884 resultados para Closed-loop recycling


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[EN]Often some interesting or simply curious points are left out when developing a theory. It seems that one of them is the existence of an upper bound for the fraction of area of a convex and closed plane area lying outside a circle with which it shares a diameter, a problem stemming from the theory of isoperimetric inequalities. In this paper such a bound is constructed and shown to be attained for a particular area. It is also shown that convexity is a necessary condition in order to avoid the whole area lying outside the circle

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Programa de doctorado: Oceanografía

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This thesis deals with Visual Servoing and its strictly connected disciplines like projective geometry, image processing, robotics and non-linear control. More specifically the work addresses the problem to control a robotic manipulator through one of the largely used Visual Servoing techniques: the Image Based Visual Servoing (IBVS). In Image Based Visual Servoing the robot is driven by on-line performing a feedback control loop that is closed directly in the 2D space of the camera sensor. The work considers the case of a monocular system with the only camera mounted on the robot end effector (eye in hand configuration). Through IBVS the system can be positioned with respect to a 3D fixed target by minimizing the differences between its initial view and its goal view, corresponding respectively to the initial and the goal system configurations: the robot Cartesian Motion is thus generated only by means of visual informations. However, the execution of a positioning control task by IBVS is not straightforward because singularity problems may occur and local minima may be reached where the reached image is very close to the target one but the 3D positioning task is far from being fulfilled: this happens in particular for large camera displacements, when the the initial and the goal target views are noticeably different. To overcame singularity and local minima drawbacks, maintaining the good properties of IBVS robustness with respect to modeling and camera calibration errors, an opportune image path planning can be exploited. This work deals with the problem of generating opportune image plane trajectories for tracked points of the servoing control scheme (a trajectory is made of a path plus a time law). The generated image plane paths must be feasible i.e. they must be compliant with rigid body motion of the camera with respect to the object so as to avoid image jacobian singularities and local minima problems. In addition, the image planned trajectories must generate camera velocity screws which are smooth and within the allowed bounds of the robot. We will show that a scaled 3D motion planning algorithm can be devised in order to generate feasible image plane trajectories. Since the paths in the image are off-line generated it is also possible to tune the planning parameters so as to maintain the target inside the camera field of view even if, in some unfortunate cases, the feature target points would leave the camera images due to 3D robot motions. To test the validity of the proposed approach some both experiments and simulations results have been reported taking also into account the influence of noise in the path planning strategy. The experiments have been realized with a 6DOF anthropomorphic manipulator with a fire-wire camera installed on its end effector: the results demonstrate the good performances and the feasibility of the proposed approach.

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This work describes the development of a simulation tool which allows the simulation of the Internal Combustion Engine (ICE), the transmission and the vehicle dynamics. It is a control oriented simulation tool, designed in order to perform both off-line (Software In the Loop) and on-line (Hardware In the Loop) simulation. In the first case the simulation tool can be used in order to optimize Engine Control Unit strategies (as far as regard, for example, the fuel consumption or the performance of the engine), while in the second case it can be used in order to test the control system. In recent years the use of HIL simulations has proved to be very useful in developing and testing of control systems. Hardware In the Loop simulation is a technology where the actual vehicles, engines or other components are replaced by a real time simulation, based on a mathematical model and running in a real time processor. The processor reads ECU (Engine Control Unit) output signals which would normally feed the actuators and, by using mathematical models, provides the signals which would be produced by the actual sensors. The simulation tool, fully designed within Simulink, includes the possibility to simulate the only engine, the transmission and vehicle dynamics and the engine along with the vehicle and transmission dynamics, allowing in this case to evaluate the performance and the operating conditions of the Internal Combustion Engine, once it is installed on a given vehicle. Furthermore the simulation tool includes different level of complexity, since it is possible to use, for example, either a zero-dimensional or a one-dimensional model of the intake system (in this case only for off-line application, because of the higher computational effort). Given these preliminary remarks, an important goal of this work is the development of a simulation environment that can be easily adapted to different engine types (single- or multi-cylinder, four-stroke or two-stroke, diesel or gasoline) and transmission architecture without reprogramming. Also, the same simulation tool can be rapidly configured both for off-line and real-time application. The Matlab-Simulink environment has been adopted to achieve such objectives, since its graphical programming interface allows building flexible and reconfigurable models, and real-time simulation is possible with standard, off-the-shelf software and hardware platforms (such as dSPACE systems).

