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1.
Eduardo Freire Teodiano Bastos-Filho Mário Sarcinelli-Filho Ricardo Carelli 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(1):419-429
This paper proposes an alternative approach to address the problem of coordinating behaviors in mobile robot navigation: fusion of control signals. Such approach is based on a set of two decentralized information filters, which accomplish the data fusion involved. Besides these two fusion engines, control architectures designed according to this approach also embed a set of different controllers that generate reference signals for the robot linear and angular speeds. Such signals are delivered to the two decentralized information filters, which estimate suitable overall reference signals for the robot linear and angular speeds, respectively. Thus, the background for designing such control architectures is provided by the nonlinear systems theory, which makes this approach different from any other yet proposed. This background also allows checking control architectures designed according to the proposed approach for stability. Such analysis is carried out in the paper, and shows that the robot always reaches its final destination, in spite of either obstacles along its path or the environment layout. As an example, a control architecture is designed to guide a mobile robot in an experiment, whose results allows checking the good performance of the control architecture and validating the design approach proposed as well. 相似文献
2.
Biodegradation of monoaromatic hydrocarbons in aquifer columns amended with hydrogen peroxide and nitrate 总被引:1,自引:0,他引:1
The ability of indigenous microorganisms to degrade benzene, toluene, ethylbenzene and xylenes (BTEX) in laboratory scale flow-through aquifer columns was tested separately with hydrogen peroxide (110 mg/l) and nitrate (330 mg/l as NO3−) amendments to air-saturated influent nutrient solution. The continuous removal of individual components from all columns relative to the sterile controls provided evidence for biodegradation. In the presence of hydrogen peroxide, the indigeneous microorganisms degraded benzene and toluene (> 95%), meta- plus para-xylene (80%) and ortho-xylene (70%). Nitrate addition resulted in 90% removal of toluene and 25% removal of ortho-xylene. However, benzene, ethylbenzene, meta- and para-xylene concentrations were not significantly reduced after 42 days of operation. Following this experiment, low dissolved oxygen (< 1 mg/l) conditions were initiated with the nitrate-amended column influent in order to mimic contaminated groundwater conditions distal from a nutrient injection well. Toluene continued to be effectively degraded (> 90%), and more than 25% of the benzene, 40% of the ethylbenzene, 50% of the meta- plus para-xylenes and 60% of the ortho-xylene were removed after several months of operation. 相似文献
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M A M Maqueda Sergio A Martinez D Narváez Miriam G Rodriguez Ricardo Aguilar Victor M Herrero 《Water science and technology》2006,53(11):135-142
The Mexican petrochemical industry, Morelos S.A. de C.V., is one of the biggest and more important petroleum industries in Mexico and Latin America. It has an activated sludge system to treat its wastewater flow, which is approximately 7,000 m3/d. The wastewater contains volatile organic carbon substances classified as toxics. The old surface aeration system was changed for fine bubble diffusers; however, one major drawback of the new aeration system is that the temperature in the bioreactor has increased due to the compression of the air, which at the compressor exit reaches 85 degrees C. This effect results in the temperature in the bioreactor attaining 32 degrees C during the fall, whereas in the spring and summer, the bioreactor temperature reaches higher values than 40 degrees C. The high temperatures reduce the microorganism activity and cause a higher volatilisation rate of volatile compounds, among other effects, which affect the performance of the biological treatment. This work was performed to obtain a better modelling of the wastewater treatment from the petrochemical industry. The model describes the effect of the temperature on the performance of the biological treatment. The model was obtained from tests that were carried out in laboratory reactors with 14 L capacity, which were operated at different temperatures (from 30 to 45 degrees C), with the same wastewater and conditions as the actual system. 相似文献
5.
