Sorption and desorption of lead (II) from wastewater by green algae Cladophora fascicularis

Biosorption is an effective method to remove heavy metals from wastewater. In this work, adsorption features of Cladophora fascicularis were investigated as a function of time, initial pH, initial Pb(II) concentrations, temperature and co-existing ions. Kinetics and equilibria were obtained from batch experiments. The biosorption kinetics followed the pseudo-second order model. Adsorption equilibria were well described by the Langmuir and Freundlich isotherm models. The maximum adsorption capacity was 198.5 mg/g at 298 K and pH 5.0. The adsorption processes were endothermic and the biosorption heat was 29.6 kJ/mol. Desorption experiments indicated that 0.01 mol/L Na(2)EDTA was an efficient desorbent for the recovery of Pb(II) from biomass. IR spectrum analysis suggested amido or hydroxy, C=O and C-O could combine intensively with Pb(II). (C) 2006 Elsevier B.V. All rights reserved.

Recovery of silver (I) using a thiourea-modified chitosan resin

This work describes the preparation of a chelating resin from chemically modified chitosan. The resin was synthesized by using O-carboxymethylated chitosan to cross-link a polymeric Schiffs base of thiourea/glutaraldehyde and characterized by IR. Batch method was applied for testing the resin's adsorption behavior. Adsorption experiments showed the resin had good adsorption capacity and high selectivity for Ag(I) in aqueous solution. The maximum uptake of Ag(I) exhibited was 3.77 mmol/g, at pH 4.0. The results also indicated that the adsorption process was exothermic and fit well with the pseudosecond-order kinetic model. Ag(I) desorption could reach 99.23% using 0.5 M thiourea-2.0 M HCl solution. (C) 2010 Elsevier B.V. All rights reserved.

一种7DOF冗余手臂构形的运动学与动力学特性研究

冗余度机构具有高度的灵活性和避障能力,利用冗余自由度可以改善仿人机器人手臂的运动性能。以实现人体手臂的运动特性和操作灵活性为目标,研制了一种7DOF冗余仿人机器人手臂,根据冗余手臂的机构学特点,研究了手臂的运动学和动力学性能,并在工作空间、肘部关节的自运动能力以及手臂自重引起的关节重力矩等方面与其它两种典型的冗余手臂构形进行了比较分析。

危险作业机器人控制系统的研究

随着科学技术的发展，移动机器人被寄予越来越高的期望，要求其具有更高的机动性、更强的环境适应及感知能力和快速反应能力。因此，研究高效的移动机构和高性能控制系统成为排爆、消防等各种地面遥操作危险作业移动机器人的共同课题。 本论文以中国科学院沈阳自动化研究所自行研发的“灵豹”反恐防暴机器人和子母消防搜救机器人(在研)为平台，对危险作业机器人的控制系统进行了较为系统的研究。 “灵豹”机器人采用轮-腿-履带复合移动机构。其轮式移动采用三轮机构，两前主动轮单独驱动，差速完成转向，后轮为万向从动脚轮，配合前轮转向，车体转向半径可实现从零到无限大。其控制系统以嵌入式控制器为核心，采用模块化方法设计构建，保证了系统体积紧凑、实时性好和可靠性高等的应用要求。 作为智能控制技术的一种，模糊控制可以对那些数学模型难以求取或无法求取的对象进行有效控制。用基于PC的可编程控制器实现模糊控制，关键在于前期处理和软件编程，因为必须充分考虑执行速度。针对实际的非完整约束三轮式移动机器人运动方向可控性差，PID控制器参数难以实现全局整定的问题，利用模糊控制器实现运动轨迹控制。 单纯用电子罗盘测量航向角作为模糊控制器输入，环境适应性较差，本文提出一种结合脚轮偏转角和罗盘航向角计算机器人角速度和航向角的算法。试验结果表明，设计的控制器能对机器人进行有效航向跟踪，能迅速缩小航向偏差，机器人转向灵活可控，且没有大的航向偏转角速度，提高了系统适应性和运动稳定性。 子母消防搜救机器人主要用于火场侦查搜救，分为子机器人和母机器人，既可单独执行任务，又可协作搜救。机器人体积小，内部空间极其有限，要求控制系统有较高的集成度，还要能耐高温、通讯可靠。火场环境一般比较复杂，尤其是在地下建筑，通讯不畅将严重影响消防搜救机器人深入到火场深处侦查。为充分保障通讯链路畅通，设计了子母机控制系统，母机和子机可互为通讯中继，有效减少通讯死角，扩大搜索范围。系统采用基于多载波调制技术的影音传输系统作为图像及语音信号的主要通信链路，采用数字电台传输指令数据。设计的通讯系统实时性好，抗干扰能力和绕射能力强。

