( one twenty-four hours smoothing pool for sewerage ) . *To meet coli signifier degree in the treated wastewater ripening pool or chemical intervention is required. Decision A brief sum-up of consequences of research lab and pilot graduated table surveies extracted from expensive literature study are presented. The HUASBR engineering is good suited for the pre-treatment of high strength distillery wastewaters. It must be noted that this is merely when the procedure has been successfully started up and it is in stable operation. It order to accomplish a consecutive start up it is recommended that the reactor be started up at a low lading rate between 4-8 Kg.COD/m3.day and the COD remotion efficiency must be monitored carefully. Attention must besides be paid to the temperature and high burden rate should non be applied until the temperature in the reactor has reached the recommended 34 to 360c.This particularly of import in outflowing steams that have low flow rate with correspondingly high COD concentration such as distillery waste. Once the works has been successfully started up, fluctuations in volumetric burden rate do non significantly affect the pub lic presentation of the reactor. Recognition The literature reviewed in this paper is the portion of ongoing thesis work name â€Å" Study on public presentation of Tapered conelike shaped intercrossed Upflow anaerobic sludge cover Reactor ( HUASBR ) for intervention of distillery spent wash † at SGB University, Amravati under the counsel of Dr. N. W. Ingole. The writer thanks the Principal, J. T. M. C. O. E. Faizpur, Dist- Jalgaon for widening all installations for carry oning the research work.