An FPGA-based controller for collaborative robotics

The use of robots is becoming more common in society. Industrial robots are being developed to work with people, and lower-force collaborative robots are being developed to help people in their everyday lives. These may need fast and sophisticated motion control and behavioral algorithms, but are expected to be more compact and lower cost. This paper proposes a processor plus FPGA solution for the control systems for such robots, where the FPGA performs all real-time tasks, freeing the processor to run lower-frequency high level control and interface to other devices such as camera systems. A demonstrator robot is designed, combining multi-axis motion control with 3D robot vision

Experimental Analysis of Open-Circuit Voltage Hysteresis in Lithium-Iron-Phosphate Batteries

This paper aims at investigating and modelling the hysteresis in the relationship between state-of-charge and open-circuit voltage of lithium-iron-phosphate batteries. A first-order charge relaxation equation was used to describe the hysteresis dynamics. This equation was translated into a voltage-controlled voltage source and included within an equivalent electric circuit of the battery used in online state-of-charge estimators. The effectiveness of the obtained battery model was verified comparing simulated and experimental data

Quality of eggs from Lohmann Brown Classic laying hens fed black soldier fly meal as substitute for soya bean

Soya bean is the main protein source in poultry feed but rising prices make an alternative protein source necessary. Insects, such as the black soldier fly (Hermetia illucens), may be an attractive solution for hens, although little information is available on their effect on egg quality. The present study aims to fill this gap by testing the effect of 100% replacement of soya bean with H. illucens larva meal in the diet of Lohmann Brown Classic laying hens for 21 weeks. At the end of the trial, the eggs were characterized for parameters such as weight, colour, proximate composition of albumen and yolk, and content of carotenoids, tocopherols and cholesterol. The fatty acid profile of yolks was also determined. Hens fed the insect-based diet produced eggs (HIM group) with a higher proportion of yolk than the group fed the soya bean-based diet (SBM group). HIM was associated with redder yolks (red index 5.63 v. 1.36) than SBM. HIM yolks were richer in γ-tocopherol (4.0 against 2.4 mg/kg), lutein (8.6 against 4.9 mg/kg), β-carotene (0.33 against 0.19 mg/kg) and total carotenoids (15 against 10.5 mg/kg) than SBM yolks. The fatty acid composition of HIM yolks was almost identical to that of SBM yolks. Finally, HIM yolks contained 11% less cholesterol than SBM yolks. These results suggest that H. illucens larva meal is a suitable total substitute for soya bean meal in the diet of Lohmann Brown Classic laying hens. A sustainable alternative to the plant protein source therefore seems feasible

Toscana, West Nile, Usutu and tick-borne encephalitis viruses: external quality assessment for molecular detection of emerging neurotropic viruses in Europe, 2017

BackgroundNeurotropic arboviruses are increasingly recognised as causative agents of neurological disease in Europe but underdiagnosis is still suspected. Capability for accurate diagnosis is a prerequisite for adequate clinical and public health response.AimTo improve diagnostic capability in EVD-La

Removal of steroid estrogens in carbonaceous and nitrifying activated sludge processes

This is the post-print version of the final paper published in Chemosphere. The published article is available from the link below. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. Copyright @ 2010 Elsevier B.V.A carbonaceous (heterotrophic) activated sludge process (ASP), nitrifying ASP and a nitrifying/denitrifying ASP have been studied to examine the role of process type in steroid estrogen removal. Biodegradation efficiencies for total steroid estrogens (ΣEST) of 80 and 91% were recorded for the nitrifying/denitrifying ASP and nitrifying ASP respectively. Total estrogen biodegradation (ΣEST) was only 51% at the carbonaceous ASP, however, the extent of biodegradation in the absence of nitrification clearly indicates the important role of heterotrophs in steroid estrogen removal. The low removal efficiency did not correlate with biomass activity for which the ASPcarbonaceous recorded 80 μg kg−1 biomass d−1 compared to 61 and 15 μg kg−1 biomass d−1 at the ASPnitrifying and ASPnitrifying/denitrifying respectively. This finding was explained by a moderate correlation (r2 = 0.55) between total estrogen loading (ΣEST mg m−3 d−1) and biomass activity (μg ΣEST degraded kg−1 d−1) and has established the impact of loading on steroid estrogen removal at full-scale. At higher solids retention time (SRT), steroid estrogen biodegradation of >80% was observed, as has previously been reported. It is postulated that hydraulic retention time (HRT) is as important as SRT as this governs both reaction time and loading. This observation is based on the high specific estrogen activity determined at the ASPcarbonaceous plant, the significance of estrogen loading and the positive linear correlation between SRT and HRT.Public Utilities Board of Singapore, Anglian Water Ltd., Severn Trent Water Ltd., Thames Water Utilities Ltd., United Utilities Plc., and Yorkshire Water Services Ltd

Influence of operating parameters on the biodegradation of steroid estrogens and nonylphenolic compounds during biological wastewater treatment processes