PXJ-Ⅱ排险机器人

介绍了一种可在危险环境下作业的遥控机器人──PXJ－Ⅱ排险机器人，分析了其功能指标及结构，简述了以武器系统和传感器为主的机器人辅助系统及其实用意义。

滚石机理及滚石灾害评价研究

Rockfall is a geological evolution process involving detachment of blocks or boulders from a slope face, then their free falls, bouncing, rolling or sliding, and finally deposition near the toe of the slope. Many facts indicate that the rockfall can cause hazards to peoples, and it can be regarded as a geological hazard. A rockfall event may only involve a boulder or rock, and also several ones. When there are peoples, buildings, or other man-made establishments within the scope of rockfall trajectory, losses will be possibly induced in tenns of human lives or damages to these facilities. Researches into mechanism, kinematics, dynamics, hazard assessment, risk analysis, and mitigation measures of rockfalls are extremely necessary and important. Occurrence of rockfall is controlled by a lot of conditions, mainly including topographical, geomorphic, geological ones and triggering factors. The rockfall especially in mountainous areas, has different origins, and occurs to be frequent, unexpected, uncertain, in groups, periodic and sectional. The characterization and classification of the rockfalls not only increase knowledge about rockfall mechanism, but also can instruct mitigation of the hazards. In addition, stability of potential rockfalls have various sensitivity to different triggering factors and changes of geometrical conditions. Through theoretical analyses, laboratory experiments and field tests, the author presents some back-analysis methods for friction coefficients of sliding and rolling, and restitution coefficients. The used input data can be obtained economically and accurately in the field. Through deep studies on hazard assessment methods and analysis of factors influencing rockfall hazard, this paper presents a new assessment methodology consisting of preliminary assessment and detailed one. From the application in a 430 km long stretch of the Highway, which is located between Paksho and Nyingtri in Tibet, the methodology can be applicable for the rockfall hazard assessment in complex and difficult terrains. In addition, risk analyses along the stretch are conducted by computing the probability of encountering rockfalls and life losses resulting from rockfall impacts. Rockfall hazards may be mitigated by avoiding hazardous areas, clearness of dangerous rocks, reinforcement, obstructing the rockfalls, leading the rockfalls, warning and monitoring for rockfalls, etc. Seen from present remedial level of rockfall hazards, different mitigation measures, economical and effective buffering units, monitoring tecliniques and consciousness of environmental protection for rockfall mitigations should be further developed.

Prevalence of overweight and obesity among nurses in Scotland: A cross-sectional study using the Scottish Health Survey.

