Pick-and-place task implementation using visual open-loop control

In the ever increasing number of robotic system applications in the industry, the robust and fast visual recognition and pose estimation of workpieces are of utmost importance. One of the ubiquitous tasks in industrial settings is the pick-and-place task where the object recognition is often important. In this paper, we present a new implementation of a work-piece sorting system using a template matching method for recognizing and estimating the position of planar workpieces with sparse visual features. The proposed framework is able to distinguish between the types of objects presented by the user and control a serial manipulator equipped with parallel finger gripper to grasp and sort them automatically. The system is furthermore enhanced with a feature that optimizes the visual processing time by automatically adjusting the template scales. We test the proposed system in a real-world setup equipped with a UR5 manipulator and provide experimental results documenting the performance of our approach

Pick-and-Place Task Implementation Using Visual Open-Loop Control

In the ever increasing number of robotic system applications in the industry, the robust and fast visual recognition and pose estimation of workpieces are of utmost importance. One of the ubiquitous tasks in industrial settings is the pick-and-place task where the object recognition is often important. In this paper, we present a new implementation of a work-piece sorting system using a template matching method for recognizing and estimating the position of planar workpieces with sparse visual features. The proposed framework is able to distinguish between the types of objects presented by the user and control a serial manipulator equipped with parallel finger gripper to grasp and sort them automatically. The system is furthermore enhanced with a feature that optimizes the visual processing time by automatically adjusting the template scales. We test the proposed system in a real-world setup equipped with a UR5 manipulator and provide experimental results documenting the performance of our approach

ASSESSMENT OF THE BIODIVERSITY OF SAMPLES USED FOR ISOLATION OF MICROBIAL STRAINS CAPABLE OF CONVERTING STRAW DESTINED AS A SUBSTRATE FOR BIOGAS PLANT

In biogas plants, almost any type of organic matter can be used as a substrate to produce biogas. To make the process of methane fermentation more effective, these materials are pretreated. This applies in particular to a group of difficult substrates. Straw, due to its hemicellulose structure and saturation, is hardly fermented by biogas reactor microorganisms. The methods of post-harvest residue preparation for anaerobic digestion being applied so far are expensive, while their application has a negative effect on methanoegenic bacteria. Therefore, the microorganisms being able to degrade straw hemicellulose structure, utilisation of which could precede the proper fermentation process, have been searched for. This paper presents the results of microbial biodiversity analysis in the environmental samples being lupin, cereal, rape and maize straw as well as hay and haylage at different degradation stages. The analysis of biodiversity will help at a further stage of study to isolate active microbial strains showing cellulolytic, hemicellulolytic or ligninolytic activity which are desirable in the process of straw biodegradation. Analysis of the microbial count was performed by the method of deep inoculation on different microbiological culture media. The conducted tests include determination of the number of fungi, bacteria and actinomycetes. The results obtained confirm the usefulness of the analysed samples for isolation of microbial strains capable of converting straw preceding the biogas production

Influence of environmental pollution with creosote oil or its vapors on biomass and selected physiological groups of microorganisms

Survival of microorganisms in soils from treatment facility and landfill of wooden railway sleepers contaminated with creosote oil as well as in two types of soils with different content of organic carbon, treated with creosote oil vapors, was assessed. Microbiological assays including determination of: the biomass of living microorganisms method and the number of proteolytic, lipolytic and amylolytic microorganisms were carried out under laboratory conditions. Chromatography analysis of the soil extract from railway sleepers treatment facility was performed using GC/MS. The highest biomass and the number of tested microorganisms were determined in soils from wooden railway sleepers landfill, while the lowest in soil from the railway sleepers treatment facility. Vapors of creosote oil, regardless of the soil type, significantly increased only the number of lipolytic bacteria

Influence of environmental pollution with creosote oil or its vapors on biomass and selected physiological groups of microorganisms

Survival of microorganisms in soils from treatment facility and landfill of wooden railway sleepers contaminated with creosote oil as well as in two types of soils with different content of organic carbon, treated with creosote oil vapors, was assessed. Microbiological assays including determination of: the biomass of living microorganisms method and the number of proteolytic, lipolytic and amylolytic microorganisms were carried out under laboratory conditions. Chromatography analysis of the soil extract from railway sleepers treatment facility was performed using GC/MS. The highest biomass and the number of tested microorganisms were determined in soils from wooden railway sleepers landfill, while the lowest in soil from the railway sleepers treatment facility. Vapors of creosote oil, regardless of the soil type, significantly increased only the number of lipolytic bacteria

Integrated assessment of soil quality after application of the biogas fermentation residues – a laboratory experiment

The aim of study was to determine the impact of three different biogas fermentation residues on some chemical and biochemical characteristics in sandy soil. The laboratory experiment was carried out on loamy sand. Residues were added to soil samples in the forms of pulp, drought, and granulate at dosages of 10, 50, and 100 g·kg-1. The reference was the soil sample without residues. On day 28, the content of macroelements and heavy metals was determined. In addition, on days 1, 7, 14, 28, and 56, the content of biomass and the activities of some hydrolases and oxidoreductases were assayed. Results showed that the application of all fermentation residues caused an increase in most of the chemical parameters. The highest impact on pH and the content of Ctot, Ntot, Stot, K, and P was observed in the soil treated with granulate, whereas the increase in the content of heavy metals was the highest after the drought application. The effect of biogas fermentation residues on all hydrolases and o-diphenol oxidase activities was mostly significant, but depended on the kind of residues and the day of experiment. Biomass content and the activity of dehydrogenase were increased in the whole experiment

Integrated assessment of soil quality after application of the biogas fermentation residues – a laboratory experiment

The aim of study was to determine the impact of three different biogas fermentation residues on some chemical and biochemical characteristics in sandy soil. The laboratory experiment was carried out on loamy sand. Residues were added to soil samples in the forms of pulp, drought, and granulate at dosages of 10, 50, and 100 g·kg-1. The reference was the soil sample without residues. On day 28, the content of macroelements and heavy metals was determined. In addition, on days 1, 7, 14, 28, and 56, the content of biomass and the activities of some hydrolases and oxidoreductases were assayed. Results showed that the application of all fermentation residues caused an increase in most of the chemical parameters. The highest impact on pH and the content of Ctot, Ntot, Stot, K, and P was observed in the soil treated with granulate, whereas the increase in the content of heavy metals was the highest after the drought application. The effect of biogas fermentation residues on all hydrolases and o-diphenol oxidase activities was mostly significant, but depended on the kind of residues and the day of experiment. Biomass content and the activity of dehydrogenase were increased in the whole experiment