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Der Transferrin-Zyklus ist ein wichtiges Modell für denintrazellulären Transport, daher sollten in der vorliegendenArbeit einzelne, immer noch unverstandene Prozesse desvesikulären, intrazellulären Transportes durch dieCharakterisierung einen in vitro-Transportassay untersuchtwerden. Der Ansatz eines in vitro-Systems wurde deshalbgewählt, um mit Experimenten in denen einzelne Faktoren undbestimmte Konditionen untersucht werden sollten, diese unterdefinierten, reproduzierbaren Konditionen durchzuführen, diein einem in vivo-System kaum zu gewährleisten sind. Ohne denEinfluss von „störenden“, weil unkontrollierten Faktoren,wie es bei in vivo-Systemen der Fall ist, konnte imvorliegende Ansatz der Transport zu immunisoliertenRecycling-Endosomen (die Isolierung erfolgte hierbei mitanti-Rab11-Antikörpern, einem Marker fürRecycling-Endosomen) unter bestimmten Bedingungen untersuchtwerden. Dabei wurde als Marker Acridinium-markiertesTransferrin gewählt, welches in Zellen internalisiert wurde.Die Spezifität des Transportes in dem zellfreien System warhierbei sehr hoch, wie Kontrollexperimente inImmunisolierungsansätzen ohne Rab11-Antikörper zeigten. ImRahmen einer ersten Charakterisierung des Transportassayswurden essentielle, für den in vivo-Transport essentielleParameter auch in den in vitro-Experimenten untersucht.Hierbei wurde zum einen der Faktor Temperatur gewählt, daTransport in Zellen bei 4°C in der Regel zum Erliegen kommt.Dies konnte auch in dem vorgestellten System gezeigt werden.Ein weiterer, essentieller Faktor ist Energie in Form vonATP. ATP-Depletion wurde in den Experimenten durch Hinzugabeeines ATP-erschöpfenden Systems erzielt. Auch hier zeigteder Transport von Ac-Tfn zu Recycling-Endosomen eine starkeInhibierung. Mit Hilfe des so charakterisierten Assayskonnten anschließend weitere Experimente durchgeführtwerden, die den Einfluss von bestimmten Reagenzien undKonditionen auf den Transport untersuchten. So zeigte derTransport in Zeitverlaufsexperimenten einen Anstieg desTransportes bis 30 Minuten, bei 30 Minuten wurde ein Maximumerreicht. Nach Erreichen dieses Maximums war nachfolgendeine leichte Abnahme des Transfers von Ac-Tfn zu denRecycling-Endosomen zu beobachten. Da Rab-Proteine alsSchlüsselregulatoren für den intrazellulären, vesikulärenTransport gelten, und die Immunisolierungen mitanti-Rab11-Antikörpern durchgeführt wurden, wurde somit auchder Einfluss dieser GTPasen auf das Transportsystemuntersucht. Zugegebenes GDI, welches in der Lage istRab-Proteine in GDP-gebundener Form von spezifischenMembranen zu extrahieren, und daher ein gut untersuchterInhibitor von Rab-Funktionen ist, konnte auch in diesemTransportassay den Transport von Transferrin inhibieren. Einweiterer Aspekt war die Rolle des Cytoskelettes imintrazellulären Transport. Da in früheren Untersuchungen(Trischler et al., 1999) Aktin auf Recycling-Endosomengefunden