Search results for "alma"

Sorption of heavy metals in the biomass of alga Palmaria palmata

2013

Sorption of heavy metals by the sea alga Palmaria palmata was investigated in laboratory conditions. The sorption process of the analytes was carried out with constant flow of the solutions through the algae samples. The Langmuir isotherm model was used to describe equilibria. The experiments confirmed that 50 min of exposure of algae with little heavy metal contamination in contaminated waters results in the increase of concentration of these analytes, proportional to their concentration in the tested waters. On the basis of the Langmuir isotherm direction factor, a = (c(a,max) × K)−1, affinity of heavy metals and algae increases in the following sequence: Mn2+ < Zn2+ ≈ Cd2+ &lt…

The impact of various cations on the sorption of manganese in the thallus of freshwater algae spirogyra sp. and sea algae palmaria palmata

2014

Abstract Due to their occurrence in very different conditions and high resistance to physical and chemical factors, algae are pioneers colonising new environments and their sorption properties are used in biomonitoring and water remediation. The efficiency of the process of heavy metal sorption in algae used for in situ tests depends on abiotic factors, such as the chemical composition of water. Freshwater algae Spirogyra sp. were used in tests. Algae were exposed in the laboratory in manganese chloride solutions with various contents of other cations, including heavy metals and macronutrients. It has been shown that some heavy metals may desorb manganese bound to the surface of algae as a …

Improved GNSS positioning exploiting a vehicular P2P infrastructure

2010

This paper considers the possibility to exploit external altitude measurements to improve the performance of a Kalman based GNSS receiver. The altitude measurements are provided by means of a peer to peer network, that is supposed to be based on the evolution of the 802.11 standard for the vehicular environment, namely the WAVE (802.11p). The performance of such a system are investigated for different characteristics of the aiding measurement and for a different number and disposals of the aiding peers. The aiding measurement is obtained starting from the altitude measurements that the other peers in the network send to the aided user. The experiments highlight the need for a parameter that…

The Kalman Filter and Its Applications in GNSS and INS

2011

This chapter contains sections titled: Introduction Review of Kalman Filtering and Extended Kalman Filtering for Navigation EKF-Based PVT Computation in a Stand-Alone GNSS Receiver Inertial Navigation Fundamentals IMU Alignment General Architecture for the Loose Integration General Architecture for the Tight Integration General Architecture for the Ultra-Tight Integration Conclusions References Appendix A

FastSLAM 2.0: Least-Squares Approach

2006

In this paper, we present a set of robust and efficient algorithms with O(N) cost for the following situations: object detection with a laser ranger; mobile robot pose estimation and a FastSLAM improved implementation. Objected detection is mainly based on a novel multiple line fitting method, related with walls at the environment. This method assumes that walls at the environment constitute a regular constrained angles. A line-based pose estimation method is also proposed, based on Least-Squares (LS). This method performs the matching of detected lines and estimated map lines and it can provide the global pose estimation under assumption of known Data-Association. FastSLAM 1.0 has been imp…

AUTOMATIC TAKE-OFF OR LANDING PATH FOLLOWING IN TURBULENT AIR FOR UAS - AN EKF BASED PROCEDURE

2015

By using the Extended Kalman Filter (EKF) an accurate take-off or landing flight path following in turbulent air is performed. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one affords to determine the necessary controls displacements for rejecting those ones. In particular, the first filter, by using instrumental measurements gathered in turbulent air, estimates wind components. The second one obtains command laws able to follow the desired flight path. To perform this task aerodynamic coefficients have been modified by adding entirely new derivatives or synthetic increments to basic ones whose might the kind of chang…

Optimal Flight Path Determination in Turbulent Air: A Modified EKF Approach

2017

By using the Extended Kalman Filter an accurate path following in turbulent air is performed. The procedure employs simultaneously two different EKFs: the first one estimates disturbances, the second one affords to determine the necessary controls displacements for rejecting those ones. To tune the EKFs an optimization algorithm has been designed to automatically determine Process Noise Covariance and Measurement Noise Covariance matrices. The first filter, by using instrumental measurements gathered in turbulent air, estimates wind components. The second one obtains command laws able to follow the desired flight path. To perform this task aerodynamic coefficients have been modified. Such a…

Full- and reduced-order filter design for discrete-time T-S fuzzy systems with time-varying delay

2012

This paper is focused on the problem of ℋ ∞ filtering for a class of discrete-time T-S fuzzy time-varying delay systems. Our interest is how to design full- and reduced-order filters that guarantee the filtering error system to be asymptotically stable with a prescribed ℋ ∞ performance. Sufficient conditions for the obtained filtering error system are proposed by applying an input-output approach and a two-term approximation method, which is employed to approximate the time-varying delay. The corresponding full and reduced-order filter design is cast into a convex optimization problem, which can be efficiently solved by standard numerical algorithms.

Usançen der Börse und Convention der über See handelnden Kaufmannschaft in Riga: neuerdings revidirt und festgesetzt im November 1859

1860

An EKF Based Method for Path Following in Turbulent Air

2017

An innovative use of the Extended Kalman Filter (EKF) is proposed to perform both accurate path following and adequate disturbance rejection in turbulent air. The tuned up procedure employs simultaneously two different EKF: the first one estimates gust disturbances, the second one estimates modified aircraft parameters. The first filter, by using measurements gathered in turbulent air, estimates both aircraft states and wind components. The second one, by using the estimated disturbances, obtains command laws that are able to reject disturbances. The predictor of the second EKF uses the estimated wind components to solve motion equations in turbulent air. Besides a set of unknown stability …