Practical neural networks in a computer control package

This paper deals with the integration of radial basis function (RBF) networks into the industrial software control package Connoisseur. The paper shows the improved modelling capabilities offered by RBF networks within the Connoisseur environment compared to linear modelling techniques such as recursive least squares. The paper also goes on to mention the way this improved modelling capability, obtained through the RBF networks will be utilised within Connoisseur.

Evaluation of field wetlands for mitigation of diffuse pollution from agriculture: sediment retention, cost and effectiveness

Diffuse pollution, and the contribution from agriculture in particular, has become increasingly important as pollution from point sources has been addressed by wastewater treatment. Land management approaches, such as construction of field wetlands, provide one group of mitigation options available to farmers. Although field wetlands are widely used for diffuse pollution control in temperate environments worldwide, there is a shortage of evidence for the effectiveness and viability of these mitigation options in the UK. The Mitigation Options for Phosphorus and Sediment Project aims to make recommendations regarding the design and effectiveness of field wetlands for diffuse pollution control in UK landscapes. Ten wetlands have been built on four farms in Cumbria and Leicestershire. This paper focuses on sediment retention within the wetlands, estimated from annual sediment surveys in the first two years, and discusses establishment costs. It is clear that the wetlands are effective in trapping a substantial amount of sediment. Estimates of annual sediment retention suggest higher trapping rates at sandy sites (0.5–6 t ha�1 yr�1), compared to silty sites (0.02–0.4 t ha�1 yr�1) and clay sites (0.01–0.07 t ha�1 yr�1). Establishment costs for the wetlands ranged from £280 to £3100 and depended more on site specific factors, such as fencing and gateways on livestock farms, rather than on wetland size or design. Wetlands with lower trapping rates would also have lower maintenance costs, as dredging would be required less frequently. The results indicate that field wetlands show promise for inclusion in agri-environment schemes, particularly if capital payments can be provided for establishment, to encourage uptake of these multi-functional features.

Managing Water Quality in Agricultural Catchments

Until recently, pollution control in rural drainage basins of the UK consisted solely of water treatment at the point of abstraction. However, prevention of agricultural pollution at source is now a realistic option given the possibility of financing the necessary changes in land use through modification of the Common Agricultural Policy. This paper uses a nutrient export coefficient model to examine the cost of land-use change in relation to improvement of water quality. Catchment-wide schemes and local protection measures are considered. Modelling results underline the need for integrated management of entire drainage basins. A wide range of benefits may accrue from land-use change, including enhanced habitats for wildlife as well as better drinking water.

Design Management för Remote Control Sweden AB

This Degree Project is a cooperativ work with the advertising agency PAX in Falun and the industrial companyRemote Control, who constructs and sells actuators for the global market.The assignment concerns bringing out a graphic profile, or with another expression a Design Management, forRemote Control AB graphic materials. Remote Control AB has a quality certification ISO 9000 and is workingwith, when this report was wrote, an environment certification ISO 14001.The Company has been paid attention to Internet and other media.The supervisors are familiar to that Design Management is a soon coming competition element, like quality andenvironment management.This Degree project contains research, analysis and the construction of graphic material. The research has beencommitted most of the time to trace the customer, the market and the competitor, because its the most importantphase. It’s also important looking at competitor’s way of working with marketing management, so you can separatethem from the own company.

Alterações hematológicas induzidas por poluição industrial em moradores e industriários de Cubatão, SP (Brasil)

Foram analisados 496 indivíduos de Cubatão, SP (Brasil), cidade com alto teor de poluição industrial, com o objetivo de verificar alterações hematológicas induzidas por poluentes industriais. Dos estudos citológicos dos eritrócitos dessa população estudada, foram observadas 188 (38%) com alterações, isoladas ou combinadas em um único indivíduo, das quais 26% apresentaram policromatofilia, 24% com pontilhados basófilos, 15% com corpos de Heinz, e 8% com reticulocitose. As freqüências de metahemoglobinemia e sulfohemoglobinemia foram,respectivamente, de 35% e 32% em moradores da vila Parisi - um bairro cercado pela maioria das indústrias de Cubatão - 15% e 5% em operários das indústrias, e 12% e 4% em habitantes de áreas distantes entre 3 e 8 km do polo industrial. Esses resultados indicam que as alterações são causadas por poluentes tóxico-oxidantes e que as conseqüências fisio-patológicas no sangue dos moradores de Cubatão parecem indicar que estão relacionadas com o tempo de exposição e com a proximidade dos focos emissores de poluentes.

An hydrochemical answer to a legislative demand involving health risk related to water quality

Effluents and surface waters around an area involved with the inking of tissues at Itatiba municipality, São Paulo State, Brazil, were chemically analyzed with the purpose of evaluating the influence on the water quality of the chemicals released, as well to provide answers to legislative requirements related to the São Paulo State Register 997 published on 31 May 1976.

