Earliest Wuchiapingian (Lopingian, Late Permian) brachiopods in southern Hunan, South China : implications for the Pre-Lopingian crisis and onset of Lopingian recovery / radiation

The uppermost 5-15 m of the Douling Formation in the southern Hunan area. South China, yields a diverse fauna comprised of ammonoids, bivalves, and brachiopods. The brachiopods reported in this paper consist of 51 species in 34 genera and are dominated by the Lopingian (Late Permian) species associated with a few species persisting from the underlying Maokouan (Late Guadalupian). This fauna is of earliest Wuchiapingian in age as precisely constrained by the associated conodont Clarkina postbitteri postbitteri and the Guadalupian-type ammonoid fauna of the Roadoceras-Doulingoceras Zone in the brachiopod horizon. The discovery of the Lopingian species-dominated brachiopod fauna in the earliest Wuchiapingian in southern Hunan suggests a much less pronounced effect of the pre-Lopingian crisis (end-Guadalupian mass extinction) than the end-Changhsingian mass extinction in terms of brachiopods, a contemporaneous onset of the Lopingian recovery/radiation during the pre-Lopingian crisis period, and taxonomic selectivity of the pre-Lopingian crisis in terms of different fossil groups. New taxa are Echinauris doulingensis n. sp., Pararigbyella quadrilobata n. gen. and n. sp. and P. doulingensis n. gen. and n. sp.

Raw materials and process chemical recovery in industrial wastewater pollution control

This article illustrates the different methods employed to recover raw materials and process chemicals in various industries. Although only a few industries such as car painting, metal cutting, electroplating, textile, abattoir and pesticide formulation have been illustrated in case studies, almost all the industries can recover raw materials and process chemicals from their waste streams. The case studies show that the investments on new processes or systems used to recover raw materials and process chemicals have a short payback period and hence bring huge savings to those industries. Thus, each industry should try to recover raw material and process chemicals from waste streams.

By-product recovery in industrial wastewater pollution control

By-products from most industries become waste when they are not recovered. This article gives examples of by-product recovery from industries such as pulp and paper, dairy, pig farm and food processing.

Although the recovery of by-products will require new processes, the investments on those processes will be paid-back easily from the benefits brought by those by-products. Also, in order to have a sustainable development, by-product recover will play a significant role in all industries in the near future.

Nanofiltration for the possible reuse of water and recovery of sodium chloride salt from textile effluent

During the reactive dyeing of cotton, salts such as sodium chloride (NaCI) are placed in a dyebath to aid the exhaustion of various dyes onto the fabric while bases are added to raise the pH from around neutral to pH 11 to achieve fixation. Afterwards, the used dyebath solution, called dyebath spent liquor, is discharged with almost all the salts and bases added as well as unfixed dyes. Consequently, many raw materials are lost in the waste stream ending up in the environment as pollutants. In this study possibilities of reusing the water and salts of dyebaths were investigated using a nanofiltration membrane. When the NaCI concentration in the spent liquor was increased from 10 to 80 g/L, the NaC1 rejection by the membrane was found to decrease initially; however, the NaC1 rejection increased over time, which was not expected. The aggregation of dye was also studied and found to decrease in the concentrate when the salt concentration was increased. This information is useful for the textile industry in evaluating the treated water quality for the purpose of reuse.

A class of optimal fault tolerant Jacobian for minimal redundant manipulators based on symmetric geometries

Design of locally optimal fault tolerant manipulators has been recently addressed via using the constraints of the desired null space for the Jacobian matrix of the manipulators. In the present paper the Jacobian matrices for optimal fault tolerance are presented based on geometric properties of column vectors instead of the null space. They are equally fault tolerant to a single joint failure from the worst-case relative manipulability and worst-case dexterity points of view. The optimality is achieved through a symmetric distribution of points on spheres.

A hybrid approach for fault tolerance in robotics

This paper studies the difference between the human behaviours for fault tolerance with a pseudo inverse reconfiguration approach for fault tolerance of robotic arms. If this difference is well understood then it can be used to introduce a hybrid approach for fault tolerant motion of robotic arms. The proposed approach is expected to combine human fault-tolerance dexterity and advantages of a model based fault tolerance. The main aim is to add human dexterity for fault tolerance of robotic arms.

Optimal fault tolerant Jacobian matrix generators for redundant manipulators

The design of locally optimal fault-tolerant manipulators has been previously addressed via adding constraints on the bases of a desired null space to the design constraints of the manipulators. Then by algebraic or numeric solution of the design equations, the optimal Jacobian matrix is obtained. In this study, an optimal fault-tolerant Jacobian matrix generator is introduced from geometric properties instead of the null space properties. The proposed generator provides equally fault-tolerant Jacobian matrices in R3 that are optimally fault tolerant for one or two locked joint failures. It is shown that the proposed optimal Jacobian matrices are directly obtained via regular pyramids. The geometric approach and zonotopes are used as a novel tool for determining relative manipulability in the context of fault-tolerant robotics and for bringing geometric insight into the design of optimal fault-tolerant manipulators.

Ranking of pre-treatment technologies for reverse osmosis for water recovery

Agro-industries are a life-line for sustainable future of human kind. However, the wastewater generated by agro-industries poses direct threat to the same sustainable future by polluting the freshwater sources when discharged into those freshwater sources. Thus, we need both advanced treatment technologies to treat those wastewater streams generated and better reuse practices for the treated effluents. Reverse osmosis (RO) is one of the advanced treatments to treat dissolved solids that are present in agricultural wastewater streams. But, RO is very sensitive to suspended solids (SS) present in the wastewater streams. Those SS can foul the RO membrane and make it ineffective in producing treated effluent at desired rates. Therefore, suitable pre-treatment scheme is necessary to treat the agro-wastewater streams before passing through RO. This study focuses on the qualitative and quantitative ranking of the available conventional and modern pre-treatment technologies as pre-treatment for RO. This study considers wastewater that has been treated through a secondary treatment system for example activated sludge process as the target water that needs pre-treatment. Based on qualitative ranking of conventional pre-treatment options, the Lime clarification/Granular Media filtration (GMF) option is ranked as the best; whereas finescreens/ micro-screens option ranked as the least preferred option based on the scores they attained in treating the water quality parameters that are considered essential. Based on the quantitative ranking, the low pressure membrane technology such as ultra-filtration (UF) stood first and microfiltration (MF) stood last.

Optimal fault-tolerant robotic manipulators

This thesis addresses “Optimal Fault-Tolerant Robotic Manipulators” for locked-joint failures and consists of three components. It begins by investigating the regions of workspace where the manipulator can operate with high reliability. It then continues with an efficient deployment of kinematic redundancies for fault-tolerant operation. Finally, it presents a novel method for design of optimal fault-tolerant manipulators.