Remediação de solos e lençóis freáticos em postos de gasolina via processo de fenton: estudo de caso

Alguns cientistas ambientais prevêem que a poluição dos solos será um dos maiores legados com grandes impactos para as gerações futuras, pois atualmente ainda existe desconhecimento das fontes poluidoras e da sua extensão. O Brasil, devido a sua extensão territorial, suas bacias hidrográficas, número de postos de abastecimentos e controles ambientais ainda ineficazes, está muito exposto a esse tipo de poluição. Atualmente, há no Brasil mais de 34.300 postos de combustíveis, com volume de 65.000.000 m3 de gasolina e diesel consumidos anualmente, conforme dados da Agência Nacional do Petróleo Gás Natural e Biocombustíveis , ANP, em 2008. Sendo assim, a exposição e contaminação dos solos e dos lençóis freáticos com constituintes aromáticos do diesel e gasolina torna-se um sério problema ambiental. Dentro deste grupo, encontram-se o benzeno, tolueno, xileno, conhecido como BTEX e os hidrocarbonetos policíclicos aromáticos, conhecido como PAH. Este trabalho tem como objetivo estudar a remediação in-situ de um posto de combustíveis na região do ABC Paulista, no Estado de São Paulo. Aplicando-se a técnica de Processo Oxidativo Avançado via reagente de Fenton (H2O2 + Fe2+ → Fe3+ + OH- + OH . ), o radical hidroxila gerado mineraliza compostos aromáticos, decompondo-os definitivamente. Amostras de água do posto em estudo apresentavam elevados teores de BTEX e PAH, 2,58 mg.L-1 e 0,298 mg.L-1 respectivamente, estando em níveis não tolerados pelo órgão ambiental paulista CETESB sendo necessária a intervenção para tratamento da área. Com os níveis de poluentes e o perfil hidrogeológico identificados, a remediação foi iniciada com injeções no solo de peróxido de hidrogênio a 8%v.v, FeSO4 a 0,40 mg.L-1 e solução à base de NPK (nitrogênio, fósforo e nitrogênio) a 100 mg.L-1 como nutrientes para os microorganismos do solo. Estes valores são provenientes de experimentos anteriores e tratamentos já realizados. Foram conduzidas campanhas de injeção trimestrais com 100 litros desta solução completa como reagente , e medições trimestrais de BTEX, PAH e outros parâmetros de controle, que foram indicando o sucesso do tratamento. Após 18 meses o local foi considerado tratado pelo órgão ambiental, onde monitoramentos semestrais estão em continuidade para garantir o resultado do tratamento e das ações corretivas. Assim, o estudo real da remediação de solos contaminados com os poluentes orgânicos via processo de Fenton, com concentração de H2O2 a 8%v/v, e FeSO4 a 0,40 mg.L-1 demonstrou-se uma técnica de sucesso. O entendimento dos resultados da remediação, mesmo sujeitos aos fenômenos naturais, como intempéries e chuvas, é uma experiência grande, pois por mais reais que simulações em laboratório possam ser, é muito difícil incluir nestes sistemas, as variações que um tratamento real está exposto

电子束蒸发镀膜速率控制

介绍了电子束蒸发镀膜速率控制的基本原理和方法,选取实际生产中大量使用且蒸发特性较难控制的SiO_2和HfO_2,对两者的电子束蒸发速率控制分别进行了实验研究。采用比例积分微分(PID)闭环反馈控制,通过Ziegler-Nichols工程经验公式进行原始参量整定,并在实验的基础上对控制器的原始参量进行调整以及对积分作用和微分作用进行分区处理,速率控制的实验结果表明,采用该参量整定方法并结合工艺流程的改进,能获得良好的速率控制。针对速率控制中存在的难点问题进行了分析,并提出改进措施:将速率控制和电子枪扫描控制相结合能进一步改善速率控制。

Motor task variation induces structural learning.