Background Increasing prevalence of overweight and obesity represents a global pandemic. As the largest occupational group in international healthcare systems nurses are at the forefront of health promotion to address this pandemic. However, nurses own health behaviours are known to influence the extent to which they engage in health promotion and the public's confidence in advice offered. Estimating the prevalence of overweight and obesity among nurses is therefore important. However, to date, prevalence estimates have been based on non-representative samples and internationally no studies have compared prevalence of overweight and obesity among nurses to other healthcare professionals using representative data. Objectives To estimate overweight and obesity prevalence among nurses in Scotland, and compare to other healthcare professionals and those working in non-heath related occupations. Design Cross-sectional study using a nationally representative sample of five aggregated annual rounds (2008-2012) of the Scottish Health Survey. Setting Scotland. Participants: 13,483 adults aged 17 to 65 indicating they had worked in the past 4 weeks, classified in four occupational groups: nurses (n = 411), other healthcare professionals (n = 320), unqualified care staff (n = 685), and individuals employed in non-health related occupations (n = 12,067). Main outcome measures: Prevalence of overweight and obesity defined as Body Mass Index ≥ 25.0. Methods Estimates of overweight and obesity prevalence in each occupational group were calculated with 95% confidence intervals (CI). A logistic regression model was then built to compare the odds of being overweight or obese with not being overweight or obese for nurses in comparison to the other occupational categories. Data were analysed using SAS 9.1.3. Results 69.1% (95% CI 64.6,73.6) of Scottish nurses were overweight or obese. Prevalence of overweight and obesity was higher in nurses than other healthcare professionals (51.3%, CI 45.8,56.7), unqualified care staff (68.5%, CI 65.0,72.0) and those in non-health related occupations (68.9%, CI 68.1,69.7). A logistic regression model adjusted for socio-demographic composition indicated that, compared to nurses, the odds of being overweight or obese was statistically significantly lower for other healthcare professionals (Odds Ratio [OR] 0.45, CI 0.33,0.61) and those in non-health related occupations (OR 0.78, CI 0.62,0.97). Conclusions Prevalence of overweight and obesity among Scottish nurses is worryingly high, and significantly higher than those in other healthcare professionals and non-health related occupations. High prevalence of overweight and obesity potentially harms nurses’ own health and hampers the effectiveness of nurses’ health promotion role. Interventions are therefore urgently required to address overweight and obesity among the Scottish nursing workforce.

Time use, daily activities, and health-related quality of life of school-going late adolescents in Cork city and county: A cross-sectional study

Aim: This thesis examines a question posed by founding occupational scientist Dr. Elizabeth Yerxa (1993) – “what is the relationship between human engagement in a daily round of activity (such as work, play, rest and sleep) and the quality of life people experience including their healthfulness” (p. 3). Specifically, I consider Yerxa’s question in relation to the quotidian activities and health-related quality of life (HRQoL) of late adolescents (aged 15 - 19 years) in Ireland. This research enquiry was informed by an occupational perspective of health and by population health, ecological, and positive youth development perspectives. Methods: This thesis is comprised of five studies. Two scoping literature reviews informed the direction of three empirical studies. In the latter, cross-sectional time use and HRQoL data were collected from a representative sample of 731 school-going late adolescents (response rate 52%) across 28 schools across Cork city and county (response rate 76%). In addition to socio-demographic data, time use data were collected using a standard time diary instrument while a nationally and internationally validated instrument, the KIDSCREEN-52, was used to measure HRQoL. Variable-centred and person-centred analyses were used. Results: The scoping reviews identified the lack of research on well populations or an adolescent age range within occupational therapy and occupational science; limited research testing the popular assumption that time use is related to overall well-being and quality of life; and the absence of studies that examined adolescent 24-hour time use and quality of life. Established international trends were mirrored in the findings of the examination of weekday and weekend time use. Aggregate-level, variable-centred analyses yielded some significant associations between HRQoL and individual activities, independent of school year, school location, family context, social class, nationality or diary day. The person-centred analysis of overall time use identified three male profiles (productive, high leisure and all-rounder) and two female profiles (higher study/lower leisure and moderate study/higher leisure). There was tentative support for the association between higher HRQoL and more balanced time use profiles. Conclusion: The findings of this thesis highlight the gendered nature of adolescent time use and HRQoL. Participation in daily activities, singly and in combination, appears to be associated with HRQoL. However, the nature of this relationship is complex. Individually and collectively, adolescents need to be educated and supported to create health through their everyday patterns of doing.

Adjuvant therapy in elderly patients with breast cancer.

The elderly population has been neglected by the traditional approach to clinical breast cancer research. Elderly women have been underrepresented in breast cancer clinical trials, with the majority of studies being restricted to patients aged < 70 years. Elderly patients frequently have comorbidities and/or impaired organ function. These facts may often lead to death from causes other than cancer, thus nullifying any possible benefit of adjuvant treatment; furthermore, they render extrapolation of standard treatment recommendations to the elderly potentially hazardous, particularly with respect to chemotherapy. Therefore, specific clinical trials are needed to investigate adjuvant treatments tailored for the heterogeneous older population.

