Search results for "Moving"
showing 10 items of 182 documents
Visual-based Feedback Control of Casting Manipulation
2006
In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot’s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot’s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position o…
Modelling and dynamic simulation of hybrid moving bed biofilm reactors: model concepts and application to a pilot plant.
2011
In the recent years, there has been an increasing interest in the development of hybrid reactors, especially in the up-grading of existing activated sludge plants that are no longer able to comply with concentration limits established by regulatory agencies. In such systems the biomass grows both as suspended flocs and as biofilm. In this way, it is possible to obtain a higher biomass concentration in the reactor, but without any significant increase of the load to the final clarifier. The paper presents the setting-up of a dynamic mathematical model aimed at quantitatively describing the biokinetic processes occurring in a hybrid moving bed biofilm reactor (HMBBR), and, more in general, in…
Hybrid moving bed biofilm reactors: an effective solution for upgrading a large wastewater treatment plant
2009
Over the last few years there has been a growing attention regarding the receiving water body quality state. As a matter of a fact, the Directive 91/271 of the European Union (EU) replaced the “emission standard” concept that fixes discharge limits depending on polluting emission characteristics, with the “stream standard” concept that fixes discharge limits for each polluting substance depending on self-depurative characteristics of the RWB. In this context, several WWTPs need to be upgraded in order to meet stricter effluent limits. The need of WWTP upgrading was also emphasized by the growing urbanization that have led, in most cases, to get overloaded WWTP due to an overcoming of the ma…
Hybrid moving bed biofilm reactors: a pilot plant experiment.
2008
The growing increment of the urbanization and on the other hand, the even more strict effluent limits imposed by the Water Framework Directive for the receiving water body quality state have lead to a need of upgrading several existing WWTP. With this respect HMBBR systems are an innovative solution since allow to upgrade existing high loaded WWTP without building new tanks. However, some uncertainties in their design, maintenance as well as performance have to be addressed due to their recent acquisition compared with well consolidated technologies such as activated sludge systems. In this light, a data gathering campaign on a HMBBR pilot plant has been performed. The aim was to detect the…
Modelling of hybrid moving bed biofilm reactors: a pilot plant experiment.
2007
In recent years there has been an increasing interest in the development of hybrid biofilm reactors, especially in the upgrading of existing WWTP that are no longer able to respect concentration limits. In fact, today's challenge is the achievement of a good aquatic state for the receiving water bodies according to the Water Framework Directive requirements, which indeed limit even more the continuous emissions, i.e. coming from WWTP. This paper presents the setting up of a mathematical model for the simulation of a hybrid MBBR system; the model calibration/validation has been carried out considering a field gathering campaign on an experimental pilot plant. The main goal is to gain insight…
Improved Traffic Signal Detection and Classification via Image Processing Algorithms
2012
An image analysis technique for automatic traffic sign detection and classification is proposed. This analysis makes it possible, after proper training, to detect, recognize and classify vertical road signs from video frames acquired on a moving vehicle equipped with cameras, as well as to identify anomalies with respect to road sign regulations (positioning and visibility). The experimental results show that this technique allows one to correctly detect and classify almost all vertical signs and, mainly in extra-urban environment, it can be considered as highly reliable, apart from being really versatile and user-friendly for road inventory and road maintenance purposes.
Optimization methods for complex sheet metal stamping computer aided engineering
2010
Nowadays, sheet metal stamping processes design is not a trivial task due to the complex issues to be taken into account (complex shapes forming, conflicting design goals and so on). Therefore, proper design methodologies to reduce times and costs have to be developed mostly based on computer aided procedures. In this paper, a computer aided approach is proposed with the aim to offer a methodology able to solve very complex sheet metal stamping processes, in particular a progressive design approach based on the integration between numerical simulations and optimization methodologies is presented. In particular, Response Surface Method, Moving Least Squares approximation and Pareto optimal s…
The predictability of international terrorism: A time‐series analysis
1988
Abstract The study examines the predictability of international terrorism in terms of the existence of trends, seasonality, and periodicity of terrorist events. The data base used was the RAND Corporation's Chronology of International Terrorism. It contains the attributes of every case of international terrorism from 1968 to 1986 (n = 5,589). The authors applied Box‐Jenkins models for a time‐series analysis of the occurrence of terrorist events as well as their victimization rates. The analysis revealed that occurrence of terrorist events is far from being random: There is a clear trend and an almost constant periodicity of one month that can be best described by a first‐order moving averag…
Design of complex sheet metal forming processes: a new computer aided progressive approach
2010
The growing interest in sheet metal stamping processes, particularly in automotive industry, led to three main issues in this field: request of very complex shapes; growing interest in springback control; solution of multi-objective problems. This makes the design of the sheet metal stamping processes very difficult, since the number of both design variables and design objectives are progressively increased; therefore, proper design methodologies to reduce times and costs are highly required. In this paper, an innovative design approach able to manage and optimize complex stamping operations is proposed. In particular, a progressive design approach based on the integration between numerical…
Greenhouse gas emissions and the links to plant performance in a fixed-film activated sludge membrane bioreactor - Pilot plant experimental evidence
2017
The present study explores the interlinkages among the operational variables of a University of Cape Town (UCT) Integrated Fixed Film Activated Sludge (IFAS) membrane bioreactor (MBR) pilot plant. Specifically, dedicated experimental tests were carried out with the final aim to find-out a constitutive relationship among operational costs (OCs), effluent quality index (EQI), effluent fines (EF). Greenhouse gas (GHG) emissions were also included in the study. Results showed that the EQI increases at low flow rate likely due to the dissolved oxygen (DO) limitation in the biological processes. Direct GHGs increase with the increasing of the air flow due to the anoxic N2O contribution. Irreversi…