O Bernard B Chachuat A Hélias B Le Dantec B Sialve J-P Steyer L Lardon P Neveu S Lambert J Gallop M Dixon P Ratini A Quintabà S Frattesi J M Lema E Roca G Ruiz J Rodriguez A Franco P Vanrolleghem U Zaher D J W De Pauw K De Neve K Lievens D Dochaine O Schoefs H Fibrianto R Farina V Alcaraz Gonzalez V Gonzalez Alvarez P Lemaire J A Martinez F Esandi O Duclaud J F Lavigne 《Water science and technology》2005,52(1-2):457-464
The TELEMAC project brings new methodologies from the Information and Science Technologies field to the world of water treatment. TELEMAC offers an advanced remote management system which adapts to most of the anaerobic wastewater treatment plants that do not benefit from a local expert in wastewater treatment. The TELEMAC system takes advantage of new sensors to better monitor the process dynamics and to run automatic controllers that stabilise the treatment plant, meet the depollution requirements and provide a biogas quality suitable for cogeneration. If the automatic system detects a failure which cannot be solved automatically or locally by a technician, then an expert from the TELEMAC Control Centre is contacted via the internet and manages the problem. 相似文献
6.
Ricardo Beristain‐Cardoso Anne‐Claire Texier Reyes Sierra‐Álvarez Jim A Field Elías Razo‐Flores Jorge Gómez 《Journal of chemical technology and biotechnology (Oxford, Oxfordshire : 1986)》2008,83(9):1197-1203
BACKGROUND: Simultaneous removal of sulfur, nitrogen and carbon compounds from wastewaters is a commercially important biological process. The objective was to evaluate the influence of the CH3COO?/NO3? molar ratio on the sulfide oxidation process using an inverse fluidized bed reactor (IFBR). RESULTS: Three molar ratios of CH3COO?/NO3? (0.85, 0.72 and 0.62) with a constant S2?/NO3? molar ratio of 0.13 were evaluated. At a CH3COO?/NO3? molar ratio of 0.85, the nitrate, acetate and sulfide removal efficiencies were approximately 100%. The N2 yield (g N2 g?1 NO3?‐N consumed) was 0.81. Acetate was mineralized, resulting in a yield of 0.65 g inorganic‐C g?1 CH3COO?‐C consumed. Sulfide was partially oxidized to S0, and 71% of the S2? consumed was recovered as elemental sulfur by a settler installed in the IFBR. At a CH3COO?/NO3? molar ratio of 0.72, the efficiencies of nitrate, acetate and sulfide consumption were of 100%, with N2 and inorganic‐C yields of 0.84 and 0.69, respectively. The sulfide was recovered as sulfate instead of S0, with a yield of 0.92 g SO42?‐S g?1 S2? consumed. CONCLUSIONS: The CH3COO?/NO3? molar ratio was shown to be an important parameter that can be used to control the fate of sulfide oxidation to either S0 or sulfate. In this study, the potential of denitrification for the simultaneous removal of organic matter, sulfide and nitrate from wastewaters was demonstrated, obtaining CO2, S0 and N2 as the major end products. Copyright © 2008 Society of Chemical Industry 相似文献
7.
JA Alaejos Fuentes T López-Alburquerque J De Portugal Alvarez 《Canadian Metallurgical Quarterly》1997,14(5):239-240
We report a 20-year-old man affected by glycogenosis type III with distal muscle weakness, more severe in distal leg muscles. The electromyogram showed myopathic features. Nerve conduction studies and central motor conduction after magnetic stimulation of the brain were normal. Our results suggest that there is no involvement of central motor pathways in this disease. 相似文献
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Cristiane Vieira Helm Alicia de Francisco Salete Aparecida Gaziola Ricardo Francisco Fornazier Georgia Bertoni Pompeu Ricardo Antunes Azevedo 《Food Biotechnology》2005,18(3):327-341
Barley (Hordeum vulgare L.) has had an important impact on human nutrition. Hull-less barley is a genetically improved type that has been widely used in recent years. Six Brazilian hull-less barley varieties (IAC-IBON 214-82; IAC 8612-421; IAC 8501-31; IAC 8501-12; IAPAR 39-ACUMAI; IAC 8501-22) were analyzed for storage protein constituents, amino acid contents, and similarity among the hull-less barley varieties. Albumins, globulins, prolamins I and II, and glutelins were extracted and separated by SDS-PAGE. The total protein amino acid contents of the flour were also determined for each variety by TLC and HPLC. Variations in intensity and appearance and disappearance of protein bands were observed among the varieties suggesting genetic variability. However, the amino acid profile did not indicate any major variations in the amino acid concentrations. The high lysine and threonine total concentrations detected in the seeds of the hull-less barley varieties encouraged an investigation into the regulation of amino acid metabolism and storage protein synthesis. 相似文献