An integrated alcohol abuse and medical treatment model for patients with hepatitis C.

BACKGROUND: Patients with chronic hepatitis C virus (HCV) infection have high rates of alcohol consumption, which is associated with progression of fibrosis and lower response rates to HCV treatment. AIMS: This prospective cohort study examined the feasibility of a 24-week integrated alcohol and medical treatment to HCV-infected patients. METHODS: Patients were recruited from a hepatology clinic if they had an Alcohol Use Disorders Identification Test score >4 for women and >8 for men, suggesting hazardous alcohol consumption. The integrated model included patients receiving medical care and alcohol treatment within the same clinic. Alcohol treatment consisted of 6 months of group and individual therapy from an addictions specialist and consultation from a study team psychiatrist as needed. RESULTS: Sixty patients were initially enrolled, and 53 patients participated in treatment. The primary endpoint was the Addiction Severity Index (ASI) alcohol composite scores, which significantly decreased by 0.105 (41.7% reduction) between 0 and 3 months (P < 0.01) and by 0.128 (50.6% reduction) between 0 and 6 months (P < 0.01) after adjusting for covariates. Alcohol abstinence was reported by 40% of patients at 3 months and 44% at 6 months. Patients who did not become alcohol abstinent had reductions in their ASI alcohol composite scores from 0.298 at baseline to 0.219 (26.8% reduction) at 6 months (P = 0.08). CONCLUSION: This study demonstrated that an integrated model of alcohol treatment and medical care could be successfully implemented in a hepatology clinic with significant favorable impact on alcohol use and abstinence among patients with chronic HCV.

Making it in the Modern Job Market: A Study of Communication among the Deaf and Hard of Hearing Population

Gemstone Team AUDIO (Assessing and Understanding Deaf Individuals' Occupations)

Algae-Based Purification of Landfill Biogas Using a CO2 Removal System and Helical Photobioreactor in Series

Biogas is a mixture of methane and other gases. In its crude state, it contains carbon dioxide (CO2) that reduces its energy efficiency and hydrogen sulfide (H2S) that is toxic and highly corrosive. Because chemical methods of removal are expensive and environmentally hazardous, this project investigated an algal-based system to remove CO2 from biogas. An anaerobic digester was used to mimic landfill biogas. Iron oxide and an alkaline spray were used to remove H2S and CO2 respectively. The CO2-laden alkali solution was added to a helical photobioreactor where the algae metabolized the dissolved CO2 to generate algal biomass. Although technical issues prevented testing of the complete system for functionality, cost analysis was completed and showed that the system, in its current state, is not economically feasible. However, modifications may reduce operation costs.

Integrating personnel movement simulation into preliminary ship design

Traditionally, when designing a ship the driving issues are seen to be powering, stability, strength and seakeeping. Issues related to ship operations and evolutions are investigated later in the design process, within the constraint of a fixed layout. This can result in operational inefficiencies and limitations, excessive crew numbers and potentially hazardous situations. University College London and the University of Greenwich are in the final year of a three year EPSRC funded research project to integrate the simulation of personnel movement into early stage ship design. This allows the assessment of onboard operations while the design is still amenable to change. The project brings together the University of Greenwich developed maritimeEXODUS personnel movement simulation software and the SURFCON implementation of the Design Building Block approach to early stage ship design, which originated with the UCL Ship Design Research team. Central to the success of this project is the definition of a suitable series of Naval Combatant Human Performance Metrics which can be used to assess the performance of the design in different operational scenarios. The paper outlines the progress made on deriving the human performance metric from human factors criteria measured in simulations and their incorporation into a Behavioural Matrix for analysis. It describes the production of a series of SURFCON ship designs based on the RN Type 22 Batch 3 frigate, and their analysis using the PARAMARINE and maritimeEXODUS software. Conclusions to date will be presented on the integration of personnel movement simulation into the preliminary ship design process.