Chlorine disinfection of dye wastewater: Implications for a commercial azo dye mixture

Azo dyes, the most widely used family of synthetic dyes, are often employed as colorants in areas such as textiles, plastics, foods/drugs/cosmetics, and electronics. Following their use in industrial applications, azo dyes have been found in effluents and various receiving waters. Chemical treatment of effluents containing azo dyes includes disinfection using chlorine, which can generate compounds of varying eco/genotoxicity. Among the widely known commercial azo dyes for synthetic fibers is C.I. Disperse Red 1. While this dye is known to exist as a complex mixture, reports of eco/genotoxicity involve the purified form. Bearing in mind the potential for adverse synergistic effects arising from exposures to chemical mixtures, the aim of the present study was to characterize the components of commercial Disperse Red 1 and its chlorine-mediated decoloration products and to evaluate their ecotoxicity and mutagenicity. In conducting the present study, Disperse Red 1 was treated with chlorine gas, and the solution obtained was analyzed with the aid of LC-ESI-MS/MS to identify the components present, and then evaluated for ecotoxicity and mutagenicity, using Daphnia similis and Salmonella/microsome assays, respectively. The results of this study indicated that chlorination of Disperse Red 1 produced four chlorinated aromatic compounds as the main products and that the degradation products were more ecotoxic than the parent dye. These results suggest that a disinfection process using chlorine should be avoided for effluents containing hydrophobic azo dyes such commercial Disperse Red 1. © 2012 Elsevier B.V..

A distribuição geográfica da indústria intensiva em recursos naturais e energéticos: o caso do setor da indústria química no estado de São Paulo

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Bioenergy from stillage anaerobic digestion to enhance the energy balance ratio of ethanol production

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Utilização de trocadores de calor de placas em espiral em processos da indústria siderúrgica

Stricter environmental policies are shown necessary to ensure an effective pollutant emission control. It is expected for the present year of 2015, that Brazil will assume, at the 21th United Nation's Climate Change Conference (COP21), implementation of commitment to a low carbon economy. This positioning affects the industrial environment, so that is deemed necessary to search for new technologies, less aggressive to the environment, so the adequacies to the new emission policies do not cause a negative effect on production. Almost all of the processes performed in the steel industry demand burning fuel and, therefore, flue gases are sent to the atmosphere. In this present work is discussed the utilization of heat exchangers so, by recovering part of the available heat from the flue gases of certain industrial process, the combustion air is preheated. The combustion air preheat results in less energy requirement, i.e., less need of fuel consumption and, in addition, minor amount of pollutants to be emitted. Due to better fitting to the process, it is studied the utilization of spiral plate heat exchangers. The heat exchanger dimensioning is made by an iterative method implemented in the software Microsoft Excel. Subsequently are analyzed the gains in terms of process's thermal efficiency improvement and the percentage of fuel saving. The latter implies in reduction of the same percentage of greenhouse gases emission

Utilização de trocadores de calor de placas em espiral em processos da indústria siderúrgica

Stricter environmental policies are shown necessary to ensure an effective pollutant emission control. It is expected for the present year of 2015, that Brazil will assume, at the 21th United Nation's Climate Change Conference (COP21), implementation of commitment to a low carbon economy. This positioning affects the industrial environment, so that is deemed necessary to search for new technologies, less aggressive to the environment, so the adequacies to the new emission policies do not cause a negative effect on production. Almost all of the processes performed in the steel industry demand burning fuel and, therefore, flue gases are sent to the atmosphere. In this present work is discussed the utilization of heat exchangers so, by recovering part of the available heat from the flue gases of certain industrial process, the combustion air is preheated. The combustion air preheat results in less energy requirement, i.e., less need of fuel consumption and, in addition, minor amount of pollutants to be emitted. Due to better fitting to the process, it is studied the utilization of spiral plate heat exchangers. The heat exchanger dimensioning is made by an iterative method implemented in the software Microsoft Excel. Subsequently are analyzed the gains in terms of process's thermal efficiency improvement and the percentage of fuel saving. The latter implies in reduction of the same percentage of greenhouse gases emission

Changes in the intermediate water mass formation rates in the global ocean for the Last Glacial Maximum, mid-Holocene and pre-industrial climates