wurde, erfolgte in diesen Arbeiten eineKonzentration auf die Rolle des Aktin in diesenTransportprozessen. Durch die Zugabe von Cytochalasin D, daseinen Aufbau von Aktingerüsten verhindert, wurde derTransport ebenfalls inhibiert. Durchaffinitätschromatographische Aufreinigungen konnte einestarke Interaktion von Aktin an immobilisiertes Rab11gezeigt werden. Die eluierten Fraktionen, die neben Aktinnoch weitere, jedoch unbekannte Proteine enthielten, konntenin dem in vitro-Fusionsassay eingesetzt werden und führtendort zu einer Stimulation des Transportes. Neben demgefundenen Aktin, könnten somit noch weitere, unbekannteProteine in dem Proteingemisch wichtige Funktionen imintrazellulären, vesikulären Transport übernehmen. EineIdentifizierung dieser Proteine ist dabei für weiterführendeArbeiten essentiell.Caveolin-1, Markerprotein für die Caveolae-Membrandomänewird überraschenderweise von verschiedenen Zellensekretiert. Da Caveolin-1 normalerweise ein integralesMembranprotein ist, wird von einer Sekretion alsLipoproteinpartikel ausgegangen. Die Rolle diesessekretierten Partikels ist unbekannt, wobei einige Autoreneine Funktion als autokrinen/ parakrinen Faktor vorschlagen(Tahir et al., 2001). In der vorliegenden Arbeit solltendiese Partikel daher aufgereinigt und erstmalscharakterisiert werden. Die Partikel wurden aus transienttransfizierten LNCaP-Zellen gewonnen, die Cav-1 in dasserumfreie Medium abgaben. In einer erstenGrößenuntersuchung durch FPLC konnte ein Molekulargewichtzwischen 2.000.000 Da und 660.000 Da bestimmt werden. DieseResultate konnten durch den Ansatz der nativenBlau-Gelelektrophorese bestätigt werden. In einem weiterenAnsatz, der die Dichte der Partikel charakterisieren sollte,wurde in zwei unterschiedlichen Ansätzen (CsCl-, sowieOptiprep Dichtezentrifuagtion) eine ähnliche Dichte desPartikels wie HDL ermittelt. Um eine stärkere Aufreinigungder Partikel zu erzielen, wurde eine Aufreinigung mit Hilfevon Ni-NTA-Agarose durchgeführt. Dies war möglich, denn diebei der Transfektion verwendete C-DNA trug einen His6-tag.Die so aufgereingten Partikel verloren auch nach derNi-NTA-Chromatographie nicht ihre biochemischenEigenschaften, wie in überprüfenden CsCl-Gradienten zu sehenwar. Die Partikel konnten anschließend zum ersten Mal inelektronenmikroskopischen Aufnahmen (Negativkontrastierung)visualisiert werden. Ein weiteres Ziel dieser Arbeit war es,zu untersuchen ob auf Cav-1 Lipoproteinpartikeln nochweitere Proteine zu finden waren. Durch eine kombinierteAufreinigung über Ni-NTA Chromatographie undCsCl-Dichtezentrifugation und im Vergleich mit demAusgangsmaterial konnten in der Silberfärbung Proteinbandenerkannt werden, die wie Cav-1 in den Fraktionen angereichertvorlagen. Eine massenspektroskopische Identifikation einerder Banden ergab, dass es sich hierbei um nm 23(Nukleosid-diphosphat-kinase) handelte, einem Protein dasebenfalls von verschiedenen Tumoren sekretiert wird.

