Mobile robot electronic system with a network and microcontroller based interface

Integrated Masters at Electronics and Computers EngineeringNowadays mobile robots are expected to be a desire at several services to afford man facilities and increase safety in any kind of duties. Mobility is a key issue in robotics and a challenging subject for any research and development. It combines cognitive capabilities focused on sensorial input and human interaction with intelligent control of the drive systems and requires real mechatronics engineering solutions to enable robust and reliable operation. In the European Centre for Mechatronics [W1] mobile robots have been research subjects for years. A mobile platform with semi-autonomous functionality has been developed years ago. It has been used as a demonstration and test platform to study mobility and cognitive control. In the University of Minho [W3] and RWTH University [W2] that kind of research is also important and the industry support gives a solid development sign to the institutions. As the control system capacity on board of the vehicle has reached limits, a new system architecture with more powerful controller elements was planned to replace the old one. In this context the key objective of the project was to design and develop a new embedded system capable of controlling the mobile platform drives using ATMega microcontroller technology

A New Approach in the Design of Air Stripping Columns for the Treatment of Groundwater Contaminated With Volatile Organic Compounds

Volatile organic compounds are a common source of groundwater contamination that can be easily removed by air stripping in columns with random packing and using a counter-current flow between the phases. This work proposes a new methodology for column design for any type of packing and contaminant which avoids the necessity of an arbitrary chosen diameter. It also avoids the employment of the usual graphical Eckert correlations for pressure drop. The hydraulic features are previously chosen as a project criterion. The design procedure was translated into a convenient algorithm in C++ language. A column was built in order to test the design, the theoretical steady-state and dynamic behaviour. The experiments were conducted using a solution of chloroform in distilled water. The results allowed for a correction in the theoretical global mass transfer coefficient previously estimated by the Onda correlations, which depend on several parameters that are not easy to control in experiments. For best describe the column behaviour in stationary and dynamic conditions, an original mathematical model was developed. It consists in a system of two partial non linear differential equations (distributed parameters). Nevertheless, when flows are steady, the system became linear, although there is not an evident solution in analytical terms. In steady state the resulting ODE can be solved by analytical methods, and in dynamic state the discretization of the PDE by finite differences allows for the overcoming of this difficulty. To estimate the contaminant concentrations in both phases in the column, a numerical algorithm was used. The high number of resulting algebraic equations and the impossibility of generating a recursive procedure did not allow the construction of a generalized programme. But an iterative procedure developed in an electronic worksheet allowed for the simulation. The solution is stable only for similar discretizations values. If different values for time/space discretization parameters are used, the solution easily becomes unstable. The system dynamic behaviour was simulated for the common liquid phase perturbations: step, impulse, rectangular pulse and sinusoidal. The final results do not configure strange or non-predictable behaviours

Some reflections on acquisition, processing and analysis of statistical data in forest soils

Beyond the classical statistical approaches (determination of basic statistics, regression analysis, ANOVA, etc.) a new set of applications of different statistical techniques has increasingly gained relevance in the analysis, processing and interpretation of data concerning the characteristics of forest soils. This is possible to be seen in some of the recent publications in the context of Multivariate Statistics. These new methods require additional care that is not always included or refered in some approaches. In the particular case of geostatistical data applications it is necessary, besides to geo-reference all the data acquisition, to collect the samples in regular grids and in sufficient quantity so that the variograms can reflect the spatial distribution of soil properties in a representative manner. In the case of the great majority of Multivariate Statistics techniques (Principal Component Analysis, Correspondence Analysis, Cluster Analysis, etc.) despite the fact they do not require in most cases the assumption of normal distribution, they however need a proper and rigorous strategy for its utilization. In this work, some reflections about these methodologies and, in particular, about the main constraints that often occur during the information collecting process and about the various linking possibilities of these different techniques will be presented. At the end, illustrations of some particular cases of the applications of these statistical methods will also be presented

Nanoparticles based Permeable Reactive Barriers as an Eco-efficient Technology for nitrate remediation in soil and groundwater

The need to increase agricultural yield led, among others, to an increase in the consumption of nitrogen based fertilizers. As a consequence, there are excessive concentrations of nitrates, the most abundant of the reactive nitrogen (Nr) species, in several areas of the world. The demographic changes and projected population growth for the next decades, and the economic shifts which are already shaping the near future are powerful drivers for a further intensification in the use of fertilizers, with a predicted increase of the nitrogen loads in soils. Nitrate easily diffuses in the subsurface environments, portraying high mobility in soils. Moreover, the presence of high nitrate loads in water has the potential to cause an array of health dysfunctions, such as methemoglobinemia and several cancers. Permeable Reactive Barriers (PRB) placed strategically relatively to the nitrate source constitute an effective technology to tackle nitrate pollution. Ergo, PRB avoid various adverse impacts resulting from the displacement of reactive nitrogen downstream along water bodies. A four stages literature review was carried out in 34 databases. Initially, a set of pertinent key words were identified to perform the initial databases searches. Then, the synonyms of those initial key words were used to carry out a second set of databases searches. The third stage comprised the identification of other additional relevant terms from the research papers identified in the previous two stages. Again, databases searches were performed with this third set of key words. The final step consisted of the identification of relevant papers from the bibliography of the relevant papers identified in the previous three stages of the literature review process. The set of papers identified as relevant for in-depth analysis were assessed considering a set of relevant characterization variables

