Search results for "ocean"

Waste activated sludge dewaterability: comparative evaluation of sludge derived from CAS and MBR systems

2016

Nowadays, sludge dewatering is one of the greatest operational cost to wastewater treatment cycle. Specifically, 1t of fresh sludge to be disposed is composed, on average, by 0.25 - 0.30t of suspended solids, with an average cost for treatment and disposal around 280 - 470 €/t of suspended solids. Despite several technologies have been developed with the focus to reduce also the specific sludge production, still mechanical dewatering represents a crucial step to limit the amount of sludge to be disposed. Many physical–chemical parameters influence the sludge dewaterability: floc structure, particle size, bound water content, surface charge and hydrophobicity, Extracellular Polymeric Substan…

Traffic data acquirement by unmanned aerial vehicle

2017

This paper presents a methodology aimed to acquire traffic flow data through the employment of unmanned aerial vehicles (UAVs). The study is focused on the determination of driving behavior parameters of road users and on the reconstruction of traffic flow Origin/Destination matrix. The methodology integrates UAV flights with video image processing technique, and the capability of geographic information systems, to represent spatiotemporal phenomena. In particular, analyzing different intersections, the attention of the authors is focused on users’ gap acceptance in a naturalistic drivers’ behavior condition (drivers are not influenced by the presence of instruments and operators on the roa…

Underwater Wireless Communications for Cooperative Robotics with UWSim-NET

2019

The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…

Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

2019

In this paper, a solution for estimating the relative position and orientation between two ships in six degrees-of-freedom (6DOF) using sensor fusion and an extended Kalman filter (EKF) approach is presented. Two different sensor types, based on time-of-flight and inertial measurement principles, were combined to create a reliable and redundant estimate of the relative motion between the ships. An accurate and reliable relative motion estimate is expected to be a key enabler for future ship-to-ship operations, such as autonomous load transfer and handling. The proposed sensor fusion algorithm was tested with real sensors (two motion reference units (MRS) and a laser tracker) and an experime…

Load Torque Estimation Method to Design Electric Drivetrains for Offshore Pipe Handling Equipment

2016

One of the main design objectives for electric drivetrains operating in offshore drilling equipment is to keep them as small, yet as effective, as possible, to minimize space they occupy on drill floor and maximize their performance. However, practical experience shows that typically choices made by design engineers are too conservative due to the lack of enough data characterizing load conditions. This results in too costly and too heavy selected components. Therefore, in the current paper we present a method to estimate required full-scale motor torque using a scaled down experimental setup and its computational model. A gripper arm of an offshore vertical pipe handling machine is selecte…

Automatic Acoustic Target Detecting and Tracking on the Azimuth Recording Diagram with Image Processing Methods

2019

International audience; Passive acoustic target detection has been a hot research topic for a few decades. Azimuth recording diagram is one of the most promising techniques to estimate the arrival direction of the interested signal by visualizing the sound wave information. However, this method is challenged by the random ambient noise, resulting in low reliability and short effective distance. This paper presents a real-time postprocessing framework for passive acoustic target detection modalities by using a sonar array, in which image processing methods are used to automate the target detecting and tracking on the azimuth recording diagram. The simulation results demonstrate that the prop…

Nonlinear statistical retrieval of surface emissivity from IASI data

2017

Emissivity is one of the most important parameters to improve the determination of the troposphere properties (thermodynamic properties, aerosols and trace gases concentration) and it is essential to estimate the radiative budget. With the second generation of infrared sounders, we can estimate emissivity spectra at high spectral resolution, which gives us a global view and long-term monitoring of continental surfaces. Statistically, this is an ill-posed retrieval problem, with as many output variables as inputs. We here propose nonlinear multi-output statistical regression based on kernel methods to estimate spectral emissivity given the radiances. Kernel methods can cope with high-dimensi…

Kinetic, isotherm and thermodynamic studies of the adsorption of methylene blue dye onto agro-based cellulosic materials

2015

AbstractThe purpose of this work is to establish the optimal experimental conditions for the removal of methylene blue (MB-as model basic dye) from aqueous solution by adsorption onto four agro-based materials, namely, cedar sawdust, pine sawdust, wheat straw, and Provence cane Arundo donax. Results show that an increase in acidity or ionic strength of the medium has generally a negative effect on the discoloration yield. From the data of pH effect, there is no need to change the initial pH of the MB solution to be treated. Equilibrium was reached after 20−30 min of agitation when cedar sawdust, pine sawdust, and Provence cane are used as adsorbents. However, in the case of wheat straw, an …

A scenario-based assessment of the tsunami hazard in Palermo, northern Sicily, and the southern Tyrrhenian Sea

2020

Effect of laser treatment on postural control parameters in patients with chronic nonspecific low back pain: a randomized placebo-controlled trial

2019

The management of nonspecific lumbar pain (NSLP) using laser irradiation remains controversial. A systematic review of recently published studies indicates that the effects of laser therapy are commonly assessed using only imperfect methods in terms of measurement error. The main objective of this study was to assess static postural stability using an objective tool in patients with chronic NSLP after laser irradiation at different doses and wavelengths. In total, 68 patients were included in the laser sessions and were randomly assigned into four groups: high-intensity laser therapy at 1064 nm and 60 J/cm2 for 10 min (HILT), sham (HILT placebo), low-level laser therapy at 785 nm and 8 J/cm…