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The main part of this thesis describes a method of calculating the massless two-loop two-point function which allows expanding the integral up to an arbitrary order in the dimensional regularization parameter epsilon by rewriting it as a double Mellin-Barnes integral. Closing the contour and collecting the residues then transforms this integral into a form that enables us to utilize S. Weinzierl's computer library nestedsums. We could show that multiple zeta values and rational numbers are sufficient for expanding the massless two-loop two-point function to all orders in epsilon. We then use the Hopf algebra of Feynman diagrams and its antipode, to investigate the appearance of Riemann's zeta function in counterterms of Feynman diagrams in massless Yukawa theory and massless QED. The class of Feynman diagrams we consider consists of graphs built from primitive one-loop diagrams and the non-planar vertex correction, where the vertex corrections only depend on one external momentum. We showed the absence of powers of pi in the counterterms of the non-planar vertex correction and diagrams built by shuffling it with the one-loop vertex correction. We also found the invariance of some coefficients of zeta functions under a change of momentum flow through these vertex corrections.

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The present state of the theoretical predictions for the hadronic heavy hadron production is not quite satisfactory. The full next-to-leading order (NLO) ${cal O} (alpha_s^3)$ corrections to the hadroproduction of heavy quarks have raised the leading order (LO) ${cal O} (alpha_s^2)$ estimates but the NLO predictions are still slightly below the experimental numbers. Moreover, the theoretical NLO predictions suffer from the usual large uncertainty resulting from the freedom in the choice of renormalization and factorization scales of perturbative QCD.In this light there are hopes that a next-to-next-to-leading order (NNLO) ${cal O} (alpha_s^4)$ calculation will bring theoretical predictions even closer to the experimental data. Also, the dependence on the factorization and renormalization scales of the physical process is expected to be greatly reduced at NNLO. This would reduce the theoretical uncertainty and therefore make the comparison between theory and experiment much more significant. In this thesis I have concentrated on that part of NNLO corrections for hadronic heavy quark production where one-loop integrals contribute in the form of a loop-by-loop product. In the first part of the thesis I use dimensional regularization to calculate the ${cal O}(ep^2)$ expansion of scalar one-loop one-, two-, three- and four-point integrals. The Laurent series of the scalar integrals is needed as an input for the calculation of the one-loop matrix elements for the loop-by-loop contributions. Since each factor of the loop-by-loop product has negative powers of the dimensional regularization parameter $ep$ up to ${cal O}(ep^{-2})$, the Laurent series of the scalar integrals has to be calculated up to ${cal O}(ep^2)$. The negative powers of $ep$ are a consequence of ultraviolet and infrared/collinear (or mass ) divergences. Among the scalar integrals the four-point integrals are the most complicated. The ${cal O}(ep^2)$ expansion of the three- and four-point integrals contains in general classical polylogarithms up to ${rm Li}_4$ and $L$-functions related to multiple polylogarithms of maximal weight and depth four. All results for the scalar integrals are also available in electronic form. In the second part of the thesis I discuss the properties of the classical polylogarithms. I present the algorithms which allow one to reduce the number of the polylogarithms in an expression. I derive identities for the $L$-functions which have been intensively used in order to reduce the length of the final results for the scalar integrals. I also discuss the properties of multiple polylogarithms. I derive identities to express the $L$-functions in terms of multiple polylogarithms. In the third part I investigate the numerical efficiency of the results for the scalar integrals. The dependence of the evaluation time on the relative error is discussed. In the forth part of the thesis I present the larger part of the ${cal O}(ep^2)$ results on one-loop matrix elements in heavy flavor hadroproduction containing the full spin information. The ${cal O}(ep^2)$ terms arise as a combination of the ${cal O}(ep^2)$ results for the scalar integrals, the spin algebra and the Passarino-Veltman decomposition. The one-loop matrix elements will be needed as input in the determination of the loop-by-loop part of NNLO for the hadronic heavy flavor production.

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Over the past few years, the switch towards renewable sources for energy production is considered as necessary for the future sustainability of the world environment. Hydrogen is one of the most promising energy vectors for the stocking of low density renewable sources such as wind, biomasses and sun. The production of hydrogen by the steam-iron process could be one of the most versatile approaches useful for the employment of different reducing bio-based fuels. The steam iron process is a two-step chemical looping reaction based (i) on the reduction of an iron-based oxide with an organic compound followed by (ii) a reoxidation of the reduced solid material by water, which lead to the production of hydrogen. The overall reaction is the water oxidation of the organic fuel (gasification or reforming processes) but the inherent separation of the two semireactions allows the production of carbon-free hydrogen. In this thesis, steam-iron cycle with methanol is proposed and three different oxides with the generic formula AFe2O4 (A=Co,Ni,Fe) are compared in order to understand how the chemical properties and the structural differences can affect the productivity of the overall process. The modifications occurred in used samples are deeply investigated by the analysis of used materials. A specific study on CoFe2O4-based process using both classical and in-situ/ex-situ analysis is reported employing many characterization techniques such as FTIR spectroscopy, TEM, XRD, XPS, BET, TPR and Mössbauer spectroscopy.

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L'ALMATracker è un sistema di puntamento per la stazione di terra di ALMASat-1. La sua configurazione non segue la classica Azimuth-Elevazione, bensì utilizza gli assi α-β per evitare punti di singolarità nelle posizioni vicino allo zenit. Ancora in fase di progettazione, utilizzando in congiunta SolidWorks e LabVIEW si è creato un Software-in-the-loop per la sua verifica funzionale, grazie all'utilizzo del relativamente nuovo pacchetto NI Softmotion. Data la scarsa esperienza e documentazione che si hanno su questo recente tool, si è prima creato un Case Study che simulasse un sistema di coordinate cilindriche in modo da acquisire competenza. I risultati conseguiti sono poi stati sfruttati per la creazione di un SIL per la simulazione del movimento dell'ALMATracker. L'utilizzo di questa metodologia di progettazione non solo ha confermato la validità del design proposto, ma anche evidenziato i problemi e le potenzialità che caratterizzano questo pacchetto software dandone un analisi approfondita.