This document is the unedited author's version of a Submitted Work that was subsequently accepted for publication in Environmental Science & Technology, copyright © American Chemical Society after peer review. To access the final edited and published work see http://pubs.acs.org/doi/abs/10.1021/es901612v.This study investigated operational factors influencing the removal of steroid estrogens and nonylphenolic compounds in two sewage treatment works, one a nitrifying/denitrifying activated sludge plant and the other a nitrifying/denitrifying activated sludge plant with phosphorus removal. Removal efficiencies of >90% for steroid estrogens and for longer chain nonylphenol ethoxylates (NP4−12EO) were observed at both works, which had equal sludge ages of 13 days. However, the biological activity in terms of milligrams of estrogen removed per day per tonne of biomass was found to be 50−60% more efficient in the nitrifying/denitrifying activated sludge works compared to the works which additionally incorporated phosphorus removal. A temperature reduction of 6 °C had no impact on the removal of free estrogens, but removal of the conjugated estrone-3-sulfate was reduced by 20%. The apparent biomass sorption (LogKp) values were greater in the nitrifying/denitrifying works than those in the nitrifying/denitrifying works with phosphorus removal for both steroid estrogens and nonylphenolic compounds possibly indicating a different cell surface structure and therefore microbial population. The difference in biological activity (mg tonne−1 d−1) identified in this study, of up to seven times, suggests that there is the potential for enhancing the removal of estrogens and nonylphenols if more detailed knowledge of the factors responsible for these differences can be identified and maximized, thus potentially improving the quality of receiving waters.Public Utilities Board (Singapore), Anglian Water Ltd, Severn Trent Water Ltd, Thames Water Utilities Ltd, United Utilities 393 Plc and Yorkshire Water Services

Pulsating Heat pipe only for Space (PHOS): Results of the REXUS 18 sounding rocket campaign

Two Closed Loop Pulsating Heat Pipes (CLPHPs) are tested on board REXUS 18 sounding rocket in order to obtain data over a relatively long microgravity period (approximately 90 s). The CLPHPs are partially filled with FC-72 and have, respectively, an inner tube diameter larger (3 mm) and slightly smaller (1.6 mm) than the critical diameter evaluated in static Earth gravity conditions. On ground, the small diameter CLPHP effectively works as a Pulsating Heat Pipe (PHP): the characteristic slug and plug flow pattern forms inside the tube and the heat exchange is triggered by thermally driven self-sustained oscillations of the working fluid. On the other hand, the large diameter CLPHP works as a two- phase thermosyphon in vertical position and doesn't work in horizontal position: in this particular condition, the working fluid stratifies within the device as the surface tension force is no longer able to balance buoyancy. Then, the idea to test the CLPHPs in reduced gravity conditions: as the gravity reduces the buoyancy forces becomes less intense and it is possible to recreate the typical PHP flow pattern also for larger inner tube diameters. This allows to increase the heat transfer rate and, consequently, to decrease the overall thermal resistance. Even though it was not possible to experience low gravity conditions due to a failure in the yoyo de-spin system, the thermal response to the peculiar acceleration field (hyper-gravity) experienced on board are thoroughly described

Advances in multispectral and hyperspectral imaging for archaeology and art conservation

Multispectral imaging has been applied to the field of art conservation and art history since the early 1990s. It is attractive as a noninvasive imaging technique because it is fast and hence capable of imaging large areas of an object giving both spatial and spectral information. This paper gives an overview of the different instrumental designs, image processing techniques and various applications of multispectral and hyperspectral imaging to art conservation, art history and archaeology. Recent advances in the development of remote and versatile multispectral and hyperspectral imaging as well as techniques in pigment identification will be presented. Future prospects including combination of spectral imaging with other noninvasive imaging and analytical techniques will be discussed

Upgraded Pulsating Heat Pipe Only For Space (U-Phos): Results of the 22nd Rexus Sounding Rocket Campaign

A large tube may still behave, to a certain extent, as a capillary in a micro-gravity environment. This very basic concept is here applied to a two-phase passive heat transfer devices in order to obtain a new family of hybrid wickless heat pipes. Indeed, a Loop Thermosyphon, which usually consists of a large tube, closed end to end in a loop, evacuated and partially filled with a working fluid and intrinsically gravity assisted, may become a capillary tube in space condition and turn its thermo-fluidic behavior into a so called Pulsating Heat Pipe (PHP), or better, a Space Pulsating Heat Pipe (SPHP). Since the objective of the present work is to experimentally demonstrate the feasibility of such a hybrid device, a SPHP has been designed, built, instrumented and tested both on ground and microgravity conditions on the 22nd ESA REXUS Sounding Rocket Campaign. Ground tests demonstrate that the device effectively work as a gravity assisted loop thermosyphon, whether the sounding rocket data clearly reveal a change in the thermal hydraulic behavior very similar to the PHP. Since a microgravity period of approximately 120s is not sufficient to reach a pseudo steady state regime, further investigation on a longer term weightless condition is mandatory