When we have learned a motor skill, such as cycling or ice-skating, we can rapidly generalize to novel tasks, such as motorcycling or rollerblading [1-8]. Such facilitation of learning could arise through two distinct mechanisms by which the motor system might adjust its control parameters. First, fast learning could simply be a consequence of the proximity of the original and final settings of the control parameters. Second, by structural learning [9-14], the motor system could constrain the parameter adjustments to conform to the control parameters' covariance structure. Thus, facilitation of learning would rely on the novel task parameters' lying on the structure of a lower-dimensional subspace that can be explored more efficiently. To test between these two hypotheses, we exposed subjects to randomly varying visuomotor tasks of fixed structure. Although such randomly varying tasks are thought to prevent learning, we show that when subsequently presented with novel tasks, subjects exhibit three key features of structural learning: facilitated learning of tasks with the same structure, strong reduction in interference normally observed when switching between tasks that require opposite control strategies, and preferential exploration along the learned structure. These results suggest that skill generalization relies on task variation and structural learning.

Global nonlinear dynamics of thin aerofoil wakes

In the present investigation of thin aerofoil wakes we compare the global nonlinear dynamics, obtained by direct numerical simulations, to the associated local instability features, derived from linear stability analyses. A given configuration depends on two control parameters: the Reynolds number Re and the adverse pressure gradient m (with m < 0) prevailing at the aerofoil trailing edge. Global instability is found to occur for large enough Re and |m|; the naturally selected frequency is determined by the local absolute frequency prevailing at the trailing edge. © 2010 Springer Science+Business Media B.V.

A detailed chemistry simulation of the SI-HCCI transition

A Stochastic Reactor Model (SRM) has been used to simulate the transition from Spark Ignition (SI) mode to Homogeneous Charge Compression Ignition (HCCI) mode in a four cylinder in-line four-stroke naturally aspirated direct injection SI engine with cam profile switching. The SRM is coupled with GT-Power, a one-dimensional engine simulation tool used for modelling engine breathing during the open valve portion of the engine cycle, enabling multi-cycle simulations. The model is initially calibrated in both modes using steady state data from SI and HCCI operation. The mode change is achieved by switching the cam profiles and phasing, resulting in a Negative Valve Overlap (NVO), opening the throttle, advancing the spark timing and reducing the fuel mass as well as utilising a pilot injection. Experimental data is presented along with the simulation results. The model is used to investigate key control parameters and their effects on parameters that are difficult to measure experimentally. The effect of the spark in the first HCCI cycles is found to have a major impact on the stability of the transition. Copyright © 2010 SAE International.

Obtaining bifurcation diagrams with a thermoacoustic network model

Linear techniques can predict whether the non-oscillating (steady) state of a thermoacoustic system is stable or unstable. With a sufficiently large impulse, however, a thermoacoustic system can reach a stable oscillating state even when the steady state is also stable. A nonlinear analysis is required to predict the existence of this oscillating state. Continuation methods are often used for this but they are computationally expensive. In this paper, an acoustic network code called LOTAN is used to obtain the steady and the oscillating solutions for a horizontal Rijke tube. The heat release is modelled as a nonlinear function of the mass flow rate. Several test cases from the literature are analysed in order to investigate the effect of various nonlinear terms in the flame model. The results agree well with the literature, showing that LOTAN can be used to map the steady and oscillating solutions as a function of the control parameters. Furthermore, the nature of the bifurcation between steady and oscillating states can be predicted directly from the nonlinear terms inside the flame model. Copyright © 2012 by ASME.

Minimalistic models of an energy-efficient vertical-hopping robot

The use of free vibration in elastic structure can lead to energy-efficient robot locomotion, since it significantly reduces the energy expenditure if properly designed and controlled. However, it is not well understood how to harness the dynamics of free vibration for the robot locomotion, because of the complex dynamics originated in discrete events and energy dissipation during locomotion. From this perspective, the goals of this paper are to propose a design strategy of hopping robot based on elastic curved beams and actuated rotating masses and to identify the minimalistic model that can characterize the basic principle of robot locomotion. Since the robot mainly exhibits vertical hopping, three 1-D models are examined that contain different configurations of simple spring-damper-mass components. The real-world and simulation experiments show that one of the models best characterizes the robot hopping, through analyzing the basic kinematics and negative works in actuation. Based on this model, the self-stability of hopping motion under disturbances is investigated, and design and control parameters are analyzed for the energy-efficient hopping. In addition, further analyses show that this robot can achieve the energy-efficient hopping with the variation in payload, and the source of energy dissipation of the robot hopping is investigated. © 1982-2012 IEEE.

