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Sample records for metal-bearing wastewater poses

  1. Selective removal of heavy metals from metal-bearing wastewater in a cascade line reactor.

    Pavlović, Jelena; Stopić, Srećko; Friedrich, Bernd; Kamberović, Zeljko

    2007-11-01

    This paper is a part of the research work on 'Integrated treatment of industrial wastes towards prevention of regional water resources contamination - INTREAT' the project. It addresses the environmental pollution problems associated with solid and liquid waste/effluents produced by sulfide ore mining and metallurgical activities in the Copper Mining and Smelting Complex Bor (RTB-BOR), Serbia. However, since the minimum solubility for the different metals usually found in the polluted water occurs at different pH values and the hydroxide precipitates are amphoteric in nature, selective removal of mixed metals could be achieved as the multiple stage precipitation. For this reason, acid mine water had to be treated in multiple stages in a continuous precipitation system-cascade line reactor. All experiments were performed using synthetic metal-bearing effluent with chemical a composition similar to the effluent from open pit, Copper Mining and Smelting Complex Bor (RTB-BOR). That effluent is characterized by low pH (1.78) due to the content of sulfuric acid and heavy metals, such as Cu, Fe, Ni, Mn, Zn with concentrations of 76.680, 26.130, 0.113, 11.490, 1.020 mg/dm3, respectively. The cascade line reactor is equipped with the following components: for feeding of effluents, for injection of the precipitation agent, for pH measurements and control, and for removal of the process gases. The precipitation agent was 1M NaOH. In each of the three reactors, a changing of pH and temperature was observed. In order to verify. efficiency of heavy metals removal, chemical analyses of samples taken at different pH was done using AES-ICP. Consumption of NaOH in reactors was 370 cm3, 40 cm3 and 80 cm3, respectively. Total time of the experiment was 4 h including feeding of the first reactor. The time necessary to achieve the defined pH value was 25 min for the first reactor and 13 min for both second and third reactors. Taking into account the complete process in the cascade line

  2. Shock Hazard Prevention through Self-Healing Insulative Coating on SSA Metallic Bearings, Phase II

    National Aeronautics and Space Administration — The space suit assembly (SSA) contains metallic bearings at the wrist, neck, and waist, which are exposed to space environment, and pose a potential shock hazard....

  3. 41 CFR 109-45.1003 - Recovery of silver from precious metals bearing materials.

    2010-07-01

    ... 41 Public Contracts and Property Management 3 2010-07-01 2010-07-01 false Recovery of silver from precious metals bearing materials. 109-45.1003 Section 109-45.1003 Public Contracts and Property Management... of Precious Metals § 109-45.1003 Recovery of silver from precious metals bearing materials. The...

  4. 40 CFR Appendix B to Part 414 - Complexed Metal-Bearing Waste Streams

    2010-07-01

    ... 414—Complexed Metal-Bearing Waste Streams Chromium Azo dye intermediates/Substituted diazonium salts + coupling compounds Vat dyes Acid dyes Azo dyes, metallized/Azo dye + metal acetate Acid dyes, Azo...

  5. Shock Hazard Prevention through Self-Healing Insulative Coating on SSA Metallic Bearings, Phase I

    National Aeronautics and Space Administration — The space suit contains metallic bearings at the wrist, neck, and waist, which are exposed to the space environment. There is a need to maintain a high degree of...

  6. Problem Posing

    Šilhavá, Marie

    2009-01-01

    This diploma thesis concentrates on problem posing from the students' point of view. Problem posing can be either seen as a teaching method which can be used in the class, or it can be used as a tool for researchers or teachers to assess the level of students' understanding of the topic. In my research, I compare three classes, one mathematics specialist class and two generalist classes, in their ability of problem posing. As an assessment tool it seemed that mathemathics specialists were abl...

  7. Mapping the Spatial Distribution of Metal-Bearing Oxides in VY Canis Majoris

    Burkhardt, Andrew; Booth, S. Tom; Remijan, Anthony; Carroll, Brandon; Ziurys, Lucy M.

    2015-06-01

    The formation of silicate-based dust grains is not well constrained. Despite this, grain surface chemistry is essential to modern astrochemical formation models. In carbon-poor stellar envelopes, such as the red hypergiant VY Canis Majoris (VY CMa), metal-bearing oxides, the building blocks of silicate grains, dominate the grain formation, and thus are a key location to study dust chemistry. TiO_2, which was only first detected in the radio recently (Kaminski et al., 2013a), has been proposed to be a critical molecule for silicate grain formation, and not oxides containing more abundant metals (eg. Si, Fe, and Mg) (Gail and Sedlmayr, 1998). In addition, other molecules, such as SO_2, have been found to trace shells produced by numerous outflows pushing through the expanding envelope, resulting in a complex velocity structure (Ziurys et al., 2007). With the advanced capabilities of ALMA, it is now possible to individually resolve the velocity structure of each of these outflows and constrain the underlying chemistry in the region. Here, we present high resolution maps of rotational transitions of several metal-bearing oxides in VY CMa from the ALMA Band 7 and Band 9 Science Verification observations. With these maps, the physical parameters of the region and the formation chemistry of metal-bearing oxides will be studied.

  8. Development of a semi-quantitative risk assessment model for evaluating environmental threat posed by the three first EU watch-list pharmaceuticals to urban wastewater treatment plants: An Irish case study.

    Tahar, Alexandre; Tiedeken, Erin Jo; Clifford, Eoghan; Cummins, Enda; Rowan, Neil

    2017-12-15

    Contamination of receiving waters with pharmaceutical compounds is of pressing concern. This constitutes the first study to report on the development of a semi-quantitative risk assessment (RA) model for evaluating the environmental threat posed by three EU watch list pharmaceutical compounds namely, diclofenac, 17-beta-estradiol and 17-alpha-ethinylestradiol, to aquatic ecosystems using Irish data as a case study. This RA model adopts the Irish Environmental Protection Agency Source-Pathway-Receptor concept to define relevant parameters for calculating low, medium or high risk score for each agglomeration of wastewater treatment plant (WWTP), which include catchment, treatments, operational and management factors. This RA model may potentially be used on a national scale to (i) identify WWTPs that pose a particular risk as regards releasing disproportionally high levels of these pharmaceutical compounds, and (ii) help identify priority locations for introducing or upgrading control measures (e.g. tertiary treatment, source reduction). To assess risks for these substances of emerging concern, the model was applied to 16 urban WWTPs located in different regions in Ireland that were scored for the three different compounds and ranked as low, medium or high risk. As a validation proxy, this case study used limited monitoring data recorded at some these plants receiving waters. It is envisaged that this semi-quantitative RA approach may aid other EU countries investigate and screen for potential risks where limited measured or predicted environmental pollutant concentrations and/or hydrological data are available. This model is semi-quantitative, as other factors such as influence of climate change and drug usage or prescription data will need to be considered in a future point for estimating and predicting risks. Copyright © 2017 Elsevier B.V. All rights reserved.

  9. Closing the Loop: Key Role of Iron in Metal-Bearing Waste Recycling

    Sedlakova-Kadukova J.

    2017-09-01

    Full Text Available The role of iron in metal-bearing waste bioleaching was studied. Four various types of waste (printed circuit boards (PCBs, Ni-Cd batteries, alkaline batteries and Li-ion batteries were treated by bioleaching using the acidophilic bacteria A. ferrooxidans and A. thiooxidans (separately or in mixture. Role of main leaching agents (Fe3+ ions or sulphuric acid was simulated in abiotic experiments. Results showed that oxidation abilities of Fe3+ ions were crucial for recovery of Cu and Zn from PCBs, with the efficiencies of 88% and 100%, respectively. To recover 68% of Ni from PCBs, and 55% and 100% of Ni and Cd, respectively, from Ni-Cd batteries both oxidation action and hydrolysis of Fe3+ were required. The importance of Fe2+ ions as a reducing agent was showed in bioleaching of Co from Li-ion batteries and Mn from alkaline batteries. The efficiency of the processes has increased by 70% and 40% in Co and Mn bioleaching, respectively, in the presence of Fe2+ ions. Based on the results we suggest the integrated biometallurgical model of metal-bearing waste recycling in the effort to develop zero-waste and less energy-dependent technologies.

  10. Infection or metal hypersensitivity? The diagnostic challenge of failure in metal-on-metal bearings.

    Galbraith, John G

    2011-04-01

    The use of second generation metal-on-metal hip articulations has gained favour in the past few years. A hypersensitivity reaction to the metal-on-metal bearing, although rare, is a reported complication and is a novel mode of failure of these implants. Differentiating failure secondary to infection from failure secondary to metal hypersensitivity represents a significant diagnostic challenge. A retrospective review of all cases of hip arthroplasty using metal-on-metal bearings over a 5-year period at a tertiary referral centre identified 3 cases of failure secondary to metal hypersensitivity. Clinical presentation, serological markers, radiological imaging and histological analysis of all cases identified were evaluated. Histological analysis of periprosthetic tissue in all 3 cases identified characteristic features such as perivascular lymphocytic aggregates and chronic inflammation consistent with aseptic lymphocytic vasculitis-associated lesions (ALVAL). This study highlights that failure secondary to metal hypersensitivity must be considered in patients presenting with the reappearance of persistent pain, marked joint effusion, and the development of early osteolysis in the absence of infection.

  11. Management of metal-bearing industrial solid waste by stabilization/solidification process

    Sunitha, C.; Palanivelu, K. [Anna University, Chennai (India). Centre for Environmental Studies

    2005-07-01

    Metal-bearing sludge from an electroplating industry was immobilised by the solidification stabilisation treatment method. Reduction of the leachability of metals from the waste was studied in different combinations of waste and additives - cement, lime and fly ash. The study revealed that the optimum proportion for cement: metal hydroxide sludge: fly ash as 1:2:2 is the best. The encapsulation efficiency calculated for the metals such as Cu, Cr, Ni, Pb, and Zn was above 92%. The unconfined compressive strength (UCS) for the developed block was found to be 11.5 kg/cm{sup 2} after curing. The toxicity characteristic leach test (TCLP) test reveals that the heavy metal content in the leachate was well below the maximum permissible limit of WHO drinking water standard. 10 refs., 6 tabs.

  12. Individual metal-bearing particles in a regional haze caused by firecracker and firework emissions

    Li, Weijun [Environment Research Institute, Shandong University, Jinan, Shandong 250100 (China); State Key of Laboratory of Atmospheric Boundary Physics and Atmospheric Chemistry, Institute of Atmospheric Physics, Chinese Academy of Sciences, Beijing 100029 (China); Shi, Zongbo [School of Geography, Earth and Environmental Sciences, University of Birmingham (United Kingdom); Yan, Chao; Yang, Lingxiao; Dong, Can; Wang, Wenxing [Environment Research Institute, Shandong University, Jinan, Shandong 250100 (China)

    2013-01-15

    Intensive firecracker/firework displays during Chinese New Year (CNY) release fine particles and gaseous pollutants into the atmosphere, which may lead to serious air pollution. We monitored ambient PM{sub 2.5} and black carbon (BC) concentrations at a regional background site in the Yellow River Delta region during the CNY in 2011. Our monitoring data and MOUDI images showed that there was a haze event during the CNY. Daily average PM{sub 2.5} concentration reached 183 μg m{sup −3} during the CNY, which was six times higher than that before and after the CNY. Similarly, the black carbon (BC) concentrations were elevated during the CNY. In order to confirm whether the firecracker/firework related emission is the main source of the haze particles, we further analyzed the morphology and chemical composition of individual airborne particles collected before, during and after the CNY by using transmission electron microscopy coupled with energy-dispersive X-ray spectroscopy (TEM/EDS). We found that sulfate and organic-rich particles were dominant in the atmosphere before and after the CNY. In contrast, K-rich sulfates and other metal (e.g., Ba-rich, Al-rich, Mg-rich, and Fe-rich) particles were much more abundant than ammoniated sulfate particles during the CNY. These data suggest that it was the aerosol particles from the firecracker/firework emissions that induced the regional haze episode during the CNY. In individual organic and K-rich particles, we often found more than two types of nano-metal particles. These metal-bearing particles also contained abundant S but not Cl. In contrast, fresh metal-bearing particles from firecrackers generated in the laboratory contained abundant Cl with minor amounts of S. This indicates that the firecracker/firework emissions during the CNY significantly changed the atmospheric transformation pathway of SO{sub 2} to sulfate. - Highlights: ► TEM was used to observe the aged individual particles from firecrackers

  13. Individual metal-bearing particles in a regional haze caused by firecracker and firework emissions

    Li, Weijun; Shi, Zongbo; Yan, Chao; Yang, Lingxiao; Dong, Can; Wang, Wenxing

    2013-01-01

    Intensive firecracker/firework displays during Chinese New Year (CNY) release fine particles and gaseous pollutants into the atmosphere, which may lead to serious air pollution. We monitored ambient PM 2.5 and black carbon (BC) concentrations at a regional background site in the Yellow River Delta region during the CNY in 2011. Our monitoring data and MOUDI images showed that there was a haze event during the CNY. Daily average PM 2.5 concentration reached 183 μg m −3 during the CNY, which was six times higher than that before and after the CNY. Similarly, the black carbon (BC) concentrations were elevated during the CNY. In order to confirm whether the firecracker/firework related emission is the main source of the haze particles, we further analyzed the morphology and chemical composition of individual airborne particles collected before, during and after the CNY by using transmission electron microscopy coupled with energy-dispersive X-ray spectroscopy (TEM/EDS). We found that sulfate and organic-rich particles were dominant in the atmosphere before and after the CNY. In contrast, K-rich sulfates and other metal (e.g., Ba-rich, Al-rich, Mg-rich, and Fe-rich) particles were much more abundant than ammoniated sulfate particles during the CNY. These data suggest that it was the aerosol particles from the firecracker/firework emissions that induced the regional haze episode during the CNY. In individual organic and K-rich particles, we often found more than two types of nano-metal particles. These metal-bearing particles also contained abundant S but not Cl. In contrast, fresh metal-bearing particles from firecrackers generated in the laboratory contained abundant Cl with minor amounts of S. This indicates that the firecracker/firework emissions during the CNY significantly changed the atmospheric transformation pathway of SO 2 to sulfate. - Highlights: ► TEM was used to observe the aged individual particles from firecrackers/fireworks during the Chinese New

  14. Characterization study of heavy metal-bearing phases in MSW slag

    Saffarzadeh, Amirhomayoun; Shimaoka, Takayuki; Motomura, Yoshinobu; Watanabe, Koichiro

    2009-01-01

    Slag products derived from the pyrolysis/melting and plasma/melting treatment of municipal solid waste (MSW) in Japan were examined for the characterization study of heavy metal-bearing phases using petrographic techniques. Detailed microscopic observations revealed that the shapes of heavy metal-rich inclusions are generally spherical to semi-spherical and their sizes range from submicron to scarcely large size spheres (over 100 μm). The experiments (both optical microscopy and electron probe microanalysis) indicated that Fe and Cu participate in mutual substitution and different proportions, and form mainly two-phase Fe-Cu alloys that bound in the silicate glass. This alloy characterizes the composition of more than 80% of the metal-rich inclusions. Other metals and non-metals (such as Pb, Ni, Sb, Sn, P, Si, Al and S) with variable amounts and uneven distributions are also incorporated in the Fe-Cu alloy. In average, the bulk concentration of heavy metals in samples from pyrolysis/melting type is almost six times greater than samples treated under plasma/arc processing. The observations also confirmed that slag from pyrolysis origin contains remarkably higher concentration of metallic inclusions than slag from plasma treatment. In the latter, the metallic compounds are separately tapped from molten slag during the melting treatment that might lead to the generation of safer slag product for end users from environmental viewpoint.

