32 research outputs found

    Effect of phosphorus on the attenuation of lead and chromium

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    This study analyses the adsorption of Pb(II) and Cr(III) in soils. These metals are commonly found together in nature in urban wastes or industrial spillages, and the theoretical approach of the work was to evaluate the response of the soil to continuous Cr and Pb spillages to soil in terms of several physicochemical parameters. The influence of an anthropogenic input of phosphorus was evaluated. Continuous flow experiments were run in duplicates in acrylic columns (25 cm × 3.2 cm). The influent Cr(III) and Pb(II) solutions of 10 mg l−1 and 25 mg l−1 at pH 5 were pumped upward through the bottom of the columns to ensure saturation flow conditions. Also, successive experiments were run with the above concentrations of Cr(III) and Pb(II) and NaH2PO4, keeping metal to phosphorus ratio of 1:0, 1:0.1 and 1:1. Modelling parameters included Freundlich and Langmuir equations, together with the Two-site adsorption model using CXTFIT code. Results obtained allowed concluding that Pb(II) adsorption presents a certain degree of irreversibility and the continued spillages over soil increment the fraction which is not easily desorbed. Cr(III) desorption was almost complete, evidencing its high mobility in nature. The presence of an anthropogenic input of phosphorus leads to a marked increase of both Pb(II) and Cr(III) adsorption in soils. Z-potential measurements allow to discard the electrostatic attraction of Cr(III) and Pb(II) with the surface charged soil as the dominant process of metal sorption. Instead, CheaqsPro simulation allows to identify PbH2PO4 +, PbHPO4 (aq) and CrHPO4 + as the dominant species which regulate Cr(III) and Pb(II) transport in soils.Fundação para a CiĂȘncia e a Tecnologi

    Simulation-Based Environment for the Eye-Tracking Control of Tele-Operated Mobile Robots

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    Eye tracking has traditionally been used to measure the visual attention of users while performing a task or to aide disabled persons in performing hands-free interactions. The increased accuracy and reduced cost of eye-tracking equipment today makes it feasible to utilize this technology for explicit control tasks, especially in cases where there is confluence between the visual task and control. This paper describes the design of a virtual simulation environment in order to assess the feasibility of using eye-tracking to control the movement and payload of a ground robot during a visual search task. The resulting simulation-based test environment includes a kinematic model of a ground tele-operated robot within a virtual debris-filled, industrial environment with intact and damaged barrels. The operator can steer the robot while independently operating an onboard pan-tilt (PT) camera used to search for damaged containers. The environment supports three methods of control: manual, in which the operator utilizes two joysticks, one for speed/steering and one for camera control, hybrid in which the operator utilizes a joystick for speed/steering control and eye-tracking for camera control, and hands-free in which the operator utilizes gaze for both steering/speed control and camera operation

    Design of Simulator Scenarios to Study Effectiveness of Electronic Stability Control Systems

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    The mission of the National Advanced Driving Simulator is to conduct highway safety research that will reduce annual loss of life on U.S. roadways. The simulator is well suited in its ability to replicate vehicle dynamics - and associated motion and visual cues - realistically to conduct complex experiments. It is unique in its ability to study vehicle control and loss-of-control situations in a safe and controlled environment. These capabilities make it an appropriate device to study the effectiveness of electronic stability control (ESC) systems, in which proper handling during loss of vehicle control is critical to assess system efficacy. The focus of the study is on challenges associated with creating repeatable yet unexpected scenario events in which loss of control is imminent for most drivers. Scenario events designed for a large-scale experiment to study ESC systems are detailed, data derived from these scenarios are discussed, and findings of scenario effectiveness are presented. A discussion of what constitutes loss of control and how to measure its effect effectively is provided

    Measurement of specific fracture energy and surface tension of brittle materials in powder form

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    V článku uvedeno Libor M. Hlaváč.This article presents a method for the experimental measurement of specific fracture energy and surface tension of a brittle materials in a powder form. This work is focused on testing a method on the mineral, almandine. A hydraulic press was used in the experiment to crush powder particles, and statistical evaluation was used to analyze the change in the powder surface. The powder was subject to various conditions during crushing. The crushing was performed both in air and in water. It was done at three different compression speeds, namely 15.8 MPa/s, 3.95 MPa/s and 2.25 MPa/s. The experimental results showed measurable differences in the specific fracture energy values in the presented regimes
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