Minimalistic models of an energy efficient vertical hopping robot

The use of free vibration in elastic structure can lead to energy efficient robot locomotion, since it significantly reduces the energy expenditure if properly designed and controlled. However, it is not well understood how to harness the dynamics of free vibration for the robot locomotion, because of the complex dynamics originated in discrete events and energy dissipation during locomotion. From this perspective, this paper explores three minimalistic models of free vibration that can characterize the basic principle of robot locomotion. Since the robot mainly exhibits vertical hopping, three one-dimensional models are examined that contain different configurations of simple spring-damper-mass components. The self-stability of these models are also investigated in simulation. The real-world and simulation experiments show that one of the models best characterizes the robot hopping, through analyzing the basic kinematics and negative works in actuation. Based on this model, the control parameters are analyzed for the energy efficient hopping. © 2013 IEEE.

Enlarging regions of stable running with segmented legs

In human and animal running spring-like leg behavior is found, and similar concepts have been demonstrated by various robotic systems in the past. In general, a spring-mass model provides self-stabilizing characteristics against external perturbations originated in leg-ground interactions and motor control. Although most of these systems made use of linear spring-like legs. The question addressed in this paper is the influence of leg segmentation (i.e. the use of rotational joint and two limb-segments) to the self-stability of running, as it appears to be a common design principle in nature. This paper shows that, with the leg segmentation, the system is able to perform self-stable running behavior in significantly broader ranges of running speed and control parameters (e.g. control of angle of attack at touchdown, and adjustment of spring stiffness) by exploiting a nonlinear relationship between leg force and leg compression. The concept is investigated by using a two-segment leg model and a robotic platform, which demonstrate the plausibility in the real world. ©2008 IEEE.

Finding resonance: Adaptive frequency oscillators for dynamic legged locomotion

There is much to gain from providing walking machines with passive dynamics, e.g. by including compliant elements in the structure. These elements can offer interesting properties such as self-stabilization, energy efficiency and simplified control. However, there is still no general design strategy for such robots and their controllers. In particular, the calibration of control parameters is often complicated because of the highly nonlinear behavior of the interactions between passive components and the environment. In this article, we propose an approach in which the calibration of a key parameter of a walking controller, namely its intrinsic frequency, is done automatically. The approach uses adaptive frequency oscillators to automatically tune the intrinsic frequency of the oscillators to the resonant frequency of a compliant quadruped robot The tuning goes beyond simple synchronization and the learned frequency stays in the controller when the robot is put to halt. The controller is model free, robust and simple. Results are presented illustrating how the controller can robustly tune itself to the robot, as well as readapt when the mass of the robot is changed. We also provide an analysis of the convergence of the frequency adaptation for a linearized plant, and show how that analysis is useful for determining which type of sensory feedback must be used for stable convergence. This approach is expected to explain some aspects of developmental processes in biological and artificial adaptive systems that "develop" through the embodied system-environment interactions. © 2006 IEEE.

Exploiting body dynamics for controlling a running quadruped robot

Exploiting the body dynamics to control the behavior of robots is one of the most challenging issues, because the use of body dynamics has a significant potential in order to enhance both complexity of the robot design and the speed of movement. In this paper, we explore the control strategy of rapid four-legged locomotion by exploiting the intrinsic body dynamics. Based on the fact that a simple model of four-legged robot is known to exhibit interesting locomotion behavior, this paper analyzes the characteristics of the dynamic locomotion for the purpose of the locomotion control. The results from a series of running experiments with a robot show that, by exploiting the unique characteristics induced by the body dynamics, the forward velocity can be controlled by using a very simple method, in which only one control parameter is required. Furthermore it is also shown that a few of such different control parameters exist, each of them can control the forward velocity. Interestingly, with these parameters, the robot exhibits qualitatively different behavior during the locomotion, which could lead to our comprehensive understanding toward the behavioral diversity of adaptive robotic systems. © 2005 IEEE.