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The dynamics of a passive back-to-back test rig have been characterised, leading to a multi-coordinate approach for the analysis of arbitrary test configurations. Universal joints have been introduced into a typical pre-loaded back-to-back system in order to produce an oscillating torsional moment in a test specimen. Two different arrangements have been investigated using a frequency-based sub-structuring approach: the receptance method. A numerical model has been developed in accordance with this theory, allowing interconnection of systems with two-coordinates and closed multi-loop schemes. The model calculates the receptance functions and modal and deflected shapes of a general system. Closed form expressions of the following individual elements have been developed: a servomotor, damped continuous shaft and a universal joint. Numerical results for specific cases have been compared with published data in literature and experimental measurements undertaken in the present work. Due to the complexity of the universal joint and its oscillating dynamic effects, a more detailed analysis of this component has been developed. Two models have been presented. The first represents the joint as two inertias connected by a massless cross-piece. The second, derived by the dynamic analysis of a spherical four-link mechanism, considers the contribution of the floating element and its gyroscopic effects. An investigation into non-linear behaviour has led to a time domain model that utilises the Runge-Kutta fourth order method for resolution of the dynamic equations. It has been demonstrated that the torsional receptances of a universal joint, derived using the simple model, result in representation of the joint as an equivalent variable inertia. In order to verify the model, a test rig has been built and experimental validation undertaken. The variable inertia of a universal joint has lead to a novel application of the component as a passive device for the balancing of inertia variations in slider-crank mechanisms.