Permeable Reactive Barriers using nanoparticles to remediate nitrate pollution

Nitrat e (NO3 - ) i s per vasi ve i n t he bi ospher e[ 1, 2]. Cont emporar y agri cult ural pr acti ces are a mong t he maj or ant hr opogeni c sources of r eacti ve nitrogen speci es, wher e nitrat ei s t he most abundant of t hese [ 2]. Excessi ve a mount s of r eacti ve nitrogen i n soil s and gr oundwat er ar e creati ng si gnifi cant t hr eat s t o hu man healt h and saf et y [ 3] as well as a host of undesirabl e environment al i mpact s [ 2]; it i s curr ently consi der ed t he second most r el evant environment al i ssue, aft er car bon di oxide e mi ssi ons. Nowadays, a mong t he most r el evant and pr omi si ng appr oaches t o r educe nitrat e concentrati on i n wat er, na mel y gr oundwat er, ar e denitrifi cati on- based pr ocesses [ 4]. Per meabl e r eacti ve barri ers ( PRB) have been pr oven eff ecti ve i n r educi ng vari ous cont ami nant s i n copi ous a mount s, parti cul arl y i n shall ow gr oundwat er [ 5]. However t he possi bl e added eff ecti veness of usi ng nanoparti cl es i n t hese structur es t o obt ai n nitrogen gas from nitrat es requires f urt her i nvesti gati on

Spectral solution for the air stripping pollutants removal dynamic model with non linear steady state conditions

This work deals with the numerical simulation of air stripping process for the pre-treatment of groundwater used in human consumption. The model established in steady state presents an exponential solution that is used, together with the Tau Method, to get a spectral approach of the solution of the system of partial differential equations associated to the model in transient state

Nanoparticles for the remediation of agrogenic contaminated soil and groundwater – a review

The wide spread use and strong reliance on both fertilizers and pesticides made of agrigenic pollution one of the major contemporary threats to environment and human health. Impacts on the environment vary from local effects, such as eutrophycation1, 2, loss of biodiversity and diminished ecosystem health3, to global effects, such as the aggravation of global warming2, 4 and ozone layer depletion5. The novelty of nanoremediation and its early successes, reported for various contexts, present the prospect for the development of relevant applications for agrigenic contaminants

A VIVÊNCIA DA ESPIRITUALIDADE POR USUÁRIOS DE SUBSTÂNCIAS PSICOATIVAS DE COMUNIDADE TERAPÊUTICA DO SUDOESTE BAIANO

The use of psychoactive substances (SPA) transcends the category of public health problem, generating effects not only on individuals but also on society as a whole. Therapeutic communities (TCs) emerge as a complementary proposal of mental health care that brings in its dealings a fragility in the assistance coverage of the public health sector. Some TCs bring spirituality as a guiding resource for the interventions they develop. In this sense, this study aimed to elucidate the impact of the experience of spirituality in the therapeutics of users of psychoactive substances in Southwest Bahia. This is a qualitative, descriptive and exploratory study, with the participation of six SPA users. The collection consisted of the semi-structured interview application. The analysis occurred through the Collective Subject Speech technique. The spirituality at CT was developed and directed by religious experience, intermediated by the organization and participation in community services, with spirituality stimulated through prayer practices.El uso de sustancias psicoactivas (SPA) trasciende la categoría de problema de salud pública, generando efectos no sólo en los individuos, sino en la sociedad en su conjunto. Las comunidades terapéuticas (CT) surgen como una propuesta complementaria de la atención de salud mental que trae en sus tratos una fragilidad en la cobertura asistencial del sector de la salud pública. Algunas CT traen la espiritualidad como un recurso de guía para las intervenciones que desarrollan. En este sentido, este estudio tenía por objeto dilucidar el impacto de la experiencia de la espiritualidad en la terapéutica de los usuarios de sustancias psicoactivas en el suroeste de Bahía. Se trata de un estudio cualitativo, descriptivo y exploratorio, con la participación de seis usuarios de SPA. La colección consistía en la solicitud de entrevista semiestructurada. El análisis se realizó mediante la técnica del discurso del sujeto colectivo. La espiritualidad en la TC fue desarrollada y dirigida por la experiencia religiosa, intermediada por la organización y la participación en servicios comunitarios, con la espiritualidad estimulada a través de prácticas de oración.O uso de substâncias psicoativas (SPA) transcende a categoria de problema de saúde pública, gerando efeitos não apenas nos indivíduos, mas em toda a sociedade. As comunidades terapêuticas (CT) surgem como proposta complementar de cuidado em saúde mental que traz em sua lide uma fragilidade na cobertura assistencial do setor público de saúde. Algumas CT trazem a espiritualidade como recurso direcionador das intervenções por elas desenvolvidas. Neste sentido, o presente estudo objetivou elucidar o impacto da vivência da espiritualidade na terapêutica de usuários de substâncias psicoativas em CT do sudoeste baiano. Trata-se de um estudo qualitativo, descritivo e exploratório, com a participação de seis usuários de SPA. A coleta consistiu na aplicação entrevista semiestruturada. A análise ocorreu por meio da técnica do Discurso do Sujeito Coletivo. Observou-se a espiritualidade no CT é desenvolvida e direcionada pela vivência religiosa, intermediada pela organização e participação em cultos comunitários, estando a espiritualidade estimulada através de práticas de orações