  15. Precious metal-bearing epithermal deposits in western Patagonia (NE Lago Fontana region), Argentina

    Lanfranchini, Mabel Elena; Etcheverry, Ricardo Oscar; de Barrio, Raúl Ernesto; Recio Hernández, Clemente

    2013-04-01

    Precious metal-bearing quartz veins occur at the northeastern sector of the Lago Fontana region in southwestern Argentina, within the context of the Andean continental magmatic arc environment. The deposits and their associated alteration zones are spatially related to a Cretaceous calc-alkaline magmatism represented by silicic dikes and hypabyssal intrusions, and hosted by a Late Jurassic to Cretaceous volcano-sedimentary sequence. The veins and related veinlets crop out discontinuously, in general terms in a NW-SE belt. The primary vein mineral assemblage is composed mostly of pyrite ± galena ± chalcopyrite > hematite ± arsenopyrite in silica gangue minerals. Chemical analyses of grab samples from selected quartz veins show as much as 5.7 ppm Au and 224 ppm Ag, as well as elevated Pb, Cu, and Zn. Hydrothermal fluids caused an innermost silicification and adularia-sericite alteration assemblage, and an external propylitic halo. Sulfur isotope values measured for sulfides (δSS from -1.90 to +1.56‰), and oxygen and hydrogen isotopes measured on quartz crystals and extracted primary fluid inclusion waters (δOO = -2.85 to +5.40‰; δDO = -106.0 to -103.4‰) indicate that mineralization probably formed from magmatic fluids, which were mixed with meteoric waters. Also, fluid inclusion data from quartz veins point out that these fluids had low salinity (1.7-4.2 wt% NaCl equiv.), and temperatures of homogenization between 180 and 325 °C. Mineralogical, petrographic and geochemical features for mineralized surface exposures indicate a typical adularia-sericite, low sulfidation epithermal system in the Lago Fontana area that represents a promising target for further exploration programs.

  16. Pose Space Surface Manipulation

    Yusuke Yoshiyasu

    2012-01-01

    Full Text Available Example-based mesh deformation techniques produce natural and realistic shapes by learning the space of deformations from examples. However, skeleton-based methods cannot manipulate a global mesh structure naturally, whereas the mesh-based approaches based on a translational control do not allow the user to edit a local mesh structure intuitively. This paper presents an example-driven mesh editing framework that achieves both global and local pose manipulations. The proposed system is built with a surface deformation method based on a two-step linear optimization technique and achieves direct manipulations of a model surface using translational and rotational controls. With the translational control, the user can create a model in natural poses easily. The rotational control can adjust the local pose intuitively by bending and twisting. We encode example deformations with a rotation-invariant mesh representation which handles large rotations in examples. To incorporate example deformations, we infer a pose from the handle translations/rotations and perform pose space interpolation, thereby avoiding involved nonlinear optimization. With the two-step linear approach combined with the proposed multiresolution deformation method, we can edit models at interactive rates without losing important deformation effects such as muscle bulging.

  17. Wastewater reuse

    Milan R. Radosavljević

    2013-12-01

    Full Text Available Water scarcity and water pollution are some of the crucial issues that must be addressed within local and global perspectives. One of the ways to reduce the impact of water scarcity  and to minimizine water pollution is to expand water and wastewater reuse. The local conditions including regulations, institutions, financial mechanisms, availability of local technology and stakeholder participation have a great influence on the decisions for wastewater reuse. The increasing awareness of food safety and the influence of the countries which import food are influencing policy makers and agriculturists to improve the standards of wastewater reuse in agriculture. The environmental awareness of consumers has been putting pressure on the producers (industries to opt for environmentally sound technologies including those which conserve water and reduce the level of pollution. It may be observed that we have to move forwards to implement strategies and plans for wastewater reuse. However, their success and sustainability will depend on political will, public awareness and active support from national and international agencies to create favorable    environment for the promotion of environmentally sustainable technologies. Wastewater treatment has a long history, especially in agriculture, but also in industry and households. Poor quality of wastewater can pose a significant risk to the health of farmers and users of agricultural products. The World Health Organization (WHO is working on a project for the reuse of wastewater in agriculture. To reduce effects of human activities to the minimum, it is necessary to provide such technical and technological solutions that would on the one hand ensure complying with  the existing regulations and legislation, and on the other hand provide economically viable systems as seen through investments and operating costs. The use of wastewater The practice of using wastewater varies from country to country. Its

  18. Characterisation of heavy metal-bearing phases in stream sediments of the Meza River Valley, Slovenia, by means of SEM/EDS analysis

    Miler, M; Gosar, M

    2010-01-01

    Stream sediment reflects the rock structure of the catchment area, its geochemical characteristics and possible recent contamination upstream of the sampling point and thus, it is most frequently used in geochemical researches of heavy metal pollution. Stream sediment samples were collected along the Mez'a River and its tributaries and the Drava River, located in the NNE part of Slovenia. Previous geochemical studies have shown that these sediments are heavily polluted with heavy metals as a consequence of past mining of Pb-Zn ore and steelworks activities. Conventional geochemical analyses (ICP-MS, AAS, etc.) provided limited information on mineralogy, morphology and sources of heavy metal-bearing phases therefore SEM/EDS was utilized. Several problems were confronted with during EDS analysis, which are related to identification and quantification of light elements, identification of elements due to peak overlaps and quantification of spectra from unpolished samples. These problems were successfully dealt with. SEM/EDS enabled successful identification of heavy metal-bearing phases in stream sediments. Ore mineral phases, such as cerussite, sphalerite, smithsonite and galena, different heavy metal-bearing Fe-alloys, Fe-oxides and spherical particles and common rock-forming and accessory mineral phases, such as barite, rutile, ilmenite, zircon and monazite, were identified using solely SEM/EDS. These results were used for subsequent geochemical interpretation and source apportionment of heavy metals, according to associations of different heavy metal-bearing phases. Heavy metal-bearing phases were arranged by their source and genesis into three groups, denoted as geogenic/technogenic, technogenic and geogenic.

  19. Characterisation of heavy metal-bearing phases in stream sediments of the Meža River Valley, Slovenia, by means of SEM/EDS analysis

    Miler, M.; Gosar, M.

    2010-02-01

    Stream sediment reflects the rock structure of the catchment area, its geochemical characteristics and possible recent contamination upstream of the sampling point and thus, it is most frequently used in geochemical researches of heavy metal pollution. Stream sediment samples were collected along the Meža River and its tributaries and the Drava River, located in the NNE part of Slovenia. Previous geochemical studies have shown that these sediments are heavily polluted with heavy metals as a consequence of past mining of Pb-Zn ore and steelworks activities. Conventional geochemical analyses (ICP-MS, AAS, etc.) provided limited information on mineralogy, morphology and sources of heavy metal-bearing phases therefore SEM/EDS was utilized. Several problems were confronted with during EDS analysis, which are related to identification and quantification of light elements, identification of elements due to peak overlaps and quantification of spectra from unpolished samples. These problems were successfully dealt with. SEM/EDS enabled successful identification of heavy metal-bearing phases in stream sediments. Ore mineral phases, such as cerussite, sphalerite, smithsonite and galena, different heavy metal-bearing Fe-alloys, Fe-oxides and spherical particles and common rock-forming and accessory mineral phases, such as barite, rutile, ilmenite, zircon and monazite, were identified using solely SEM/EDS. These results were used for subsequent geochemical interpretation and source apportionment of heavy metals, according to associations of different heavy metal-bearing phases. Heavy metal-bearing phases were arranged by their source and genesis into three groups, denoted as geogenic/technogenic, technogenic and geogenic.

  20. Boneless Pose Editing and Animation

    Bærentzen, Jakob Andreas; Hansen, Kristian Evers; Erleben, Kenny

    2007-01-01

    In this paper, we propose a pose editing and animation method for triangulated surfaces based on a user controlled partitioning of the model into deformable parts and rigid parts which are denoted handles. In our pose editing system, the user can sculpt a set of poses simply by transforming...... the handles for each pose. Using Laplacian editing, the deformable parts are deformed to match the handles. In our animation system the user can constrain one or several handles in order to define a new pose. New poses are interpolated from the examples poses, by solving a small non-linear optimization...... problem in order to obtain the interpolation weights. While the system can be used simply for building poses, it is also an animation system. The user can specify a path for a given constraint and the model is animated correspondingly....

  1. Wastewater Outfalls

    Iowa State University GIS Support and Research Facility — Outfalls which discharge wastewater from wastewater treatment facilities with individual NPDES permits. It does not include NPDES general permits.

  2. The art of problem posing

    Brown, Stephen I

    1990-01-01

    Updated and expanded, this second edition satisfies the same philosophical objective as the first -- to show the importance of problem posing. Although interest in mathematical problem solving increased during the past decade, problem posing remained relatively ignored. The Art of Problem Posing draws attention to this equally important act and is the innovator in the field. Special features include: * an exploration ofthe logical relationship between problem posing and problem solving * a special chapter devoted to teaching problem posing as a separate course * sketches, drawings, diagrams, and cartoons that illustrate the schemes proposed * a special section on writing in mathematics.

  3. Problem posing reflections and applications

    Brown, Stephen I

    2014-01-01

    As a result of the editors' collaborative teaching at Harvard in the late 1960s, they produced a ground-breaking work -- The Art Of Problem Posing -- which related problem posing strategies to the already popular activity of problem solving. It took the concept of problem posing and created strategies for engaging in that activity as a central theme in mathematics education. Based in part upon that work and also upon a number of articles by its authors, other members of the mathematics education community began to apply and expand upon their ideas. This collection of thirty readings is a tes

  4. Wastewater Treatment

    ... day before releasing it back to the environment. Treatment plants reduce pollutants in wastewater to a level nature can handle. Wastewater is used water. It includes substances such as human waste, food ...

  5. Is supergravity well-posed?

    Isenberg, J.; Bao, D.; Yasskin, P.B.

    1983-01-01

    One rather fundamental question concerning supergravity remains unresolved: Is supergravity a well-posed field theory? That is, does a set of certain (Cauchy) data specified on some initial spacelike surface determine a unique, causally propagating spacetime solution of the supergravity field equations (at least in some finite neighborhood of the initial surface)? In this paper, the authors give a very brief report on work directed towards answering this question. (Auth.)

  6. Ion exchange system design for removal of heavy metals from acid mine drainage wastewater

    R. S. Sapkal

    2010-11-01

    Full Text Available This paper discusses the methodology used to determine the optimal ion-exchange column size to process all separate batchesof feeds from acid mine drainage wastewater.The optimal design ensures the best utilization of resin material and therefore results in a minimum amount of spent resins.Ion exchanger materials have been studied for removing heavy metals from a metal bearing wastes. For the current treatment,a facility has been designed for the removal of heavy metals from the acid mine drainage (AMD waste by the ion-exchange technology.

  7. Precious Metals Recovery from Electroplating Wastewater: A Review

    Azmi, A. A.; Jai, J.; Zamanhuri, N. A.; Yahya, A.

    2018-05-01

    Metal bearing electroplating wastewater posts great health and environmental concerns, but could also provide opportunities for precious and valuable metal recovery, which can make the treatment process more cost-effective and sustainable. Current conventional electroplating wastewater treatment and metal recovery methods include chemical precipitation, coagulation and flocculation, ion exchange, membrane filtration, adsorption, electrochemical treatment and photocatalysis. However, these physico-chemical methods have several disadvantages such as high initial capital cost, high operational cost due to expensive chemical reagents and electricity supply, generation of metal complexes sludge which requires further treatment, ineffective in diluted and/or concentrated wastewater, low precious metal selectivity, and slow recovery process. On the other hand, metal bio-reduction assisted by bioactive phytochemical compounds extracted from plants and plant parts is a new found technology explored by several researchers in recent years aiming to recover precious and valuable metals from secondary sources mainly industrial wastewater by utilizing low-cost and eco-friendly biomaterials as reagents. Extract of plants contains polyphenolic compounds which have great antioxidant properties and reducing capacities, able to reduce metal ions into zerovalent metal atoms and stabilize the metal particles formed. This green bio-recovery method has a value added in their end products since the metals are recovered in nano-sized particles which are more valuable and have high commercial demand in other fields ranging from electrochemistry to medicine.

  8. Environmental and public health implications of wastewater quality

    user

    2011-03-28

    Mar 28, 2011 ... metals are one of the most persistent pollutants in waste- water. Unlike organic ... nitrate levels that affect infants do not pose a direct threat to older children ...... Rybicki S (1997). Advanced Wastewater Treatment: Phosphorus.

  9. Wastewater Districts

    Vermont Center for Geographic Information — The Wastewater districts layer is part of a larger dataset that contains administrative boundaries for Vermont's Agency of Natural Resources. The dataset includes...

  10. Wastewater reuse

    Milan R. Radosavljević; Vanja M. Šušteršič

    2013-01-01

    Water scarcity and water pollution are some of the crucial issues that must be addressed within local and global perspectives. One of the ways to reduce the impact of water scarcity  and to minimizine water pollution is to expand water and wastewater reuse. The local conditions including regulations, institutions, financial mechanisms, availability of local technology and stakeholder participation have a great influence on the decisions for wastewater reuse. The increasing awareness of food s...

  11. Statistical Model-Based Face Pose Estimation

    GE Xinliang; YANG Jie; LI Feng; WANG Huahua

    2007-01-01

    A robust face pose estimation approach is proposed by using face shape statistical model approach and pose parameters are represented by trigonometric functions. The face shape statistical model is firstly built by analyzing the face shapes from different people under varying poses. The shape alignment is vital in the process of building the statistical model. Then, six trigonometric functions are employed to represent the face pose parameters. Lastly, the mapping function is constructed between face image and face pose by linearly relating different parameters. The proposed approach is able to estimate different face poses using a few face training samples. Experimental results are provided to demonstrate its efficiency and accuracy.

  12. Treatment of Synthetic Wastewater Containing Reactive Red 198 by Electrocoagulation Process

    N.M Mahmoodi; A Ameri; M Gholami; A Jonidi jafari; A Dalvand

    2011-01-01

    "nBackground and Objectives: Discharge of textile colored wastewater industries without providing enough treatment in water bodies, is harmful for human and aquatic organisms and poses serious damages to the environment. Most of conventional wastewater treatment methods don't have enough efficiency to remove textile dyes from colored wastewater; thus in this research the efficiency of electrocoagulation treatment process with aluminum electrodes for treatment of a synthetic wastewater co...

  13. Pengenalan Pose Tangan Menggunakan HuMoment

    Dina Budhi Utami

    2017-02-01

    Full Text Available Computer vision yang didasarkan pada pengenalan bentuk memiliki banyak potensi dalam interaksi manusia dan komputer. Pose tangan dapat dijadikan simbol interaksi manusia dengan komputer seperti halnya pada penggunaan berbagai pose tangan pada bahasa isyarat. Berbagai pose tangan dapat digunakan untuk menggantikan fungsi mouse, untuk mengendalikan robot, dan sebagainya. Penelitian ini difokuskan pada pembangunan sistem pengenalan pose tangan menggunakan HuMoment. Proses pengenalan pose tangan dimulai dengan melakukan segmentasi citra masukan untuk menghasilkan citra ROI (Region of Interest yaitu area telapak tangan. Selanjutnya dilakukan proses deteksi tepi. Kemudian dilakukan ekstraksi nilai HuMoment. Nilai HuMoment dikuantisasikan ke dalam bukukode yang dihasilkan dari proses pelatihan menggunakan K-Means. Proses kuantisasi dilakukan dengan menghitung nilai Euclidean Distance terkecil antara nilai HuMomment citra masukan dan bukukode. Berdasarkan hasil penelitian, nilai akurasi sistem dalam mengenali pose tangan adalah 88.57%.

  14. Geology, mineralization, and hydrothermal alteration and relationships to acidic and metal-bearing surface waters in the Palmetto Gulch area, southwestern Colorado

    Bove, Dana J.; Kurtz, Jeffrey P.; Wright, Winfield G.