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Selen ist in geringen Mengen ein essentielles Nährelement, das aber in höheren Gehalten toxisch wird. Der Se-Kreislauf in der Umwelt ist eng mit Redoxreaktionen wie der Reduktion von Se-Oxyanionen zu Methylselenid verknüpft. Flüchtige Methylselenide sind weit verbreitet und stellen einen wichtigen Se-Fluss in der Umwelt dar. Das übergeordnete Ziel meiner Dissertation war, die Stabilisotopenfraktionierung von Se durch Biomethylierung verschiedener oxidierter Se-Spezies (Se[IV] und Se[VI]) im Boden aufzuklären. Zunächst wurde eine Methode entwickelt, die es erlaubte flüchte Methylselenide quantitativ zurückzuhalten. Es zeigte sich, dass alkalische Peroxid-Lösung dafür geeignet war. Mit alkalischer Peroxid-Lösung wurde eine Wiederfindung von 95,6 ± Standardabweichung 5,4% in Verflüchtigungsexperimenten mit Methylselenid-Standards erreicht. Bei Einsatz von alkalischer Peroxid-Lösung in geschlossenen Mikrokosmos-Experimenten kam es zu keinen Se-Verlusten und ausgeglichenen Se-Isotopenbilanzen. Die massengewichteten δ82/76Se-Werte lagen für Se(IV) und Se(VI) am Ende der Mikrokosmos-Inkubationen bei -0,31 ± 0,05‰ (n = 3) und -0,76 ± 0,07‰ (n = 3) verglichen mit -0,20 ± 0,05‰ und -0,69 ± 0,07‰ im jeweils zugegebenen Se. Im zweiten Teil meiner Dissertation wurde die Pilzart Alternaria alternata mit Se(VI) und Se(IV) in geschlossenen Mikrokosmen für 11-15 und Se(IV) zusätzlich für 3-5 Tage bei 30°C inkubiert. In 11-15 Tagen wurden 2,9-11% des Se(VI) und 21-29% des Se(IV) und in 3-5 Tagen, 3-5% des Se(IV) methyliert. Die anfänglichen δ82/76Se-Werte von Se(VI) und Se(IV) lagen bei -0,69 ± 0,07‰, und -0,20 ± 0,05‰. Die δ82/76Se-Werte der Methylselenide unterschieden sich nach 11-15 Tagen Inkubation signifikant zwischen Se(VI) (-3,97 bis -3,25 ‰) und Se(IV) (-1,44 bis -0,16‰) als Quellen. Die δ82/76Se-Werte der Methylselenide zeigen also die Quellen der Biomethylierung von Se an. Die kürzere Inkubation von Se(IV) für 3-5 Tage führte zu einer ausgeprägten Se-Isotopenfraktonierung von mindestens -6‰, bevor ein Fließgleichgewicht erreicht wurde. Im dritten Teil bestimmte ich die Bindungsformen von Se mit drei operativ definierten sequentiellen Extraktionen und die δ82/76S-Werte des gesamten Selens in zehn urbanen Oberböden mit 0,09-0,52 mg/kg Se, die fünf verschiedene Landnutzungstypen repräsentierten (Überschwemmungsgrünland, Garten, Park, Straßenrand und Wald). Nur ein kleiner Teil des Seleniums lag in austauschbarer und damit direkt bioverfügbarer und in residualer, wenig reaktiver Form vor. Das meiste Se war an die organische Substanz und Fe-(Hydr-)Oxide gebunden (42-77% des gesamten Selens). Der mittlere δ82/76Se-Wert des gesamten Selens in den Oberböden lag mit -0,03 ± 0,38‰ nahe beim Mittelwert der gesamten Erde. Geringfügig niedrigere Se-Isotopensignale von -0,59 bis -0,35‰ v.a. in Waldböden und geringfügig höhere von 0,26 to 0,45‰ in Überschwemmungsgrünland wurden vermutlich durch Boden-Pflanze-Recycling und Se-Kontaminationen durch das Flusswasser verursacht. Der vierte Teil umfasste ein “Natural Attenuation”-Experiment und Mikrokosmos-Inkubationen von Bodenproben mit A. alternata. Die Equilibrierung von zum Boden gegebenem Se(IV) und Se(VI) für drei Tage führte zu abnehmenden wasserlöslichen Se-Gehalten um 32-44% bzw. 8-14, die mit kleinen Isotopenfraktionierung (ε = -0,045 bis -0,12 ‰ and -0,05 to -0,07‰ verbunden waren. In zwei der inkubierten Böden mit mäßig sauren pH-Werten wurden zwischen 9,1 und 30% des zugefügten Se(IV) und 1,7% des zugefügten Se(VI) methyliert während in einem stark sauren Boden keine Methylierung auftrat. Das aus Se(IV) entstandene Methylselenid war deutlich gegenüber dem zugegebenen Se-Standard (0,20‰) an 82Se verarmt (δ82/76Se = -3,3 bis -4,5‰). Meine Ergebnisse zeigen, dass die stabilen Isotopenverhältnisse von Se neue Einblicke in Se-Transformationsprozesse erlauben.rn

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The work investigates the feasibility of a new process aimed at the production of hydrogen with inherent separation of carbon oxides. The process consists in a cycle in which, in the first step, a mixed metal oxide is reduced by ethanol (obtained from biomasses). The reduced metal is then contacted with steam in order to split the water and sequestrating the oxygen into the looping material’s structure. The oxides used to run this thermochemical cycle, also called “steam-iron process” are mixed ferrites in the spinel structure MeFe2O4 (Me = Fe, Co, Ni or Cu). To understand the reactions involved in the anaerobic reforming of ethanol, diffuse reflectance spectroscopy (DRIFTS) was used, coupled with the mass analysis of the effluent, to study the surface composition of the ferrites during the adsorption of ethanol and its transformations during the temperature program. This study was paired with the tests on a laboratory scale plant and the characterization through various techniques such as XRD, Mössbauer spectroscopy, elemental analysis... on the materials as synthesized and at different reduction degrees In the first step it was found that besides the generation of the expected CO, CO2 and H2O, the products of ethanol anaerobic oxidation, also a large amount of H2 and coke were produced. The latter is highly undesired, since it affects the second step, during which water is fed over the pre-reduced spinel at high temperature. The behavior of the different spinels was affected by the nature of the divalent metal cation; magnetite was the oxide showing the slower rate of reduction by ethanol, but on the other hand it was that one which could perform the entire cycle of the process more efficiently. Still the problem of coke formation remains the greater challenge to solve.