A VIVÊNCIA DA ESPIRITUALIDADE POR USUÁRIOS DE SUBSTÂNCIAS PSICOATIVAS DE COMUNIDADE TERAPÊUTICA DO SUDOESTE BAIANO

The use of psychoactive substances (SPA) transcends the category of public health problem, generating effects not only on individuals but also on society as a whole. Therapeutic communities (TCs) emerge as a complementary proposal of mental health care that brings in its dealings a fragility in the assistance coverage of the public health sector. Some TCs bring spirituality as a guiding resource for the interventions they develop. In this sense, this study aimed to elucidate the impact of the experience of spirituality in the therapeutics of users of psychoactive substances in Southwest Bahia. This is a qualitative, descriptive and exploratory study, with the participation of six SPA users. The collection consisted of the semi-structured interview application. The analysis occurred through the Collective Subject Speech technique. The spirituality at CT was developed and directed by religious experience, intermediated by the organization and participation in community services, with spirituality stimulated through prayer practices.El uso de sustancias psicoactivas (SPA) trasciende la categoría de problema de salud pública, generando efectos no sólo en los individuos, sino en la sociedad en su conjunto. Las comunidades terapéuticas (CT) surgen como una propuesta complementaria de la atención de salud mental que trae en sus tratos una fragilidad en la cobertura asistencial del sector de la salud pública. Algunas CT traen la espiritualidad como un recurso de guía para las intervenciones que desarrollan. En este sentido, este estudio tenía por objeto dilucidar el impacto de la experiencia de la espiritualidad en la terapéutica de los usuarios de sustancias psicoactivas en el suroeste de Bahía. Se trata de un estudio cualitativo, descriptivo y exploratorio, con la participación de seis usuarios de SPA. La colección consistía en la solicitud de entrevista semiestructurada. El análisis se realizó mediante la técnica del discurso del sujeto colectivo. La espiritualidad en la TC fue desarrollada y dirigida por la experiencia religiosa, intermediada por la organización y la participación en servicios comunitarios, con la espiritualidad estimulada a través de prácticas de oración.O uso de substâncias psicoativas (SPA) transcende a categoria de problema de saúde pública, gerando efeitos não apenas nos indivíduos, mas em toda a sociedade. As comunidades terapêuticas (CT) surgem como proposta complementar de cuidado em saúde mental que traz em sua lide uma fragilidade na cobertura assistencial do setor público de saúde. Algumas CT trazem a espiritualidade como recurso direcionador das intervenções por elas desenvolvidas. Neste sentido, o presente estudo objetivou elucidar o impacto da vivência da espiritualidade na terapêutica de usuários de substâncias psicoativas em CT do sudoeste baiano. Trata-se de um estudo qualitativo, descritivo e exploratório, com a participação de seis usuários de SPA. A coleta consistiu na aplicação entrevista semiestruturada. A análise ocorreu por meio da técnica do Discurso do Sujeito Coletivo. Observou-se a espiritualidade no CT é desenvolvida e direcionada pela vivência religiosa, intermediada pela organização e participação em cultos comunitários, estando a espiritualidade estimulada através de práticas de orações

Microcontrolled and networked based mobile robot electronic system

Robotics is increasingly on the agenda to perform both complex tasks in uninviting environment and also for routine actions of our day-to-day. The challenges and demands are constant. The back-office work is demanding, highly skilled and requires a lot of dedication, research and tenacity. Clearly and concisely, this work illustrates the foundations for a machine, the steps to get there, a prospect of easy and reliable use. Enjoy this auspicious and inspiring reading