    2002-01-01

    The Palmetto Gulch area is affected by low pH and metal-bearing drainage from abandoned mines, and perhaps, from natural weathering around vein zones. To investigate these anthropogenic and potential natural sources of acidity and metals, we mapped the geology, veins, and hydrothermally altered areas; conducted mine dump leachate studies; and collected reconnaissance water quality data. Several small abandoned mines are present in the Palmetto Gulch area that produced small amounts of relatively high-grade silver ore from fault-controlled polymetallic vein deposits. These veins are hosted in lavas, breccias, and related volcaniclastic sediments that ponded within the 28 Ma San Juan-Uncompahgre caldera complex. These rock units generally have conformable contacts and have shallow dips to the northwest. Lava flows of pyroxene andesite, which host the Roy-Pray mine, are massive near their base and typically grade upward into tightly jointed rock with 2-15 cm joint spacing. In general, most hydrothermally altered rock within the Palmetto Gulch area is restricted to envelopes surrounding the mineralized veins and faults. Composite zones of vein-related alteration vary from about 50 to 80 m wide along the high ridgelines and narrow to less than 10 to 15 m beneath an elevation of about 5,462 m. Where unaffected by surficial oxidation, these altered zones contain as much as 7 to 10 volume percent finely-disseminated pyrite. The majority of rocks in the area were affected by regional and vein-related propylitic alteration. These greenish-colored rocks have alteration products consisting of chlorite, illite, and calcite; and feldspars are typically weakly altered. Most of these rocks have detectable amounts of calcite, while as much as 11 percent by weight was detected in samples collected during this study. The Palmetto Gulch area is affected by low pH and metal-bearing drainage from abandoned mines, and perhaps, from natural weathering around vein zones. To investigate

  15. Effluent from Wastewater Treatment Plants

    Kristensen, Jannie Munk; Nierychlo, Marta; Albertsen, Mads

    Incoming microorganisms to wastewater treatment plants (WWTPs) are usually considered to be removed in the treatment process. Analyses of the effluent generally show a very high degree of reduction of pathogens supporting this assumption. However, standard techniques for detecting bacteria......-independent 16SrRNA gene amplicon sequencing was applied for the identification and quantification of the microorganisms. In total 84 effluent samples from 14 full-scale Danish wastewater treatment plants were investigated over a period of 3 months. The microbial community composition was investigated by 16S r...... contain pathogenic species. One of these was Arcobacter (Campylobacteraceae) which was found in up to 16% relative abundance. This indicates that Arcobacter, and perhaps other pathogenic genera, are not being removed efficiently in full-scale plants and may pose a potential health safety problem. Further...

  16. Wastewater treatment

    Ranđel N. Kitanović

    2013-10-01

    Full Text Available Quality of life on Earth in the future will largely depend on the amount of safe water. As the most fundamental source of life, water is relentlessly consumed and polluted. To halt this trend, many countries are taking extensive measures and investing substantial resources in order to stop the contamination of water and return at least tolerably good water quality to nature. The goal of water purification is to obtain clean water with the sewage sludge as a by-product. Clean water is returned to nature, and further treatment of sludge may be subject to other procedures. The conclusion of this paper is simple. The procedure with purified water is easily achievable, purified water is discharged into rivers, lakes and seas, but the problem of further treatment of sludge remains. This paper presents the basic methods of wastewater treatment and procedures for processing the products from contaminated water. The paper can serve as a basis for further elaboration. Water Pollution In order to ensure normal life of living creatures, the water in which they live or the water they use must have a natural chemical composition and natural features. When, as a result of human activities, the chemical composition of water and the ratio of its chemical elements significantly change, we say that water is polluted. When the pollutants come from industrial plants, we are talking about industrial wastewater, and when they come from households and urban areas, we are talking about municipal wastewater. Both contain a huge amount of pollutants that eventually end up in rivers. Then, thousands of defenseless birds, fish and other animals suffer, and environmental consequences become immeasurable. In addition, the waste fed to the water often ends up in the bodies of marine animals, so they can return to us as food. Thermal water pollution also has multiple effects on the changes in the wildlife composition of aquatic ecosystems. Polluted water can be purified by

  17. Manifolds for pose tracking from monocular video

    Basu, Saurav; Poulin, Joshua; Acton, Scott T.

    2015-03-01

    We formulate a simple human-pose tracking theory from monocular video based on the fundamental relationship between changes in pose and image motion vectors. We investigate the natural embedding of the low-dimensional body pose space into a high-dimensional space of body configurations that behaves locally in a linear manner. The embedded manifold facilitates the decomposition of the image motion vectors into basis motion vector fields of the tangent space to the manifold. This approach benefits from the style invariance of image motion flow vectors, and experiments to validate the fundamental theory show reasonable accuracy (within 4.9 deg of the ground truth).

  18. Students’ Creativity: Problem Posing in Structured Situation

    Amalina, I. K.; Amirudin, M.; Budiarto, M. T.

    2018-01-01

    This is a qualitative research concerning on students’ creativity on problem posing task. The study aimed at describing the students’ creative thinking ability to pose the mathematics problem in structured situations with varied condition of given problems. In order to find out the students’ creative thinking ability, an analysis of mathematics problem posing test based on fluency, novelty, and flexibility and interview was applied for categorizing students’ responses on that task. The data analysis used the quality of problem posing and categorized in 4 level of creativity. The results revealed from 29 secondary students grade 8, a student in CTL (Creative Thinking Level) 1 met the fluency. A student in CTL 2 met the novelty, while a student in CTL 3 met both fluency and novelty and no one in CTL 4. These results are affected by students’ mathematical experience. The findings of this study highlight that student’s problem posing creativity are dependent on their experience in mathematics learning and from the point of view of which students start to pose problem.

  19. Exemplar-based human action pose correction.

    Shen, Wei; Deng, Ke; Bai, Xiang; Leyvand, Tommer; Guo, Baining; Tu, Zhuowen

    2014-07-01

    The launch of Xbox Kinect has built a very successful computer vision product and made a big impact on the gaming industry. This sheds lights onto a wide variety of potential applications related to action recognition. The accurate estimation of human poses from the depth image is universally a critical step. However, existing pose estimation systems exhibit failures when facing severe occlusion. In this paper, we propose an exemplar-based method to learn to correct the initially estimated poses. We learn an inhomogeneous systematic bias by leveraging the exemplar information within a specific human action domain. Furthermore, as an extension, we learn a conditional model by incorporation of pose tags to further increase the accuracy of pose correction. In the experiments, significant improvements on both joint-based skeleton correction and tag prediction are observed over the contemporary approaches, including what is delivered by the current Kinect system. Our experiments for the facial landmark correction also illustrate that our algorithm can improve the accuracy of other detection/estimation systems.

  20. An improved silhouette for human pose estimation

    Hawes, Anthony H.; Iftekharuddin, Khan M.

    2017-08-01

    We propose a novel method for analyzing images that exploits the natural lines of a human poses to find areas where self-occlusion could be present. Errors caused by self-occlusion cause several modern human pose estimation methods to mis-identify body parts, which reduces the performance of most action recognition algorithms. Our method is motivated by the observation that, in several cases, occlusion can be reasoned using only boundary lines of limbs. An intelligent edge detection algorithm based on the above principle could be used to augment the silhouette with information useful for pose estimation algorithms and push forward progress on occlusion handling for human action recognition. The algorithm described is applicable to computer vision scenarios involving 2D images and (appropriated flattened) 3D images.

  1. Yoga Poses Increase Subjective Energy and State Self-Esteem in Comparison to 'Power Poses'.

    Golec de Zavala, Agnieszka; Lantos, Dorottya; Bowden, Deborah

    2017-01-01

    Research on beneficial consequences of yoga focuses on the effects of yogic breathing and meditation. Less is known about the psychological effects of performing yoga postures. The present study investigated the effects of yoga poses on subjective sense of energy and self-esteem. The effects of yoga postures were compared to the effects of 'power poses,' which arguably increase the sense of power and self-confidence due to their association with interpersonal dominance (Carney et al., 2010). The study tested the novel prediction that yoga poses, which are not associated with interpersonal dominance but increase bodily energy, would increase the subjective feeling of energy and therefore increase self-esteem compared to 'high power' and 'low power' poses. A two factorial, between participants design was employed. Participants performed either two standing yoga poses with open front of the body ( n = 19), two standing yoga poses with covered front of the body ( n = 22), two expansive, high power poses ( n = 21), or two constrictive, low power poses ( n = 20) for 1-min each. The results showed that yoga poses in comparison to 'power poses' increased self-esteem. This effect was mediated by an increased subjective sense of energy and was observed when baseline trait self-esteem was controlled for. These results suggest that the effects of performing open, expansive body postures may be driven by processes other than the poses' association with interpersonal power and dominance. This study demonstrates that positive effects of yoga practice can occur after performing yoga poses for only 2 min.

  2. Non-standard and improperly posed problems

    Straughan, Brian; Ames, William F

    1997-01-01

    Written by two international experts in the field, this book is the first unified survey of the advances made in the last 15 years on key non-standard and improperly posed problems for partial differential equations.This reference for mathematicians, scientists, and engineers provides an overview of the methodology typically used to study improperly posed problems. It focuses on structural stability--the continuous dependence of solutions on the initial conditions and the modeling equations--and on problems for which data are only prescribed on part of the boundary.The book addresses continuou

  3. Flexible Polyhedral Surfaces with Two Flat Poses

    Hellmuth Stachel

    2015-05-01

    Full Text Available We present three types of polyhedral surfaces, which are continuously flexible and have not only an initial pose, where all faces are coplanar, but pass during their self-motion through another pose with coplanar faces (“flat pose”. These surfaces are examples of so-called rigid origami, since we only admit exact flexions, i.e., each face remains rigid during the motion; only the dihedral angles vary. We analyze the geometry behind Miura-ori and address Kokotsakis’ example of a flexible tessellation with the particular case of a cyclic quadrangle. Finally, we recall Bricard’s octahedra of Type 3 and their relation to strophoids.

  4. The nucleolus is well-posed

    Fragnelli, Vito; Patrone, Fioravante; Torre, Anna

    2006-02-01

    The lexicographic order is not representable by a real-valued function, contrary to many other orders or preorders. So, standard tools and results for well-posed minimum problems cannot be used. We prove that under suitable hypotheses it is however possible to guarantee the well-posedness of a lexicographic minimum over a compact or convex set. This result allows us to prove that some game theoretical solution concepts, based on lexicographic order are well-posed: in particular, this is true for the nucleolus.

  5. Pose and Solve Varignon Converse Problems

    Contreras, José N.

    2014-01-01

    The activity of posing and solving problems can enrich learners' mathematical experiences because it fosters a spirit of inquisitiveness, cultivates their mathematical curiosity, and deepens their views of what it means to do mathematics. To achieve these goals, a mathematical problem needs to be at the appropriate level of difficulty,…

  6. Head Pose Estimation from Passive Stereo Images

    Breitenstein, Michael D.; Jensen, Jeppe; Høilund, Carsten

    2009-01-01

    function. Our algorithm incorporates 2D and 3D cues to make the system robust to low-quality range images acquired by passive stereo systems. It handles large pose variations (of ±90 ° yaw and ±45 ° pitch rotation) and facial variations due to expressions or accessories. For a maximally allowed error of 30...

  7. Method of orthogonally splitting imaging pose measurement

    Zhao, Na; Sun, Changku; Wang, Peng; Yang, Qian; Liu, Xintong

    2018-01-01

    In order to meet the aviation's and machinery manufacturing's pose measurement need of high precision, fast speed and wide measurement range, and to resolve the contradiction between measurement range and resolution of vision sensor, this paper proposes an orthogonally splitting imaging pose measurement method. This paper designs and realizes an orthogonally splitting imaging vision sensor and establishes a pose measurement system. The vision sensor consists of one imaging lens, a beam splitter prism, cylindrical lenses and dual linear CCD. Dual linear CCD respectively acquire one dimensional image coordinate data of the target point, and two data can restore the two dimensional image coordinates of the target point. According to the characteristics of imaging system, this paper establishes the nonlinear distortion model to correct distortion. Based on cross ratio invariability, polynomial equation is established and solved by the least square fitting method. After completing distortion correction, this paper establishes the measurement mathematical model of vision sensor, and determines intrinsic parameters to calibrate. An array of feature points for calibration is built by placing a planar target in any different positions for a few times. An terative optimization method is presented to solve the parameters of model. The experimental results show that the field angle is 52 °, the focus distance is 27.40 mm, image resolution is 5185×5117 pixels, displacement measurement error is less than 0.1mm, and rotation angle measurement error is less than 0.15°. The method of orthogonally splitting imaging pose measurement can satisfy the pose measurement requirement of high precision, fast speed and wide measurement range.

  8. Characterisation of wastewater for modelling of wastewater ...

    Bio-process modelling is increasingly used in design, modification and troubleshooting of wastewater treatment plants (WWTPs). Characterisation of the influent wastewater to a WWTP is an important part of developing such a model. The characterisation required for modelling is more detailed than that routinely employed ...

  9. Tridimensional pose estimation of a person head

    Perez Berenguer, Elisa; Soria, Carlos; Nasisi, Oscar; Mut, Vicente

    2007-01-01

    In this work, we present a method for estimating 3-D motion parameters; this method provides an alternative way for 3D head pose estimation from image sequence in the current computer vision literature. This method is robust over extended sequences and large head motions and accurately extracts the orientation angles of head from a single view. Experimental results show that this tracking system works well for development a human-computer interface for people that possess severe motor incapacity

  10. Driver head pose tracking with thermal camera

    Bole, S.; Fournier, C.; Lavergne, C.; Druart, G.; Lépine, T.

    2016-09-01

    Head pose can be seen as a coarse estimation of gaze direction. In automotive industry, knowledge about gaze direction could optimize Human-Machine Interface (HMI) and Advanced Driver Assistance Systems (ADAS). Pose estimation systems are often based on camera when applications have to be contactless. In this paper, we explore uncooled thermal imagery (8-14μm) for its intrinsic night vision capabilities and for its invariance versus lighting variations. Two methods are implemented and compared, both are aided by a 3D model of the head. The 3D model, mapped with thermal texture, allows to synthesize a base of 2D projected models, differently oriented and labeled in yaw and pitch. The first method is based on keypoints. Keypoints of models are matched with those of the query image. These sets of matchings, aided with the 3D shape of the model, allow to estimate 3D pose. The second method is a global appearance approach. Among all 2D models of the base, algorithm searches the one which is the closest to the query image thanks to a weighted least squares difference.

  11. Wastewater use in urban agriculture: an exposure and risk ...

    Wastewater use in urban agriculture: an exposure and risk assessment in Accra, ... to pose the key risk to farmers due to hand-to mouth events (10 events/day). ... awareness of health risk, consumers did not prioritize health indicators when ...

  12. Robotic-surgical instrument wrist pose estimation.

    Fabel, Stephan; Baek, Kyungim; Berkelman, Peter

    2010-01-01

    The Compact Lightweight Surgery Robot from the University of Hawaii includes two teleoperated instruments and one endoscope manipulator which act in accord to perform assisted interventional medicine. The relative positions and orientations of the robotic instruments and endoscope must be known to the teleoperation system so that the directions of the instrument motions can be controlled to correspond closely to the directions of the motions of the master manipulators, as seen by the the endoscope and displayed to the surgeon. If the manipulator bases are mounted in known locations and all manipulator joint variables are known, then the necessary coordinate transformations between the master and slave manipulators can be easily computed. The versatility and ease of use of the system can be increased, however, by allowing the endoscope or instrument manipulator bases to be moved to arbitrary positions and orientations without reinitializing each manipulator or remeasuring their relative positions. The aim of this work is to find the pose of the instrument end effectors using the video image from the endoscope camera. The P3P pose estimation algorithm is used with a Levenberg-Marquardt optimization to ensure convergence. The correct transformations between the master and slave coordinate frames can then be calculated and updated when the bases of the endoscope or instrument manipulators are moved to new, unknown, positions at any time before or during surgical procedures.