The paleoclimate version of the National Center for Atmospheric Research Community Climate System Model version 3 (NCAR-CCSM3) is used to analyze changes in the water formation rates in the Atlantic, Pacific, and Indian Oceans for the Last Glacial Maximum (LGM), mid-Holocene (MH) and pre-industrial (PI) control climate. During the MH, CCSM3 exhibits a north-south asymmetric response of intermediate water subduction changes in the Atlantic Ocean, with a reduction of 2 Sv in the North Atlantic and an increase of 2 Sv in the South Atlantic relative to PI. During the LGM, there is increased formation of intermediate water and a more stagnant deep ocean in the North Pacific. The production of North Atlantic Deep Water (NADW) is significantly weakened. The NADW is replaced in large extent by enhanced Antarctic Intermediate Water (AAIW), Glacial North Atlantic Intermediate Water (GNAIW), and also by an intensified of Antarctic Bottom Water (AABW), with the latter being a response to the enhanced salinity and ice formation around Antarctica. Most of the LGM intermediate/mode water is formed at 27.4 < sigma(theta) < 29.0 kg/m(3), while for the MH and PI most of the subduction transport occurs at 26.5 < sigma(theta) < 27.4 kg/m(3). The simulated LGM Southern Hemisphere winds are more intense by 0.2-0.4 dyne/cm(2). Consequently, increased Ekman transport drives the production of intermediate water (low salinity) at a larger rate and at higher densities when compared to the other climatic periods.

Modelado, control y diseño de robots submarinos de estructura paralela con impulsores vectorizados.

En años recientes, se han realizado algunos esfuerzos para equipar a robots submarinos con impulsores vectorizados. Este sistema de propulsión permite el uso de una menor cantidad de impulsores, esto a su vez tiene consecuencias favorables en el volumen y costo del robot a medida que una mayor potencia de propulsión es requerida. El propósito de esta tesis es realizar un estudio sobre el modelado, control y diseño de robots submarinos de estructura paralela con impulsores vectorizados. De esta manera exponer los aspectos más importantes relativos a estos puntos, y proponer soluciones a los problemas que plantea la arquitectura de estos robots. En esta tesis se tomo como objeto de estudio el robot Remo 2, cuya estructura paralela representa una gran parte del volumen del robot y esto hace que su análisis sea el más complejo que se pueda tener en los robots de esta categoría. El diseño de este robot es un concepto radicalmente diferente al de los robots submarinos convencionales. Sus características son prometedoras, pero para poder sacar provecho de estas potencialidades es necesario un entendimiento de la dinámica del robot. En este trabajo se presenta el desarrollo y análisis de modelos analíticos, y el desarrollo de herramientas de simulación para este robot. El propósito de estas herramientas es identificar las oportunidades y restricciones impuestas por la estructura y la dinámica del vehículo. Se presenta el planteamiento (y solución) de los problemas cinemático y dinámico inverso para un robot submarino de estructura paralela. Por otro lado, se demostró por primera vez el funcionamiento del concepto del robot submarino a través de una herramienta de simulación. Haciendo uso de esta herramienta se exploro el desempeño del robot bajo diversos esquemas de control, se encontró que el robot es capaz de ejecutar con éxito diversas maniobras empleando controladores clásicos. Se presento un controlador basado en el modelo del robot y se demostró sus ventajas. Posteriormente se presento un apartado cuyo propósito es exponer aspectos importantes sobre el diseño de este tipo de robots, sobre todo aquellos que influyen en su desempeño cinetostático. Se plantea el problema del diseño óptimo de un robot tipo Remo 2, y se proponen un par de índices de desempeño globales. Otra contribución fue, en condición de coautoría, el diseño y análisis de una nueva estructura paralela la cual no ha sido considerada anteriormente en la literatura.

Adaptive control system based on lineal control theory for the path-following problem of a car-like mobile robot

The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the PID controllers to full control requirements, while at the same time it is exible to be applied in non-linear changing conditions of the path following task. For this purpose the Frenet frame kinematic model of the robot is linearised at a varying working point that is calculated as a function of the actual velocity, the path curvature and kinematic parameters of the robot, yielding a transfer function that varies during the trajectory. The proposed controller is formed by a combination of an adaptive PID and a feed-forward controller, which varies accordingly with the working conditions and compensates the non-linearity of the system. The good features and exibility of the proposed control structure have been demonstrated through realistic simulations that include both kinematics and dynamics of the car-like robot.

New control architecturebased on PXI for a 3-finger haptic device applied to virtual manipulation

To perform advanced manipulation of remote environments such as grasping, more than one finger is required implying higher requirements for the control architecture. This paper presents the design and control of a modular 3-finger haptic device that can be used to interact with virtual scenarios or to teleoperate dexterous remote hands. In a modular haptic device, each module allows the interaction with a scenario by using a single finger; hence, multi-finger interaction can be achieved by adding more modules. Control requirements for a multifinger haptic device are analyzed and new hardware/software architecture for these kinds of devices is proposed. The software architecture described in this paper is distributed and the different modules communicate to allow the remote manipulation. Moreover, an application in which this haptic device is used to interact with a virtual scenario is shown.