Activated carbon was prepared from vegetable wastes collected from the residential halls of University of Dhaka, Bangladesh. The carbon, produced by pyrolysis of vegetable wastes at 400 o C to 600 o C for 30 min under N 2 atmosphere, was chemically activated with zinc chloride. The activated carbon samples were characterized by X-ray diffraction (XRD), Fourier Transform Infrared Spectroscopy (FT-IR). Topographical and morphological characteristics were examined by Scanning Electron Microscopy (SEM). The surface area of the activated charcoal was determined by adsorption of Methylene Blue from alcoholic solution and was found to be 53 m 2 g -1 . The zero point charge (pH zpc ) was also determined by pH titration means and obtained to be 6.10±0.1 at ambient temperature. Analyses of these experimental data lead us to conclude that the activated carbon prepared from vegetable wastes materials is a high grade active carbon in comparison with commercially available one. Activity of generated active carbon as an adsorbent was tested through adsorption of Pb(II). The results indicate that adsorption of Pb(II) on active charcoal was very fast and it followed Langmuir type of adsorption isotherm, and the dimensionless separation parameter, R L , was found to be 0
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated hands/grippers during adaptive/wrapping type of grasps, where each finger makes contact with object at several points. Kinematic closed form solutions are not possible for such an articulated finger which simultaneously reaches several given goal points. This paper, presents a framework for computing best grasp for an underactuated robotic gripper, based on a novel object slicing method. The proposed method quickly find contacts using an object slicing technique and use grasp quality measure to find the best grasp from a pool of grasps. To validate the proposed method, implementation has been done on twenty-four household objects and toys using a two finger underactuated robot gripper. Unlike the many other existing approaches, the proposed approach has several advantages: it can handle objects with complex shapes and sizes; it does not require simplifying the objects into primitive geometric shape; Most importantly, it can be applied on point clouds taken using depth sensor; it takes into account gripper kinematic constraints and generates feasible grasps for both adaptive/enveloping and fingertip types of grasps.
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