  13. Skill Levels of Prospective Physics Teachers on Problem Posing

    Cildir, Sema; Sezen, Nazan

    2011-01-01

    Problem posing is one of the topics which the educators thoroughly accentuate. Problem posing skill is defined as an introvert activity of a student's learning. In this study, skill levels of prospective physics teachers on problem posing were determined and their views on problem posing were evaluated. To this end, prospective teachers were given…

  14. Relative Pose Estimation Algorithm with Gyroscope Sensor

    Shanshan Wei

    2016-01-01

    Full Text Available This paper proposes a novel vision and inertial fusion algorithm S2fM (Simplified Structure from Motion for camera relative pose estimation. Different from current existing algorithms, our algorithm estimates rotation parameter and translation parameter separately. S2fM employs gyroscopes to estimate camera rotation parameter, which is later fused with the image data to estimate camera translation parameter. Our contributions are in two aspects. (1 Under the circumstance that no inertial sensor can estimate accurately enough translation parameter, we propose a translation estimation algorithm by fusing gyroscope sensor and image data. (2 Our S2fM algorithm is efficient and suitable for smart devices. Experimental results validate efficiency of the proposed S2fM algorithm.

  15. Nitrification in Saline Industrial Wastewater

    Moussa, M.S.

    2004-01-01

    Biological nitrogen removal is widely and successfully applied for municipal wastewater. However, these experiences are not directly applicable to industrial wastewater, due to its specific composition. High salt levels in many industrial wastewaters affect nitrification negatively and improved

  16. Wastewater Industrial Contributors

    Iowa State University GIS Support and Research Facility — Industrial contributors to municipal wastewater treatment facilities in Iowa for the National Pollutant Discharge Elimination System (NPDES) program.

  17. Wastewater Characteristics, Treatment and Disposal

    Von Sperling, Marcos

    2007-01-01

    "Wastewater Characteristics, Treatment and Disposal is the first volume in the series Biological Wastewater Treatment, presenting an integrated view of water quality and wastewater treatment. The book covers the following topics: wastewater characteristics (flow and major constituents) impact of wastewater discharges to rivers and lakes overview of wastewater treatment systems complementary items in planning studies. This book, with its clear and practical approach, lays the foundations f...

  18. Characteristics of grey wastewater

    Eriksson, Eva; Auffarth, Karina Pipaluk Solvejg; Henze, Mogens

    2002-01-01

    The composition of grey wastewater depends on sources and installations from where the water is drawn, e.g. kitchen, bathroom or laundry. The chemical compounds present originate from household chemicals, cooking, washing and the piping. In general grey wastewater contains lower levels of organic...

  19. University Students' Problem Posing Abilities and Attitudes towards Mathematics.

    Grundmeier, Todd A.

    2002-01-01

    Explores the problem posing abilities and attitudes towards mathematics of students in a university pre-calculus class and a university mathematical proof class. Reports a significant difference in numeric posing versus non-numeric posing ability in both classes. (Author/MM)

  20. Human action recognition based on estimated weak poses

    Gong, Wenjuan; Gonzàlez, Jordi; Roca, Francesc Xavier

    2012-12-01

    We present a novel method for human action recognition (HAR) based on estimated poses from image sequences. We use 3D human pose data as additional information and propose a compact human pose representation, called a weak pose, in a low-dimensional space while still keeping the most discriminative information for a given pose. With predicted poses from image features, we map the problem from image feature space to pose space, where a Bag of Poses (BOP) model is learned for the final goal of HAR. The BOP model is a modified version of the classical bag of words pipeline by building the vocabulary based on the most representative weak poses for a given action. Compared with the standard k-means clustering, our vocabulary selection criteria is proven to be more efficient and robust against the inherent challenges of action recognition. Moreover, since for action recognition the ordering of the poses is discriminative, the BOP model incorporates temporal information: in essence, groups of consecutive poses are considered together when computing the vocabulary and assignment. We tested our method on two well-known datasets: HumanEva and IXMAS, to demonstrate that weak poses aid to improve action recognition accuracies. The proposed method is scene-independent and is comparable with the state-of-art method.

  1. 2D Methods for pose invariant face recognition

    Mokoena, Ntabiseng

    2016-12-01

    Full Text Available The ability to recognise face images under random pose is a task that is done effortlessly by human beings. However, for a computer system, recognising face images under varying poses still remains an open research area. Face recognition across pose...

  2. Transfer between Pose and Illumination Training in Face Recognition

    Liu, Chang Hong; Bhuiyan, Md. Al-Amin; Ward, James; Sui, Jie

    2009-01-01

    The relationship between pose and illumination learning in face recognition was examined in a yes-no recognition paradigm. The authors assessed whether pose training can transfer to a new illumination or vice versa. Results show that an extensive level of pose training through a face-name association task was able to generalize to a new…

  3. Phytoremediation of Nitrogen as Green Chemistry for Wastewater Treatment System

    Lennevey Kinidi

    2017-01-01

    Full Text Available It is noteworthy that ammoniacal nitrogen contamination in wastewater has reportedly posed a great threat to the environment. Although there are several conventional technologies being employed to remediate ammoniacal nitrogen contamination in wastewater, they are not sustainable and cost-effective. Along this line, the present study aims to highlight the significance of green chemistry characteristics of phytoremediation in nitrogen for wastewater treatment. Notably, ammoniacal nitrogen can be found in many types of sources and it brings harmful effects to the environment. Hence, the present study also reviews the phytoremediation of nitrogen and describes its green chemistry characteristics. Additionally, the different types of wastewater contaminants and their effects on phytoremediation and the phytoremediation consideration in wastewater treatment application and sustainable waste management of harvested aquatic macrophytes were reviewed. Finally, the present study explicates the future perspectives of phytoremediation. Based on the reviews, it can be concluded that green chemistry characteristics of phytoremediation in nitrogen have proved that it is sustainable and cost-effective in relation to other existing ammoniacal nitrogen remediation technologies. Therefore, it can be deduced that a cheaper and more environmental friendly ammoniacal nitrogen technology can be achieved with the utilization of phytoremediation in wastewater treatment.

  4. USE OF HYDROGEN RESPIROMETRY TO DETERMINE METAL TOXICITY TO SULFATE REDUCING BACTERIA

    Acid mine drainage (AMD), an acidic metal-bearing wastewater poses a severe pollution problem attributed to post-mining activities. The metals (metal sulfates) encountered in AMD and considered of concern for risk assessment are: arsenic, cadmium, aluminum, manganese, iron, zinc ...

  5. Radiation treatment of polluted water and wastewater

    2008-09-01

    Strategies to tackle environmental pollution have been receiving increasing attention throughout the world in recent years. Radiation processing using electron beam accelerators and gamma irradiators has shown very promising results in this area. Radiation processing in wastewater treatment is an additive-free process that uses the short lived reactive species formed during the radiolysis of water for efficient decomposition of pollutants therein. The rapid growth of the global population, together with the increased development of agriculture and industry, have led to the generation of large quantities of polluted industrial and municipal wastewater. The recognition that these polluted waters may pose a serious threat to humans has led technologists to look for cost effective technologies for their treatment. A variety of methods based on biological, chemical, photochemical and electrochemical processes are being explored for decomposing the chemical and biological contaminants present in the wastewaters. Studies in recent years have demonstrated the effectiveness of ionizing radiation such as, gamma rays and electron beams or in combination with other treatments, in the decomposition of refractory organic compounds in aqueous solutions and in the effective removal or inactivation of various microorganisms and parasites. The application of electron beam processing for drinking water, wastewater and groundwater treatment offers the promise of a cost effective process. The installation of the first full scale electron beam plant in Daegu, Republic of Korea, to treat 10 000 m 3 day -1 textile wastewater has demonstrated that the process is a cost effective technology when compared to conventional treatment. The regular operation of this facility provides operational data on reliability and additional data for a detailed economic evaluation. The IAEA has been supporting activities in this area by organizing advisory group meetings, consultants meetings, symposia and

  6. Occurrence of antibiotics in pharmaceutical industrial wastewater, wastewater treatment plant and sea waters in Tunisia.

    Tahrani, Leyla; Van Loco, Joris; Ben Mansour, Hedi; Reyns, Tim

    2016-04-01

    Antibiotics are among the most commonly used group of pharmaceuticals in human medicine. They can therefore reach surface and groundwater bodies through different routes, such as wastewater treatment plant effluents, surface runoff, or infiltration of water used for agricultural purposes. It is well known that antibiotics pose a significant risk to environmental and human health, even at low concentrations. The aim of the present study was to evaluate the presence of aminoglycosides and phenicol antibiotics in municipal wastewaters, sea water and pharmaceutical effluents in Tunisia. All analysed water samples contained detectable levels of aminoglycoside and phenicol antibiotics. The highest concentrations in wastewater influents were observed for neomycin and kanamycin B (16.4 ng mL(-1) and 7.5 ng mL(-1), respectively). Chloramphenicol was found in wastewater influents up to 3 ng mL(-1). It was observed that the waste water treatment plants were not efficient in completely removing these antibiotics. Chloramphenicol and florfenicol were found in sea water samples near aquaculture sites at levels up to, respectively, 15.6 ng mL(-1) and 18.4 ng mL(-1). Also aminoglycoside antibiotics were found near aquaculture sites with the highest concentration of 3.4 ng mL(-1) for streptomycin. In pharmaceutical effluents, only gentamycin was found at concentrations up to 19 ng mL(-1) over a sampling period of four months.

  7. Pose Planning for the Feed Support System of FAST

    Rui Yao

    2014-01-01

    Full Text Available A six-cable driven parallel manipulator and an A-B rotator in the feed support system of the Five-hundred-meter Aperture Spherical radio Telescope (FAST are adopted for realizing the position and pose of nine feeds. The six-cable driven parallel manipulator is a flexible mechanism, which may not be stably controlled due to a small cable tension. The A-B rotator is a rigid mechanism, and its stability and accuracy can be improved by small pose angle. Based on the different characteristics, a pose planning function is presented. The optimization target of the pose planning function is to get the smallest pose angle of the A-B rotator, and the constraint condition can reflect the controllability of the six-cable driven parallel manipulator. Then, the pose planning realization process of the feed support system is proposed. Based on the pose planning method, optimized pose angles of the feed support system for the nine feeds are obtained, which suggests that the pose angle of the six-cable driven parallel manipulator changes from 0° to 14° and the pose angle of the A-B rotator changes from 0° to 26.4°.

  8. Dairy wastewater treatment

    STORAGESEVER

    2009-08-04

    Aug 4, 2009 ... treatment processes to treat dairy wastewater such as activated sludge system .... Gas chromatograph. (Perkin Elmer, Auto system XL), equipped with thermal conductivity ..... Enzymatic hydrolysis of molasses. Bioresour. Tech.

  9. Wastewater Treatment Facilities

    Iowa State University GIS Support and Research Facility — Individual permits for municipal, industrial, and semi-public wastewater treatment facilities in Iowa for the National Pollutant Discharge Elimination System (NPDES)...

  10. Recycling phosphorus from wastewater

    Lemming, Camilla Kjærulff

    wastewater-derived products, and to relate this to the availability from other P-containing waste products and mineral P fertiliser. This included aspects of development over time and soil accumulation, as well as effects of soil pH and the spatial distribution in soil. The P sources applied in this PhD work...... reserves. Wastewater represents the largest urban flow of P in waste. Hence, knowledge about plant P availability of products from the wastewater treatment system, and also comparison to other waste P sources and mineral P is essential to obtain an efficient recycling and to prioritise between different P...... recycling options. The work of this PhD focused on the plant P availability of sewage sludge, a P-rich residue from wastewater treatment which is commonly applied to agricultural soil in Denmark. The overall objective of the PhD work was to evaluate the plant availability of P in sewage sludge and other...

  11. Wastewater Treatment Plants

    Iowa State University GIS Support and Research Facility — The actual treatment areas for municipal, industrial, and semi-public wastewater treatment facilities in Iowa for the National Pollutant Discharge Elimination System...

  12. To Strike a Pose: No Stereotype Backlash for Power Posing Women

    Miriam Rennung

    2016-09-01

    Full Text Available Power posing, the adoption of open and powerful postures, has effects that parallel those of actual social power. This study explored the social evaluation of adopting powerful versus powerless body postures in men and women regarding perceived warmth, competence, and the likelihood of eliciting admiration, envy, pity, and contempt. Previous findings suggest that the display of power by women may have side effects due to gender stereotyping, namely reduced warmth ratings and negative emotional reactions. An experiment (N = 2,473 asked participants to rate pictures of men and women who adopted high-power or low-power body postures. High-power posers were rated higher on competence, admiration, envy, and contempt compared to low-power posers, whereas the opposite was true for pity. There was no impact of power posing on perceived warmth. Contrary to expectations, the poser’s gender did not moderate any of the effects. These findings suggest that nonverbal displays of power do influence fundamental dimensions of social perception and their accompanying emotional reactions but result in comparably positive and negative evaluations for both genders.

  13. Wastewater heat recovery apparatus

    Kronberg, J.W.

    1992-09-01

    A heat recovery system is described with a heat exchanger and a mixing valve. A drain trap includes a heat exchanger with an inner coiled tube, baffle plate, wastewater inlet, wastewater outlet, cold water inlet, and preheated water outlet. Wastewater enters the drain trap through the wastewater inlet, is slowed and spread by the baffle plate, and passes downward to the wastewater outlet. Cold water enters the inner tube through the cold water inlet and flows generally upward, taking on heat from the wastewater. This preheated water is fed to the mixing valve, which includes a flexible yoke to which are attached an adjustable steel rod, two stationary zinc rods, and a pivoting arm. The free end of the arm forms a pad which rests against a valve seat. The rods and pivoting arm expand or contract as the temperature of the incoming preheated water changes. The zinc rods expand more than the steel rod, flexing the yoke and rotating the pivoting arm. The pad moves towards the valve seat as the temperature of the preheated water rises, and away as the temperature falls, admitting a variable amount of hot water to maintain a nearly constant average process water temperature. 6 figs.

  14. Review on Physicochemical, Chemical, and Biological Processes for Pharmaceutical Wastewater

    Li, Zhenchen; Yang, Ping

    2018-02-01

    Due to the needs of human life and health, pharmaceutical industry has made great progress in recent years, but it has also brought about severe environmental problems. The presence of pharmaceuticals in natural waters which might pose potential harm to the ecosystems and humans raised increasing concern worldwide. Pharmaceuticals cannot be effectively removed by conventional wastewater treatment plants (WWTPs) owing to the complex composition, high concentration of organic contaminants, high salinity and biological toxicity of pharmaceutical wastewater. Therefore, the development of efficient methods is needed to improve the removal effect of pharmaceuticals. This review provides an overview on three types of treatment technologies including physicochemical, chemical and biological processes and their advantages and disadvantages respectively. In addition, the future perspectives of pharmaceutical wastewater treatment are given.

  15. Head pose estimation algorithm based on deep learning

    Cao, Yuanming; Liu, Yijun

    2017-05-01

    Head pose estimation has been widely used in the field of artificial intelligence, pattern recognition and intelligent human-computer interaction and so on. Good head pose estimation algorithm should deal with light, noise, identity, shelter and other factors robustly, but so far how to improve the accuracy and robustness of attitude estimation remains a major challenge in the field of computer vision. A method based on deep learning for pose estimation is presented. Deep learning with a strong learning ability, it can extract high-level image features of the input image by through a series of non-linear operation, then classifying the input image using the extracted feature. Such characteristics have greater differences in pose, while they are robust of light, identity, occlusion and other factors. The proposed head pose estimation is evaluated on the CAS-PEAL data set. Experimental results show that this method is effective to improve the accuracy of pose estimation.