基于跟随领航者法的多UUV队形控制方法研究

本文主要研究基于跟随领航者法的多 UUV(unmanned underwater vehicle)队形控制。在 UUV 载体坐标系下建立系统的运动学模型,该模型是对笛卡尔坐标系下的运动学模型的改进,避免了极坐标系下奇异点的出现。该模型经过输入输出反馈线性化,获得稳定的队形控制器。同时,为了缩小队形控制律中的控制参数的调整范围,本文提出了辅助算法,在此基础上分析参数的有效范围。将队形控制律在多 UUV 数字仿真平台上验证,证实了改进的运动学模型和控制律的有效性。

降雨触发滑坡的非线性模型与斜坡演化的混沌效应

This paper analyzes landsliding process by nonlinear theories, especially the influence mechanism of external factors (such as rainfall and groundwater) on slope evolution. The author investigates landslide as a consequence of the catastrophic slide of initially stationary or creeping slope triggered by a small perturbation. A fully catastrophe analysis is done for all possible scenarios when a continuous change is imposed to the control parameters. As the slip surface continues and erosion due to rainfall occurs, control parameters of the slip surface may evolve such that a previously stable slope may become unstable (e.g. catastrophe occurs), when a small perturbation is imposed. Thus the present analysis offers a plausible explanation to why slope failure occurs at a particular rainfall, which is not the largest in the history of the slope. It is found, by analysis on the nonlinear dynamical model of the evolution process of slope built, that the relationship between the action of external environment factors and the response of the slope system is complicatedly nonlinear. When the nonlinear action of slope itself is equivalent to the acting ability of external environment, the chaotic phenomenon appears in the evolution process of slope, and its route leading to chaos is realized with bifurcation of period-doublings. On the basis of displacement time series of the slope, a nonlinear dynamic model is set up by improved Backus generalized linear inversion theory in this paper. Due to the equivalence between autonomous gradient system and catastrophe model, a standard cusp catastrophe model can be obtained through variable substitution. The method is applied to displacement data of Huangci landslide and Wolongsi landslide, to show how slopes evolve before landsliding. There is convincing statistical evidence to believe that the nonlinear dynamic model can make satisfied prediction results. Most important of all, we find that there is a sudden fall of D, which indicates the occurrence of catastrophe (when D=0).

Balancing deceit and disguise: How to successfully fool the defender in a 1 vs. 1 situation in rugby

Suddenly changing direction requires a whole body reorientation strategy. In sporting duels such as an attacker vs. a defender in rugby, successful body orientation/reorientation strategies are essential for successful performance. The aim of this study is to examine which biomechanical factors, while taking into account biomechanical constraints, are used by an attacker in a 1 vs. 1 duel in rugby. More specifically we wanted to examine how an attacker tries to deceive the defender yet disguise his intentions by comparing effective deceptive movements (DM+), ineffective deceptive movements (DM-), and non-deceptive movements (NDM). Eight French amateur expert rugby union players were asked to perform DMs and NDMs in a real 1 vs. 1 duel. For each type of movement (DM+, DM-, NDM) different relevant orientation/reorientation parameters, medio-lateral displacement of the center of mass (COM), foot, head, upper trunk, and lower trunk yaw; and upper trunk roll were analyzed and compared. Results showed that COM displacement and lower trunk yaw were minimized during DMs while foot displacement along with head and upper trunk yaw were exaggerated during DMs (DM+ and DM-). This would suggest that the player is using exaggerated body-related information to consciously deceive the defender into thinking he will run in a given direction while minimizing other postural control parameters to disguise a sudden change in posture necessary to modify final running direction. Further analysis of the efficacy of deceptive movements showed how the disguise and deceit strategies needed to be carefully balanced to successfully fool the defender. (C) 2010 Elsevier B.V. All rights reserved.

Berry phase for a spin 1/2 particle in a classical fluctuating field

The effect of fluctuations in the classical control parameters on the Berry phase of a spin 1/2 interacting with an adiabatically cyclically varying magnetic field is analyzed. It is explicitly shown that in the adiabatic limit dephasing is due to fluctuations of the dynamical phase.