  16. Local Feature Learning for Face Recognition under Varying Poses

    Duan, Xiaodong; Tan, Zheng-Hua

    2015-01-01

    In this paper, we present a local feature learning method for face recognition to deal with varying poses. As opposed to the commonly used approaches of recovering frontal face images from profile views, the proposed method extracts the subject related part from a local feature by removing the pose...... related part in it on the basis of a pose feature. The method has a closed-form solution, hence being time efficient. For performance evaluation, cross pose face recognition experiments are conducted on two public face recognition databases FERET and FEI. The proposed method shows a significant...... recognition improvement under varying poses over general local feature approaches and outperforms or is comparable with related state-of-the-art pose invariant face recognition approaches. Copyright ©2015 by IEEE....

  17. Bio aerosol Generation at wastewater treatment plants: Identification of main bio aerosols sources

    Sanchez Monedero, M. A.; Aguilar, M. I.; Fenoll, R.; Roig, A.

    2009-01-01

    Typical operations taking place at wastewater treatment plants, especially those involving aeration and mechanical agitation of raw wastewater, represent one of the main sources of bio aerosols that, if inhaled, could pose a biologic hazard to site workers and local residents. Six different wastewater treatment plants from southeast Spain were monitories in order to identify the main bio aerosol sources and to evaluate the airborne microorganisms levels to which workers may be exposed to. Air samples were taken from selected locations by using a single stage impactor. (Author)

  18. The lighter side of advertising: investigating posing and lighting biases.

    Thomas, Nicole A; Burkitt, Jennifer A; Patrick, Regan E; Elias, Lorin J

    2008-11-01

    People tend to display the left cheek when posing for a portrait; however, this effect does not appear to generalise to advertising. The amount of body visible in the image and the sex of the poser might also contribute to the posing bias. Portraits also exhibit lateral lighting biases, with most images being lit from the left. This effect might also be present in advertisements. A total of 2801 full-page advertisements were sampled and coded for posing direction, lighting direction, sex of model, and amount of body showing. Images of females showed an overall leftward posing bias, but the biases in males depended on the amount of body visible. Males demonstrated rightward posing biases for head-only images. Overall, images tended to be lit from the top left corner. The two factors of posing and lighting biases appear to influence one another. Leftward-lit images had more leftward poses than rightward, while the opposite occurred for rightward-lit images. Collectively, these results demonstrate that the posing biases in advertisements are dependent on the amount of body showing in the image, and that biases in lighting direction interact with these posing biases.

  19. In-the-wild facial expression recognition in extreme poses

    Yang, Fei; Zhang, Qian; Zheng, Chi; Qiu, Guoping

    2018-04-01

    In the computer research area, facial expression recognition is a hot research problem. Recent years, the research has moved from the lab environment to in-the-wild circumstances. It is challenging, especially under extreme poses. But current expression detection systems are trying to avoid the pose effects and gain the general applicable ability. In this work, we solve the problem in the opposite approach. We consider the head poses and detect the expressions within special head poses. Our work includes two parts: detect the head pose and group it into one pre-defined head pose class; do facial expression recognize within each pose class. Our experiments show that the recognition results with pose class grouping are much better than that of direct recognition without considering poses. We combine the hand-crafted features, SIFT, LBP and geometric feature, with deep learning feature as the representation of the expressions. The handcrafted features are added into the deep learning framework along with the high level deep learning features. As a comparison, we implement SVM and random forest to as the prediction models. To train and test our methodology, we labeled the face dataset with 6 basic expressions.

  20. Shale gas wastewater management under uncertainty.

    Zhang, Xiaodong; Sun, Alexander Y; Duncan, Ian J

    2016-01-01

    This work presents an optimization framework for evaluating different wastewater treatment/disposal options for water management during hydraulic fracturing (HF) operations. This framework takes into account both cost-effectiveness and system uncertainty. HF has enabled rapid development of shale gas resources. However, wastewater management has been one of the most contentious and widely publicized issues in shale gas production. The flowback and produced water (known as FP water) generated by HF may pose a serious risk to the surrounding environment and public health because this wastewater usually contains many toxic chemicals and high levels of total dissolved solids (TDS). Various treatment/disposal options are available for FP water management, such as underground injection, hazardous wastewater treatment plants, and/or reuse. In order to cost-effectively plan FP water management practices, including allocating FP water to different options and planning treatment facility capacity expansion, an optimization model named UO-FPW is developed in this study. The UO-FPW model can handle the uncertain information expressed in the form of fuzzy membership functions and probability density functions in the modeling parameters. The UO-FPW model is applied to a representative hypothetical case study to demonstrate its applicability in practice. The modeling results reflect the tradeoffs between economic objective (i.e., minimizing total-system cost) and system reliability (i.e., risk of violating fuzzy and/or random constraints, and meeting FP water treatment/disposal requirements). Using the developed optimization model, decision makers can make and adjust appropriate FP water management strategies through refining the values of feasibility degrees for fuzzy constraints and the probability levels for random constraints if the solutions are not satisfactory. The optimization model can be easily integrated into decision support systems for shale oil/gas lifecycle

  1. Posing Problems to Understand Children's Learning of Fractions

    Cheng, Lu Pien

    2013-01-01

    In this study, ways in which problem posing activities aid our understanding of children's learning of addition of unlike fractions and product of proper fractions was examined. In particular, how a simple problem posing activity helps teachers take a second, deeper look at children's understanding of fraction concepts will be discussed. The…

  2. Standard diffusive systems are well-posed linear systems

    Matignon, Denis; Zwart, Heiko J.

    2004-01-01

    The class of well-posed linear systems as introduced by Salamon has become a well-understood class of systems, see e.g. the work of Weiss and the book of Staffans. Many partial partial differential equations with boundary control and point observation can be formulated as a well-posed linear system.

  3. Formulas in inverse and ill-posed problems

    Anikonov, Yu E

    1997-01-01

    The Inverse and Ill-Posed Problems Series is a series of monographs publishing postgraduate level information on inverse and ill-posed problems for an international readership of professional scientists and researchers. The series aims to publish works which involve both theory and applications in, e.g., physics, medicine, geophysics, acoustics, electrodynamics, tomography, and ecology.

  4. Turkish Primary School Teachers' Opinions about Problem Posing

    Kilic, Cigdem

    2013-01-01

    Problem posing is one of the most important topics in a mathematics education. Through problem posing, students gain mathematical abilities and concepts and teachers can evaluate their students and arrange adequate learning environments. The aim of the present study is to investigate Turkish primary school teachers' opinions about problem posing…

  5. Face pose tracking using the four-point algorithm

    Fung, Ho Yin; Wong, Kin Hong; Yu, Ying Kin; Tsui, Kwan Pang; Kam, Ho Chuen

    2017-06-01

    In this paper, we have developed an algorithm to track the pose of a human face robustly and efficiently. Face pose estimation is very useful in many applications such as building virtual reality systems and creating an alternative input method for the disabled. Firstly, we have modified a face detection toolbox called DLib for the detection of a face in front of a camera. The detected face features are passed to a pose estimation method, known as the four-point algorithm, for pose computation. The theory applied and the technical problems encountered during system development are discussed in the paper. It is demonstrated that the system is able to track the pose of a face in real time using a consumer grade laptop computer.

  6. Real-Time Head Pose Estimation on Mobile Platforms

    Jianfeng Ren

    2010-06-01

    Full Text Available Many computer vision applications such as augmented reality require head pose estimation. As far as the real-time implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to satisfy real-time constraints while maintaining reasonable head pose estimation accuracy. The introduced head pose estimation approach in this paper is an attempt to meet this objective. The approach consists of the following components: Viola-Jones face detection, color-based face tracking using an online calibration procedure, and head pose estimation using Hu moment features and Fisher linear discriminant. Experimental results running on an actual mobile device are reported exhibiting both the real- time and accuracy aspects of the developed approach.

  7. Pose estimation for mobile robots working on turbine blade

    Ma, X.D.; Chen, Q.; Liu, J.J.; Sun, Z.G.; Zhang, W.Z. [Tsinghua Univ., Beijing (China). Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering

    2009-03-11

    This paper discussed a features point detection and matching task technique for mobile robots used in wind turbine blade applications. The vision-based scheme used visual information from the robot's surrounding environment to match successive image frames. An improved pose estimation algorithm based on a scale invariant feature transform (SIFT) was developed to consider the characteristics of local images of turbine blades, pose estimation problems, and conditions. The method included a pre-subsampling technique for reducing computation and bidirectional matching for improving precision. A random sample consensus (RANSAC) method was used to estimate the robot's pose. Pose estimation conditions included a wide pose range; the distance between neighbouring blades; and mechanical, electromagnetic, and optical disturbances. An experimental platform was used to demonstrate the validity of the proposed algorithm. 20 refs., 6 figs.

  8. Basic Principles of Wastewater Treatment

    Von Sperling, Marcos

    2007-01-01

    "Basic Principles of Wastewater Treatment is the second volume in the series Biological Wastewater Treatment, and focusses on the unit operations and processes associated with biological wastewater treatment. The major topics covered are: microbiology and ecology of wastewater treatment reaction kinetics and reactor hydraulics conversion of organic and inorganic matter sedimentation aeration The theory presented in this volume forms the basis upon which the other books...

  9. Person-Independent Head Pose Estimation Using Biased Manifold Embedding

    Sethuraman Panchanathan

    2008-02-01

    Full Text Available Head pose estimation has been an integral problem in the study of face recognition systems and human-computer interfaces, as part of biometric applications. A fine estimate of the head pose angle is necessary and useful for several face analysis applications. To determine the head pose, face images with varying pose angles can be considered to be lying on a smooth low-dimensional manifold in high-dimensional image feature space. However, when there are face images of multiple individuals with varying pose angles, manifold learning techniques often do not give accurate results. In this work, we propose a framework for a supervised form of manifold learning called Biased Manifold Embedding to obtain improved performance in head pose angle estimation. This framework goes beyond pose estimation, and can be applied to all regression applications. This framework, although formulated for a regression scenario, unifies other supervised approaches to manifold learning that have been proposed so far. Detailed studies of the proposed method are carried out on the FacePix database, which contains 181 face images each of 30 individuals with pose angle variations at a granularity of 1∘. Since biometric applications in the real world may not contain this level of granularity in training data, an analysis of the methodology is performed on sparsely sampled data to validate its effectiveness. We obtained up to 2∘ average pose angle estimation error in the results from our experiments, which matched the best results obtained for head pose estimation using related approaches.

  10. Mechanism of nitrogen removal in wastewater lagoon: a case study.

    Vendramelli, Richard A; Vijay, Saloni; Yuan, Qiuyan

    2017-06-01

    Ammonia being a nutrient facilitates the growth of algae in wastewater and causes eutrophication. Nitrate poses health risk if it is present in drinking water. Hence, nitrogen removal from wastewater is required. Lagoon wastewater treatment systems have become common in Canada these days. The study was conducted to understand the nitrogen removal mechanisms from the existing wastewater treatment lagoon system in the town of Lorette, Manitoba. The lagoon system consists of two primary aerated cells and two secondary unaerated cells. Surface samples were collected periodically from lagoon cells and analysed from 5 May 2015 to 9 November 2015. The windward and leeward sides of the ponds were sampled and the results were averaged. It was found that the free ammonia volatilization to the atmosphere is responsible for most of the ammonia removal. Ammonia and nitrate assimilation into biomass and biological growth in the cells appears to be the other mechanisms of nitrogen removal over the monitoring period. Factors affecting the nitrogen removal efficiency were found to be pH, temperature and hydraulic residence time. Also, the ammonia concentration in the effluent from the wastewater treatment lagoon was compared with the regulatory standard.

  11. Microalgal biofilms for wastewater treatment

    Boelee, N.C.

    2013-01-01

    The objective of this thesis was to explore the possibilities of using microalgal biofilms for the treatment of municipal wastewater, with a focus on the post-treatment of municipal wastewater effluent. The potential of microalgal biofilms for wastewater treatment was first investigated using a

  12. Problems with textile wastewater discharge

    Rantala, Pentti

    1987-01-01

    The general character of textile industry wastewaters is briefly discussed. General guidelines and practice in Finland when discharging textile industry wastewaters to municipal sewer systems is described. A survey revealed that most municipalities experience some problems due to textile industry wastewaters. Pretreatment is not always practiced and in some cases pretreatment is not operated efficiently. (author)

  13. Animated pose templates for modeling and detecting human actions.

    Yao, Benjamin Z; Nie, Bruce X; Liu, Zicheng; Zhu, Song-Chun

    2014-03-01

    This paper presents animated pose templates (APTs) for detecting short-term, long-term, and contextual actions from cluttered scenes in videos. Each pose template consists of two components: 1) a shape template with deformable parts represented in an And-node whose appearances are represented by the Histogram of Oriented Gradient (HOG) features, and 2) a motion template specifying the motion of the parts by the Histogram of Optical-Flows (HOF) features. A shape template may have more than one motion template represented by an Or-node. Therefore, each action is defined as a mixture (Or-node) of pose templates in an And-Or tree structure. While this pose template is suitable for detecting short-term action snippets in two to five frames, we extend it in two ways: 1) For long-term actions, we animate the pose templates by adding temporal constraints in a Hidden Markov Model (HMM), and 2) for contextual actions, we treat contextual objects as additional parts of the pose templates and add constraints that encode spatial correlations between parts. To train the model, we manually annotate part locations on several keyframes of each video and cluster them into pose templates using EM. This leaves the unknown parameters for our learning algorithm in two groups: 1) latent variables for the unannotated frames including pose-IDs and part locations, 2) model parameters shared by all training samples such as weights for HOG and HOF features, canonical part locations of each pose, coefficients penalizing pose-transition and part-deformation. To learn these parameters, we introduce a semi-supervised structural SVM algorithm that iterates between two steps: 1) learning (updating) model parameters using labeled data by solving a structural SVM optimization, and 2) imputing missing variables (i.e., detecting actions on unlabeled frames) with parameters learned from the previous step and progressively accepting high-score frames as newly labeled examples. This algorithm belongs to a

  14. LCA of Wastewater Treatment

    Larsen, Henrik Fred

    2018-01-01

    of LCA studies addressing wastewater treatment have from the very first published cases, been on energy and resource consumption. In recent time, the use of characterisation has increased and besides global warming potential, especially eutrophication is in focus. Even the toxicity-related impact......The main purpose of wastewater treatment is to protect humans against waterborne diseases and to safeguard aquatic bio-resources like fish. The dominating environmental concerns within this domain are indeed still potential aquatic eutrophication/oxygen depletion due to nutrient/organic matter...

  15. Fast human pose estimation using 3D Zernike descriptors

    Berjón, Daniel; Morán, Francisco

    2012-03-01

    Markerless video-based human pose estimation algorithms face a high-dimensional problem that is frequently broken down into several lower-dimensional ones by estimating the pose of each limb separately. However, in order to do so they need to reliably locate the torso, for which they typically rely on time coherence and tracking algorithms. Their losing track usually results in catastrophic failure of the process, requiring human intervention and thus precluding their usage in real-time applications. We propose a very fast rough pose estimation scheme based on global shape descriptors built on 3D Zernike moments. Using an articulated model that we configure in many poses, a large database of descriptor/pose pairs can be computed off-line. Thus, the only steps that must be done on-line are the extraction of the descriptors for each input volume and a search against the database to get the most likely poses. While the result of such process is not a fine pose estimation, it can be useful to help more sophisticated algorithms to regain track or make more educated guesses when creating new particles in particle-filter-based tracking schemes. We have achieved a performance of about ten fps on a single computer using a database of about one million entries.

  16. Caffeine as an indicator for the quantification of untreated wastewater in karst systems.

    Hillebrand, Olav; Nödler, Karsten; Licha, Tobias; Sauter, Martin; Geyer, Tobias

    2012-02-01

    Contamination from untreated wastewater leakage and related bacterial contamination poses a threat to drinking water quality. However, a quantification of the magnitude of leakage is difficult. The objective of this work is to provide a highly sensitive methodology for the estimation of the mass of untreated wastewater entering karst aquifers with rapid recharge. For this purpose a balance approach is adapted. It is based on the mass flow of caffeine in spring water, the load of caffeine in untreated wastewater and the daily water consumption per person in a spring catchment area. Caffeine is a source-specific indicator for wastewater, consumed and discharged in quantities allowing detection in a karst spring. The methodology was applied to estimate the amount of leaking and infiltrating wastewater to a well investigated karst aquifer on a daily basis. The calculated mean volume of untreated wastewater entering the aquifer was found to be 2.2 ± 0.5 m(3) d(-1) (undiluted wastewater). It corresponds to approximately 0.4% of the total amount of wastewater within the spring catchment. Copyright © 2011 Elsevier Ltd. All rights reserved.

  17. Wastewater treatment by nanofiltration membranes

    Mulyanti, R.; Susanto, H.

    2018-03-01

    Lower energy consumption compared to reverse osmosis (RO) and higher rejection compared to ultrafiltration make nanofiltration (NF) membrane get more and more attention for wastewater treatment. NF has become a promising technology not only for treating wastewater but also for reusing water from wastewater. This paper presents various application of NF for wastewater treatments. The factors affecting the performance of NF membranes including operating conditions, feed characteristics and membrane characteristics were discussed. In addition, fouling as a severe problem during NF application is also presented. Further, future prospects and challenges of NF for wastewater treatments are explained.

  18. Methods of RVD object pose estimation and experiments

    Shang, Yang; He, Yan; Wang, Weihua; Yu, Qifeng

    2007-11-01

    Methods of measuring a RVD (rendezvous and docking) cooperative object's pose from monocular and binocular images respectively are presented. The methods solve the initial values first and optimize the object pose parameters by bundle adjustment. In the disturbance-rejecting binocular method, chosen measurement system parameters of one camera's exterior parameters are modified simultaneously. The methods need three or more cooperative target points to measure the object's pose accurately. Experimental data show that the methods converge quickly and stably, provide accurate results and do not need accurate initial values. Even when the chosen measurement system parameters are subjected to some amount of disturbance, the binocular method manages to provide fairly accurate results.

  19. Paper 1: Wastewater characterisation

    drinie

    1998). Research is directed on quantifying the C, N and P fractions in the secondary ... and prefermented wastewater, applicable for a basic in-line APT and other prefermenter ... representative composite samples, and from these samples the ... Constituents in true solution (dissolved) (particle size < 1 nm);. • not visible by ...

  20. Techniques of Wastewater Treatment

    organisms: These are small plants as well as animals and they are some of the most difficult ... It is measured by the oxygen consumption of a pre-inoculated sample at 20-250C in .... Organic wastewater components may be oxidised all the way to CO2.

  1. ESPRIT: Exercise Sensing and Pose Recovery Inference Tool, Phase I

    National Aeronautics and Space Administration — We propose to develop ESPRIT: an Exercise Sensing and Pose Recovery Inference Tool, in support of NASA's effort in developing crew exercise technologies for...

  2. Health Issues: Do Cell Phones Pose a Health Hazard?

    ... Procedures Home, Business, and Entertainment Products Cell Phones Health Issues Share Tweet Linkedin Pin it More sharing ... it Email Print Do cell phones pose a health hazard? Many people are concerned that cell phone ...

  3. Mathematical Thinking and Creativity through Mathematical Problem Posing and Solving

    María F. Ayllón

    2016-04-01

    Full Text Available This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas, flexibility (range of ideas, novelty (unique idea and elaboration (idea development. These factors contribute, among others, to the fact that schoolchildren are competent in mathematics. The problem solving and posing are a very powerful evaluation tool that shows the mathematical reasoning and creative level of a person. Creativity is part of the mathematics education and is a necessary ingredient to perform mathematical assignments. This contribution presents some important research works about problem posing and solving related to the development of mathematical knowledge and creativity. To that end, it is based on various beliefs reflected in the literature with respect to notions of creativity, problem solving and posing.

  4. Pose estimation of industrial objects towards robot operation

    Niu, Jie; Zhou, Fuqiang; Tan, Haishu; Cao, Yu

    2017-10-01

    With the advantages of wide range, non-contact and high flexibility, the visual estimation technology of target pose has been widely applied in modern industry, robot guidance and other engineering practices. However, due to the influence of complicated industrial environment, outside interference factors, lack of object characteristics, restrictions of camera and other limitations, the visual estimation technology of target pose is still faced with many challenges. Focusing on the above problems, a pose estimation method of the industrial objects is developed based on 3D models of targets. By matching the extracted shape characteristics of objects with the priori 3D model database of targets, the method realizes the recognition of target. Thus a pose estimation of objects can be determined based on the monocular vision measuring model. The experimental results show that this method can be implemented to estimate the position of rigid objects based on poor images information, and provides guiding basis for the operation of the industrial robot.

  5. Inverse and Ill-posed Problems Theory and Applications

    Kabanikhin, S I

    2011-01-01

    The text demonstrates the methods for proving the existence (if et all) and finding of inverse and ill-posed problems solutions in linear algebra, integral and operator equations, integral geometry, spectral inverse problems, and inverse scattering problems. It is given comprehensive background material for linear ill-posed problems and for coefficient inverse problems for hyperbolic, parabolic, and elliptic equations. A lot of examples for inverse problems from physics, geophysics, biology, medicine, and other areas of application of mathematics are included.

  6. Contactless and pose invariant biometric identification using hand surface.

    Kanhangad, Vivek; Kumar, Ajay; Zhang, David

    2011-05-01

    This paper presents a novel approach for hand matching that achieves significantly improved performance even in the presence of large hand pose variations. The proposed method utilizes a 3-D digitizer to simultaneously acquire intensity and range images of the user's hand presented to the system in an arbitrary pose. The approach involves determination of the orientation of the hand in 3-D space followed by pose normalization of the acquired 3-D and 2-D hand images. Multimodal (2-D as well as 3-D) palmprint and hand geometry features, which are simultaneously extracted from the user's pose normalized textured 3-D hand, are used for matching. Individual matching scores are then combined using a new dynamic fusion strategy. Our experimental results on the database of 114 subjects with significant pose variations yielded encouraging results. Consistent (across various hand features considered) performance improvement achieved with the pose correction demonstrates the usefulness of the proposed approach for hand based biometric systems with unconstrained and contact-free imaging. The experimental results also suggest that the dynamic fusion approach employed in this work helps to achieve performance improvement of 60% (in terms of EER) over the case when matching scores are combined using the weighted sum rule.

  7. Perspective projection for variance pose face recognition from camera calibration

    Fakhir, M. M.; Woo, W. L.; Chambers, J. A.; Dlay, S. S.

    2016-04-01

    Variance pose is an important research topic in face recognition. The alteration of distance parameters across variance pose face features is a challenging. We provide a solution for this problem using perspective projection for variance pose face recognition. Our method infers intrinsic camera parameters of the image which enable the projection of the image plane into 3D. After this, face box tracking and centre of eyes detection can be identified using our novel technique to verify the virtual face feature measurements. The coordinate system of the perspective projection for face tracking allows the holistic dimensions for the face to be fixed in different orientations. The training of frontal images and the rest of the poses on FERET database determine the distance from the centre of eyes to the corner of box face. The recognition system compares the gallery of images against different poses. The system initially utilises information on position of both eyes then focuses principally on closest eye in order to gather data with greater reliability. Differentiation between the distances and position of the right and left eyes is a unique feature of our work with our algorithm outperforming other state of the art algorithms thus enabling stable measurement in variance pose for each individual.

  8. Robust head pose estimation via supervised manifold learning.

    Wang, Chao; Song, Xubo

    2014-05-01

    Head poses can be automatically estimated using manifold learning algorithms, with the assumption that with the pose being the only variable, the face images should lie in a smooth and low-dimensional manifold. However, this estimation approach is challenging due to other appearance variations related to identity, head location in image, background clutter, facial expression, and illumination. To address the problem, we propose to incorporate supervised information (pose angles of training samples) into the process of manifold learning. The process has three stages: neighborhood construction, graph weight computation and projection learning. For the first two stages, we redefine inter-point distance for neighborhood construction as well as graph weight by constraining them with the pose angle information. For Stage 3, we present a supervised neighborhood-based linear feature transformation algorithm to keep the data points with similar pose angles close together but the data points with dissimilar pose angles far apart. The experimental results show that our method has higher estimation accuracy than the other state-of-art algorithms and is robust to identity and illumination variations. Copyright © 2014 Elsevier Ltd. All rights reserved.

  9. Microalgae: cultivation techniques and wastewater phycoremediation.

    Pacheco, Marcondes M; Hoeltz, Michele; Moraes, Maria S A; Schneider, Rosana C S

    2015-01-01

    Generation of liquid and gaseous effluents is associated with almost all anthropogenic activities. The discharge of these effluents into the environment without treatment has reduced the availability and quality of natural resources, representing a serious threat to the balance of different ecosystems and human health. Universal access to water and global warming are topics of intense concern and are listed as priorities in the vast majority of global scientific, social and political guidelines. Conventional techniques to treat liquid and gaseous effluents pose economic and/or environmental limitations that prevent their use in certain applications. The technique of phycoremediation, which uses microalgae, macroalgae, and cyanobacteria for the removal or biotransformation of pollutants, is an emerging technology that has been highlighted due to its economic viability and environmental sustainability. This literature review discusses different techniques of microalgae cultivation and their use in the phycoremediation of contaminants in wastewater.

  10. Distribution and accumulation of endocrine-disrupting chemicals and pharmaceuticals in wastewater irrigated soils in Hebei, China

    Chen Feng; Ying Guangguo; Kong Lingxiao; Wang Li; Zhao Jianliang; Zhou Lijun; Zhang Lijuan

    2011-01-01

    This study investigated the occurrence of 43 emerging contaminants including 9 endocrine-disrupting chemicals and 34 pharmaceuticals in three sites in Hebei Province, north China. Each site has a wastewater irrigated plot and a separate groundwater irrigated plot for comparison purpose. The results showed that the concentrations of the target compounds in the wastewater irrigated soils were in most cases higher than those in the groundwater irrigated soils. Among the 43 target compounds, nine compounds bisphenol-A, triclocarban, triclosan, 4-nonylphenol, salicylic acid, oxytetracycline, tetracycline, trimethoprim and primidone were detected at least once in the soils. Preliminary environmental risk assessment showed that triclocarban might pose high risks to terrestrial organisms while the other detected compounds posed minimal risks. Irrigation with wastewater could lead to presence or accumulation of some emerging contaminants to some extent in irrigated soils. - Highlights: → Some EDCs and PPCPs were detected in the wastewater irrigated soils. → Application of reclaimed water could lead to accumulation of some compounds. → Groundwater has been contaminated by some compounds. → Triclocarban posed high risks to soil organisms. - Application of reclaimed wastewater on agricultural land could lead to the presence or accumulation of wastewater-related contaminants in soils.

  11. Distribution and accumulation of endocrine-disrupting chemicals and pharmaceuticals in wastewater irrigated soils in Hebei, China

    Feng, Chen [State Key Laboratory of Organic Geochemistry, Guangzhou Institute of Geochemistry, Chinese Academy of Sciences, Guangzhou 510640 (China); Ying Guangguo, E-mail: guangguo.ying@gmail.com [State Key Laboratory of Organic Geochemistry, Guangzhou Institute of Geochemistry, Chinese Academy of Sciences, Guangzhou 510640 (China); Lingxiao, Kong [Institute of Plant Protection, Hebei Academy of Agriculture and Forestry Science, Baoding 07100 (China); Li, Wang; Jianliang, Zhao; Lijun, Zhou; Lijuan, Zhang [State Key Laboratory of Organic Geochemistry, Guangzhou Institute of Geochemistry, Chinese Academy of Sciences, Guangzhou 510640 (China)

    2011-06-15

    This study investigated the occurrence of 43 emerging contaminants including 9 endocrine-disrupting chemicals and 34 pharmaceuticals in three sites in Hebei Province, north China. Each site has a wastewater irrigated plot and a separate groundwater irrigated plot for comparison purpose. The results showed that the concentrations of the target compounds in the wastewater irrigated soils were in most cases higher than those in the groundwater irrigated soils. Among the 43 target compounds, nine compounds bisphenol-A, triclocarban, triclosan, 4-nonylphenol, salicylic acid, oxytetracycline, tetracycline, trimethoprim and primidone were detected at least once in the soils. Preliminary environmental risk assessment showed that triclocarban might pose high risks to terrestrial organisms while the other detected compounds posed minimal risks. Irrigation with wastewater could lead to presence or accumulation of some emerging contaminants to some extent in irrigated soils. - Highlights: > Some EDCs and PPCPs were detected in the wastewater irrigated soils. > Application of reclaimed water could lead to accumulation of some compounds. > Groundwater has been contaminated by some compounds. > Triclocarban posed high risks to soil organisms. - Application of reclaimed wastewater on agricultural land could lead to the presence or accumulation of wastewater-related contaminants in soils.

  12. Contrasting effects of untreated textile wastewater onto the soil available nitrogen-phosphorus and enzymatic activities in aridisol.

    Arif, Muhammad Saleem; Riaz, Muhammad; Shahzad, Sher Muhammad; Yasmeen, Tahira; Buttler, Alexandre; Garcıa-Gil, Juan Carlos; Roohi, Mahnaz; Rasool, Akhtar

    2016-02-01

    Water shortage and soil qualitative degradation are significant environmental problems in arid and semi-arid regions of the world. The increasing demand for water in agriculture and industry has resulted in the emergence of wastewater use as an alternative in these areas. Textile wastewater is produced in surplus amounts which poses threat to the environment as well as associated flora and fauna. A 60-day incubation study was performed to assess the effects of untreated textile wastewater at 0, 25, 50, 75, and 100% dilution levels on the physico-chemical and some microbial and enzymatic properties of an aridisol soil. The addition of textile wastewater provoked a significant change in soil pH and electrical conductivity and soil dehydrogenase and urease activities compared to the distilled-water treated control soil. Moreover, compared to the control treatment, soil phosphomonoesterase activity was significantly increased from 25 to 75% application rates, but decreased at 100% textile wastewater application rate. Total and available soil N contents increased significantly in response to application of textile wastewater. Despite significant increases in the soil total P contents after the addition of textile wastewater, soil available P content decreased with increasing concentration of wastewater. Changes in soil nutrient contents and related enzymatic activities suggested a dynamic match between substrate availability and soil N and P contents. Aridisols have high fixation and low P availability, application of textile wastewater to such soils should be considered only after careful assessment.

  13. Multi-task pose-invariant face recognition.

    Ding, Changxing; Xu, Chang; Tao, Dacheng

    2015-03-01

    Face images captured in unconstrained environments usually contain significant pose variation, which dramatically degrades the performance of algorithms designed to recognize frontal faces. This paper proposes a novel face identification framework capable of handling the full range of pose variations within ±90° of yaw. The proposed framework first transforms the original pose-invariant face recognition problem into a partial frontal face recognition problem. A robust patch-based face representation scheme is then developed to represent the synthesized partial frontal faces. For each patch, a transformation dictionary is learnt under the proposed multi-task learning scheme. The transformation dictionary transforms the features of different poses into a discriminative subspace. Finally, face matching is performed at patch level rather than at the holistic level. Extensive and systematic experimentation on FERET, CMU-PIE, and Multi-PIE databases shows that the proposed method consistently outperforms single-task-based baselines as well as state-of-the-art methods for the pose problem. We further extend the proposed algorithm for the unconstrained face verification problem and achieve top-level performance on the challenging LFW data set.

  14. Students’ Mathematical Creative Thinking through Problem Posing Learning

    Ulfah, U.; Prabawanto, S.; Jupri, A.

    2017-09-01

    The research aims to investigate the differences in enhancement of students’ mathematical creative thinking ability of those who received problem posing approach assisted by manipulative media and students who received problem posing approach without manipulative media. This study was a quasi experimental research with non-equivalent control group design. Population of this research was third-grade students of a primary school in Bandung city in 2016/2017 academic year. Sample of this research was two classes as experiment class and control class. The instrument used is a test of mathematical creative thinking ability. Based on the results of the research, it is known that the enhancement of the students’ mathematical creative thinking ability of those who received problem posing approach with manipulative media aid is higher than the ability of those who received problem posing approach without manipulative media aid. Students who get learning problem posing learning accustomed in arranging mathematical sentence become matter of story so it can facilitate students to comprehend about story

  15. Temporal subtraction of chest radiographs compensating pose differences

    von Berg, Jens; Dworzak, Jalda; Klinder, Tobias; Manke, Dirk; Kreth, Adrian; Lamecker, Hans; Zachow, Stefan; Lorenz, Cristian

    2011-03-01

    Temporal subtraction techniques using 2D image registration improve the detectability of interval changes from chest radiographs. Although such methods are well known for some time they are not widely used in radiologic practice. The reason is the occurrence of strong pose differences between two acquisitions with a time interval of months to years in between. Such strong perspective differences occur in a reasonable number of cases. They cannot be compensated by available image registration methods and thus mask interval changes to be undetectable. In this paper a method is proposed to estimate a 3D pose difference by the adaptation of a 3D rib cage model to both projections. The difference between both is then compensated for, thus producing a subtraction image with virtually no change in pose. The method generally assumes that no 3D image data is available from the patient. The accuracy of pose estimation is validated with chest phantom images acquired under controlled geometric conditions. A subtle interval change simulated by a piece of plastic foam attached to the phantom becomes visible in subtraction images generated with this technique even at strong angular pose differences like an anterior-posterior inclination of 13 degrees.

  16. Preparatory power posing affects nonverbal presence and job interview performance.

    Cuddy, Amy J C; Wilmuth, Caroline A; Yap, Andy J; Carney, Dana R

    2015-07-01

    The authors tested whether engaging in expansive (vs. contractive) "power poses" before a stressful job interview--preparatory power posing--would enhance performance during the interview. Participants adopted high-power (i.e., expansive, open) poses or low-power (i.e., contractive, closed) poses, and then prepared and delivered a speech to 2 evaluators as part of a mock job interview. All interview speeches were videotaped and coded for overall performance and hireability and for 2 potential mediators: verbal content (e.g., structure, content) and nonverbal presence (e.g., captivating, enthusiastic). As predicted, those who prepared for the job interview with high- (vs. low-) power poses performed better and were more likely to be chosen for hire; this relation was mediated by nonverbal presence, but not by verbal content. Although previous research has focused on how a nonverbal behavior that is enacted during interactions and observed by perceivers affects how those perceivers evaluate and respond to the actor, this experiment focused on how a nonverbal behavior that is enacted before the interaction and unobserved by perceivers affects the actor's performance, which, in turn, affects how perceivers evaluate and respond to the actor. This experiment reveals a theoretically novel and practically informative result that demonstrates the causal relation between preparatory nonverbal behavior and subsequent performance and outcomes. (c) 2015 APA, all rights reserved).

  17. Pose estimation for augmented reality applications using genetic algorithm.

    Yu, Ying Kin; Wong, Kin Hong; Chang, Michael Ming Yuen

    2005-12-01

    This paper describes a genetic algorithm that tackles the pose-estimation problem in computer vision. Our genetic algorithm can find the rotation and translation of an object accurately when the three-dimensional structure of the object is given. In our implementation, each chromosome encodes both the pose and the indexes to the selected point features of the object. Instead of only searching for the pose as in the existing work, our algorithm, at the same time, searches for a set containing the most reliable feature points in the process. This mismatch filtering strategy successfully makes the algorithm more robust under the presence of point mismatches and outliers in the images. Our algorithm has been tested with both synthetic and real data with good results. The accuracy of the recovered pose is compared to the existing algorithms. Our approach outperformed the Lowe's method and the other two genetic algorithms under the presence of point mismatches and outliers. In addition, it has been used to estimate the pose of a real object. It is shown that the proposed method is applicable to augmented reality applications.

  18. Wastewater Treatment in Greenland

    Gunnarsdottir, Ragnhildur

    treatment in these regions. However, designing, constructing and operating wastewater collection systems in the Arctic is challenging because of e.g. permafrost conditions, hard rock surfaces, freezing, limited quantity of water and high costs of electricity, fuel and transportation, as well as a settlement...... or water saving toilets. This opens up for co-treatment of organic waste fractions. Freezing and thawing has also been recognised as being a cost-effective wastewater treatment method in cold regions. Thus it was chosen to concentrate on the effect of the mentioned processes, namely freezing, anaerobic...... spreading of nutrients, diseases and potential pollution issues. Due to the above mentioned challenges alternative treatment methods are needed, especially in small and remotely located communities. Decentralized solutions are well suited for Greenland. Ideal solutions should reduce the need for expensive...

  19. Identification of wastewater processes

    Carstensen, Niels Jacob

    The introduction of on-line sensors for monitoring of nutrient salts concentrations on wastewater treatment plants with nutrient removal, opens a wide new area of modelling wastewater processes. The subject of this thesis is the formulation of operational dynamic models based on time series...... of ammonia, nitrate, and phosphate concentrations, which are measured in the aeration tanks of the biological nutrient removal system. The alternatign operation modes of the BIO-DENITRO and BIO-DENIPHO processes are of particular interest. Time series models of the hydraulic and biological processes are very......-known theory of the processes with the significant effects found in data. These models are called grey box models, and they contain rate expressions for the processes of influent load of nutrients, transport of nutrients between the aeration tanks, hydrolysis and growth of biomass, nitrification...

  20. Biodenitrification of industrial wastewater

    Donaldson, T.L.; Walker, J.F. Jr.; Helfrich, M.V.

    1987-01-01

    The Feed Materials Production Center (FMPC), a US Department of Energy facility at Fernald, Ohio, is constructing a fluidized-bed biodenitrification plant based on pilot work conducted at the Oak Ridge National Laboratory (ORNL) in the late 1970s and early 1980s. This plant is designed to treat approximately 600 to 800 L/min of wastewater having a nitrate concentration as high as 10 g/L. The effluent is to contain less than 0.1 g/L of nitrate. Since this new facility is an extrapolation of the ORNL work to significantly larger scale equipment and to actual rather than synthetic wastewater, design verification studies have been performed to reduce uncertainties in the scaleup. The results of these studies are summarized in this report. 7 refs., 1 fig

  1. Parasitological Contamination of Wastewater Irrigated and Raw ...

    Tadesse

    Occurrence of infective stages of intestinal parasites on wastewater- irrigated vegetables ..... reported the health hazards of agricultural reuse of untreated wastewater through detection of .... State of knowledge in land treatment of wastewater.

  2. Microplastic in Danish wastewater

    The objectives of the present study were to evaluate the role of Danish wastewater treatment plants (WWTPs) in the emission of microplastic to the environment in terms of amounts and types of plastic polymers emitted and if possible, to evaluate which sources these plastic polymers could originate...... investigations (Fourier Transformed Infrared Spectroscopy imaging applying a Focal Plane Array). This method allows both determination of the microplastic concentrations in the samples and identification of the type of plastic polymer of each microplastic particle....

  3. PFP Wastewater Sampling Facility

    Hirzel, D.R.

    1995-01-01

    This test report documents the results obtained while conducting operational testing of the sampling equipment in the 225-WC building, the PFP Wastewater Sampling Facility. The Wastewater Sampling Facility houses equipment to sample and monitor the PFP's liquid effluents before discharging the stream to the 200 Area Treated Effluent Disposal Facility (TEDF). The majority of the streams are not radioactive and discharges from the PFP Heating, Ventilation, and Air Conditioning (HVAC). The streams that might be contaminated are processed through the Low Level Waste Treatment Facility (LLWTF) before discharging to TEDF. The sampling equipment consists of two flow-proportional composite samplers, an ultrasonic flowmeter, pH and conductivity monitors, chart recorder, and associated relays and current isolators to interconnect the equipment to allow proper operation. Data signals from the monitors are received in the 234-5Z Shift Office which contains a chart recorder and alarm annunciator panel. The data signals are also duplicated and sent to the TEDF control room through the Local Control Unit (LCU). Performing the OTP has verified the operability of the PFP wastewater sampling system. This Operability Test Report documents the acceptance of the sampling system for use

  4. Pose-Invariant Face Recognition via RGB-D Images.

    Sang, Gaoli; Li, Jing; Zhao, Qijun

    2016-01-01

    Three-dimensional (3D) face models can intrinsically handle large pose face recognition problem. In this paper, we propose a novel pose-invariant face recognition method via RGB-D images. By employing depth, our method is able to handle self-occlusion and deformation, both of which are challenging problems in two-dimensional (2D) face recognition. Texture images in the gallery can be rendered to the same view as the probe via depth. Meanwhile, depth is also used for similarity measure via frontalization and symmetric filling. Finally, both texture and depth contribute to the final identity estimation. Experiments on Bosphorus, CurtinFaces, Eurecom, and Kiwi databases demonstrate that the additional depth information has improved the performance of face recognition with large pose variations and under even more challenging conditions.

  5. High levels of endocrine pollutants in US streams during low flow due to insufficient wastewater dilution

    Rice, Jacelyn; Westerhoff, Paul

    2017-08-01

    Wastewater discharges from publicly owned treatment works are a significant source of endocrine disruptors and other contaminants to the aquatic environment in the US. Although remaining pollutants in wastewater pose environmental risks, treated wastewater is also a primary source of stream flow, which in turn is critical in maintaining many aquatic and riparian wildlife habitats. Here we calculate the dilution factor--the ratio of flow in the stream receiving discharge to the flow of wastewater discharge--for over 14,000 receiving streams in the continental US using streamflow observations and a spatially explicit watershed-scale hydraulic model. We found that wastewater discharges make up more than 50% of in-stream flow for over 900 streams. However, in 1,049 streams that experienced exceptional low-flow conditions, the dilution factors in 635 of those streams fell so low during those conditions that the safety threshold for concentrations of one endocrine disrupting compound was exceeded, and in roughly a third of those streams, the threshold was exceeded for two compounds. We suggest that streams are vulnerable to public wastewater discharge of contaminants under low-flow conditions, at a time when wastewater discharges are likely to be most important for maintaining stream flow for smaller sized river systems.

  6. Recycling of Ammonia Wastewater During Vanadium Extraction from Shale

    Shi, Qihua; Zhang, Yimin; Liu, Tao; Huang, Jing

    2018-03-01

    In the vanadium metallurgical industry, massive amounts of ammonia hydroxide or ammonia salt are added during the precipitation process to obtain V2O5; therefore, wastewater containing a high level of NH4 + is generated, which poses a serious threat to environmental and hydrologic safety. In this article, a novel process was developed to recycle ammonia wastewater based on a combination of ammonia wastewater leaching and crystallization during vanadium extraction from shale. The effects of the NH4 + concentration, temperature, time and liquid-to-solid ratio on the leaching efficiencies of vanadium, aluminum and potassium were investigated, and the results showed that 93.2% of vanadium, 86.3% of aluminum and 96.8% of potassium can be leached from sulfation-roasted shale. Subsequently, 80.6% of NH4 + was separated from the leaching solution via cooling crystallization. Vanadium was recovered via a combined method of solvent extraction, precipitation and calcination. Therefore, ammonia wastewater was successfully recycled during vanadium extraction from shale.

  7. Advanced wastewater treatment system (SEADS)

    Dunn, J.

    2002-01-01

    'Full text:' This presentation will describe the nature, scope, and findings of a third-party evaluation of a wastewater treatment technology identified as the Advanced Wastewater Treatment System Inc.'s Superior Extended Aerobic Digester System (SEADS). SEADS is an advanced miniaturized wastewater treatment plant that can meet advanced wastewater treatment standards for effluent public reuse. SEADS goes beyond primary and secondary treatment operations to reduce nutrients such as nitrogen and phosphorus, which are typically found in excessive quantities in traditional wastewater treatment effluent. The objective of this evaluation will be to verify the performance and reliability of the SEADS to treat wastewater from a variety of sources, including domestic wastewater and commercial industrial wastewater. SEADS utilizes remote telemetry equipment to achieve added reliability and reduces monitoring costs as compared to many package wastewater treatment plants. The evaluation process will be overseen and coordinated by the Environmental Technology Evaluation Center (EvTEC), a program of the Civil Engineering Research Foundation (CERF), the research and technology transfer arm of the American Society of Civil Engineers (ASCE). EvTEC is a pilot program evaluating innovative environmental technologies under the US Environmental Protection Agency's (USEPA) Environmental Technology Verification (ETV) Program. Among other performance issues, the SEADS technology evaluation will address its ability to treat low flows-from remote individual and clustered housing applications, and individual commercial applications in lieu of a main station conventional wastewater treatment plant. The unneeded reliance on particular soil types for percolation and the improved effluent water quality over septic systems alone look to make these types of package treatment plants a viable option for rural communities, small farms, and other low-flow remote settings. Added benefits to be examined

  8. Pose-invariant face recognition using Markov random fields.

    Ho, Huy Tho; Chellappa, Rama

    2013-04-01

    One of the key challenges for current face recognition techniques is how to handle pose variations between the probe and gallery face images. In this paper, we present a method for reconstructing the virtual frontal view from a given nonfrontal face image using Markov random fields (MRFs) and an efficient variant of the belief propagation algorithm. In the proposed approach, the input face image is divided into a grid of overlapping patches, and a globally optimal set of local warps is estimated to synthesize the patches at the frontal view. A set of possible warps for each patch is obtained by aligning it with images from a training database of frontal faces. The alignments are performed efficiently in the Fourier domain using an extension of the Lucas-Kanade algorithm that can handle illumination variations. The problem of finding the optimal warps is then formulated as a discrete labeling problem using an MRF. The reconstructed frontal face image can then be used with any face recognition technique. The two main advantages of our method are that it does not require manually selected facial landmarks or head pose estimation. In order to improve the performance of our pose normalization method in face recognition, we also present an algorithm for classifying whether a given face image is at a frontal or nonfrontal pose. Experimental results on different datasets are presented to demonstrate the effectiveness of the proposed approach.

  9. Introduced organisms pose the most significant threat to the ...

    spamer

    Introduced organisms pose the most significant threat to the conservation status of oceanic islands (e.g.. Williamson 1996). Subantarctic Prince Edward Island, the smaller of the two islands in the Prince Edward. Island group, has few introduced organisms; it is cur- rently known to support only three introduced animals.

  10. Full Body Pose Estimation During Occlusion using Multiple Cameras

    Fihl, Preben; Cosar, Serhan

    people is a very challenging problem for methods based on pictorials structure as for any other monocular pose estimation method. In this report we present work on a multi-view approach based on pictorial structures that integrate low level information from multiple calibrated cameras to improve the 2D...

  11. Spontaneous and posed facial expression in Parkinson's disease.

    Smith, M C; Smith, M K; Ellgring, H

    1996-09-01

    Spontaneous and posed emotional facial expressions in individuals with Parkinson's disease (PD, n = 12) were compared with those of healthy age-matched controls (n = 12). The intensity and amount of facial expression in PD patients were expected to be reduced for spontaneous but not posed expressions. Emotional stimuli were video clips selected from films, 2-5 min in duration, designed to elicit feelings of happiness, sadness, fear, disgust, or anger. Facial movements were coded using Ekman and Friesen's (1978) Facial Action Coding System (FACS). In addition, participants rated their emotional experience on 9-point Likert scales. The PD group showed significantly less overall facial reactivity than did controls when viewing the films. The predicted Group X Condition (spontaneous vs. posed) interaction effect on smile intensity was found when PD participants with more severe disease were compared with those with milder disease and with controls. In contrast, ratings of emotional experience were similar for both groups. Depression was positively associated with emotion rating but not with measures of facial activity. Spontaneous facial expression appears to be selectively affected in PD, whereas posed expression and emotional experience remain relatively intact.

  12. Enhancing Students' Communication Skills through Problem Posing and Presentation

    Sugito; E. S., Sri Mulyani; Hartono; Supartono

    2017-01-01

    This study was to explore how enhance communication skill through problem posing and presentation method. The subjects of this research were the seven grade students Junior High School, including 20 male and 14 female. This research was conducted in two cycles and each cycle consisted of four steps, they were: planning, action, observation, and…

  13. Binary classification posed as a quadratically constrained quadratic ...

    Binary classification is posed as a quadratically constrained quadratic problem and solved using the proposed method. Each class in the binary classification problem is modeled as a multidimensional ellipsoid to forma quadratic constraint in the problem. Particle swarms help in determining the optimal hyperplane or ...

  14. Mathematical Thinking and Creativity through Mathematical Problem Posing and Solving

    Ayllón, María F.; Gómez, Isabel A.; Ballesta-Claver, Julio

    2016-01-01

    This work shows the relationship between the development of mathematical thinking and creativity with mathematical problem posing and solving. Creativity and mathematics are disciplines that do not usually appear together. Both concepts constitute complex processes sharing elements, such as fluency (number of ideas), flexibility (range of ideas),…

  15. Developing teachers' subject didactic competence through problem posing

    Tichá, Marie; Hošpesová, A.

    2013-01-01

    Roč. 83, č. 1 (2013), s. 133-143 ISSN 0013-1954 Institutional support: RVO:67985840 Keywords : professional development * primary school teachers * problem posing Subject RIV: AM - Education Impact factor: 0.639, year: 2013 http://link.springer.com/article/10.1007%2Fs10649-012-9455-1

  16. The relative pose estimation of aircraft based on contour model

    Fu, Tai; Sun, Xiangyi

    2017-02-01

    This paper proposes a relative pose estimation approach based on object contour model. The first step is to obtain a two-dimensional (2D) projection of three-dimensional (3D)-model-based target, which will be divided into 40 forms by clustering and LDA analysis. Then we proceed by extracting the target contour in each image and computing their Pseudo-Zernike Moments (PZM), thus a model library is constructed in an offline mode. Next, we spot a projection contour that resembles the target silhouette most in the present image from the model library with reference of PZM; then similarity transformation parameters are generated as the shape context is applied to match the silhouette sampling location, from which the identification parameters of target can be further derived. Identification parameters are converted to relative pose parameters, in the premise that these values are the initial result calculated via iterative refinement algorithm, as the relative pose parameter is in the neighborhood of actual ones. At last, Distance Image Iterative Least Squares (DI-ILS) is employed to acquire the ultimate relative pose parameters.

  17. Optical neural network system for pose determination of spinning satellites

    Lee, Andrew; Casasent, David

    1990-01-01

    An optical neural network architecture and algorithm based on a Hopfield optimization network are presented for multitarget tracking. This tracker utilizes a neuron for every possible target track, and a quadratic energy function of neural activities which is minimized using gradient descent neural evolution. The neural net tracker is demonstrated as part of a system for determining position and orientation (pose) of spinning satellites with respect to a robotic spacecraft. The input to the system is time sequence video from a single camera. Novelty detection and filtering are utilized to locate and segment novel regions from the input images. The neural net multitarget tracker determines the correspondences (or tracks) of the novel regions as a function of time, and hence the paths of object (satellite) parts. The path traced out by a given part or region is approximately elliptical in image space, and the position, shape and orientation of the ellipse are functions of the satellite geometry and its pose. Having a geometric model of the satellite, and the elliptical path of a part in image space, the three-dimensional pose of the satellite is determined. Digital simulation results using this algorithm are presented for various satellite poses and lighting conditions.

  18. 3D Facial Landmarking under Expression, Pose, and Occlusion Variations

    H. Dibeklioğ lu; A.A. Salah (Albert Ali); L. Akarun

    2008-01-01

    htmlabstractAutomatic localization of 3D facial features is important for face recognition, tracking, modeling and expression analysis. Methods developed for 2D images were shown to have problems working across databases acquired with different illumination conditions. Expression variations, pose

  19. POSING THE HISTORICAL JESUS QUESTION AND THE GOAL OF ...

    mycl

    ... study recommended that. African scholars be allowed to develop and pose the Historical Jesus ... he is seen as the starting point for modern critical study of Jesus. (Burer). ... African anthropology and culture and the data of revelation, and how this theology ... Man” from two perspectives: that of a biblical culture in the first.

  20. Problem Posing with Realistic Mathematics Education Approach in Geometry Learning

    Mahendra, R.; Slamet, I.; Budiyono

    2017-09-01

    One of the difficulties of students in the learning of geometry is on the subject of plane that requires students to understand the abstract matter. The aim of this research is to determine the effect of Problem Posing learning model with Realistic Mathematics Education Approach in geometry learning. This quasi experimental research was conducted in one of the junior high schools in Karanganyar, Indonesia. The sample was taken using stratified cluster random sampling technique. The results of this research indicate that the model of Problem Posing learning with Realistic Mathematics Education Approach can improve students’ conceptual understanding significantly in geometry learning especially on plane topics. It is because students on the application of Problem Posing with Realistic Mathematics Education Approach are become to be active in constructing their knowledge, proposing, and problem solving in realistic, so it easier for students to understand concepts and solve the problems. Therefore, the model of Problem Posing learning with Realistic Mathematics Education Approach is appropriately applied in mathematics learning especially on geometry material. Furthermore, the impact can improve student achievement.

  1. Zebra Mussels Pose a Threat to Virginia's Waters

    Helfrich, Louis A. (Louis Anthony), 1942-; Weigmann, Diana L.; Speenburgh, Renee M.; Neves, Richard J.; Kitchel, Lisie; Bruenderman, Sue A., 1962-

    2005-01-01

    Provides an brief introduction to the invasion of the zebra mussel into American waters, explains the economic consequences they pose, and discusses if Virginia will inherit the problem, what the public can do to help, the general lifecycle of the zebra mussel and if they can be controlled, and who is working on the zebra mussel problem.

  2. Effects of pose and image resolution on automatic face recognition

    Mahmood, Zahid; Ali, Tauseef; Khan, Samee U.

    The popularity of face recognition systems have increased due to their use in widespread applications. Driven by the enormous number of potential application domains, several algorithms have been proposed for face recognition. Face pose and image resolutions are among the two important factors that

  3. Meanings Given to Algebraic Symbolism in Problem-Posing

    Cañadas, María C.; Molina, Marta; del Río, Aurora

    2018-01-01

    Some errors in the learning of algebra suggest that students might have difficulties giving meaning to algebraic symbolism. In this paper, we use problem posing to analyze the students' capacity to assign meaning to algebraic symbolism and the difficulties that students encounter in this process, depending on the characteristics of the algebraic…

  4. Wastewater treatment models

    Gernaey, Krist; Sin, Gürkan

    2011-01-01

    description of biological phosphorus removal, physicalchemical processes, hydraulics and settling tanks. For attached growth systems, biofilm models have progressed from analytical steady-state models to more complex 2D/3D dynamic numerical models. Plant-wide modeling is set to advance further the practice......The state-of-the-art level reached in modeling wastewater treatment plants (WWTPs) is reported. For suspended growth systems, WWTP models have evolved from simple description of biological removal of organic carbon and nitrogen in aeration tanks (ASM1 in 1987) to more advanced levels including...

  5. Wastewater Treatment Models

    Gernaey, Krist; Sin, Gürkan

    2008-01-01

    description of biological phosphorus removal, physical–chemical processes, hydraulics, and settling tanks. For attached growth systems, biofilm models have progressed from analytical steady-state models to more complex 2-D/3-D dynamic numerical models. Plant-wide modeling is set to advance further......The state-of-the-art level reached in modeling wastewater treatment plants (WWTPs) is reported. For suspended growth systems, WWTP models have evolved from simple description of biological removal of organic carbon and nitrogen in aeration tanks (ASM1 in 1987) to more advanced levels including...

  6. Neutralization of wastewater from nitrite passivation

    Pawlowski, L.; Mientki, B.; Wasag, H.

    1982-01-01

    A method for neutralization of wastewater formed in nitrite passivation has been presented. The method consists of introducing urea into wastewater and acidifying it with sulphuric acid. Wastewater is neutralized with lime. After clarification, wastewater can be drained outside the plant

  7. Pose tracking for augmented reality applications in outdoor archaeological sites

    Younes, Georges; Asmar, Daniel; Elhajj, Imad; Al-Harithy, Howayda

    2017-01-01

    In recent years, agencies around the world have invested huge amounts of effort toward digitizing many aspects of the world's cultural heritage. Of particular importance is the digitization of outdoor archaeological sites. In the spirit of valorization of this digital information, many groups have developed virtual or augmented reality (AR) computer applications themed around a particular archaeological object. The problem of pose tracking in outdoor AR applications is addressed. Different positional systems are analyzed, resulting in the selection of a monocular camera-based user tracker. The limitations that challenge this technique from map generation, scale, anchoring, to lighting conditions are analyzed and systematically addressed. Finally, as a case study, our pose tracking system is implemented within an AR experience in the Byblos Roman theater in Lebanon.

  8. Pose Estimation of Interacting People using Pictorial Structures

    Fihl, Preben; Moeslund, Thomas B.

    2010-01-01

    Pose estimation of people have had great progress in recent years but so far research has dealt with single persons. In this paper we address some of the challenges that arise when doing pose estimation of interacting people. We build on the pictorial structures framework and make important...... contributions by combining color-based appearance and edge information using a measure of the local quality of the appearance feature. In this way we not only combine the two types of features but dynamically find the optimal weighting of them. We further enable the method to handle occlusions by searching...... a foreground mask for possible occluded body parts and then applying extra strong kinematic constraints to find the true occluded body parts. The effect of applying our two contributions are show through both qualitative and quantitative tests and show a clear improvement on the ability to correctly localize...

  9. Strategic management of health risks posed by buried transuranic wastes

    Jump, R.A.

    1994-01-01

    A strategy is presented for reducing health risks at sites contaminated with buried transuranic (TRU) wastes by first taking measures to immobilize the contaminants until the second step, final action, becomes cost-effective and poses less risk to the remediation workers. The first step of this strategy does not preclude further action if it is warranted and is in harmony with environmental laws and regulations

  10. Sensing Strategies for Disambiguating among Multiple Objects in Known Poses.

    1985-08-01

    ELEMENT. PROIECT. TASK Artificial Inteligence Laboratory AE OKUI UBR 545 Technology Square Cambridge, MA 021.39 11. CONTROLLING OFFICE NAME AND ADDRESS 12...AD-Ali65 912 SENSING STRATEGIES FOR DISAMBIGURTING MONG MULTIPLE 1/1 OBJECTS IN KNOWN POSES(U) MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL ...or Dist Special 1 ’ MASSACHUSETTS INSTITUTE OF TECHNOLOGY ARTIFICIAL INTELLIGENCE LABORATORY A. I. Memo 855 August, 1985 Sensing Strategies for

  11. Solution of linear ill-posed problems using overcomplete dictionaries

    Pensky, Marianna

    2016-01-01

    In the present paper we consider application of overcomplete dictionaries to solution of general ill-posed linear inverse problems. Construction of an adaptive optimal solution for such problems usually relies either on a singular value decomposition or representation of the solution via an orthonormal basis. The shortcoming of both approaches lies in the fact that, in many situations, neither the eigenbasis of the linear operator nor a standard orthonormal basis constitutes an appropriate co...

  12. Mining Key Skeleton Poses with Latent SVM for Action Recognition

    Xiaoqiang Li

    2017-01-01

    Full Text Available Human action recognition based on 3D skeleton has become an active research field in recent years with the recently developed commodity depth sensors. Most published methods analyze an entire 3D depth data, construct mid-level part representations, or use trajectory descriptor of spatial-temporal interest point for recognizing human activities. Unlike previous work, a novel and simple action representation is proposed in this paper which models the action as a sequence of inconsecutive and discriminative skeleton poses, named as key skeleton poses. The pairwise relative positions of skeleton joints are used as feature of the skeleton poses which are mined with the aid of the latent support vector machine (latent SVM. The advantage of our method is resisting against intraclass variation such as noise and large nonlinear temporal deformation of human action. We evaluate the proposed approach on three benchmark action datasets captured by Kinect devices: MSR Action 3D dataset, UTKinect Action dataset, and Florence 3D Action dataset. The detailed experimental results demonstrate that the proposed approach achieves superior performance to the state-of-the-art skeleton-based action recognition methods.

  13. Teaching Human Poses Interactively to a Social Robot

    Gonzalez-Pacheco, Victor; Malfaz, Maria; Fernandez, Fernando; Salichs, Miguel A.

    2013-01-01

    The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher's explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth) -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR) system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics. PMID:24048336

  14. LEVELING STUDENTS’ CREATIVE THINKING IN SOLVING AND POSING MATHEMATICAL PROBLEM

    Tatag Yuli Eko Siswono

    2010-07-01

    Full Text Available Many researchers assume that people are creative, but their degree ofcreativity is different. The notion of creative thinking level has beendiscussed .by experts. The perspective of mathematics creative thinkingrefers to a combination of logical and divergent thinking which is basedon intuition but has a conscious aim. The divergent thinking is focusedon flexibility, fluency, and novelty in mathematical problem solving andproblem posing. As students have various backgrounds and differentabilities, they possess different potential in thinking patterns,imagination, fantasy and performance; therefore, students have differentlevels of creative thinking. A research study was conducted in order todevelop a framework for students’ levels of creative thinking inmathematics. This research used a qualitative approach to describe thecharacteristics of the levels of creative thinking. Task-based interviewswere conducted to collect data with ten 8thgrade junior secondary schoolstudents. The results distinguished five levels of creative thinking,namely level 0 to level 4 with different characteristics in each level.These differences are based on fluency, flexibility, and novelty inmathematical problem solving and problem posing.Keywords: student’s creative thinking, problem posing, flexibility,fluency, novelty DOI: http://dx.doi.org/10.22342/jme.1.1.794.17-40

  15. Teaching Human Poses Interactively to a Social Robot

    Miguel A. Salichs

    2013-09-01

    Full Text Available The main activity of social robots is to interact with people. In order to do that, the robot must be able to understand what the user is saying or doing. Typically, this capability consists of pre-programmed behaviors or is acquired through controlled learning processes, which are executed before the social interaction begins. This paper presents a software architecture that enables a robot to learn poses in a similar way as people do. That is, hearing its teacher’s explanations and acquiring new knowledge in real time. The architecture leans on two main components: an RGB-D (Red-, Green-, Blue- Depth -based visual system, which gathers the user examples, and an Automatic Speech Recognition (ASR system, which processes the speech describing those examples. The robot is able to naturally learn the poses the teacher is showing to it by maintaining a natural interaction with the teacher. We evaluate our system with 24 users who teach the robot a predetermined set of poses. The experimental results show that, with a few training examples, the system reaches high accuracy and robustness. This method shows how to combine data from the visual and auditory systems for the acquisition of new knowledge in a natural manner. Such a natural way of training enables robots to learn from users, even if they are not experts in robotics.

  16. Leaching of N-nitrosodimethylamine (NDMA) in turfgrass soils during wastewater irrigation.

    Gan, J; Bondarenko, S; Ernst, F; Yang, W; Ries, S B; Sedlak, D L

    2006-01-01

    N-nitrosodimethylamine (NDMA) is a carcinogenic by-product of chlorination that is frequently found in municipal wastewater effluent. NDMA is miscible in water and negligibly adsorbed to soil, and therefore may pose a threat to ground water when treated wastewater is used for landscape irrigation. A field study was performed in the summer months under arid Southern California weather conditions to evaluate the leaching potential of NDMA in turfgrass soils during wastewater irrigation. Wastewater was used to irrigate multiple turfgrass plots at 110 to 160% evapotranspiration rate for about 4 mo, and leachate was continuously collected and analyzed for NDMA. The treated wastewater contained relatively high levels of NDMA (114-1820 ng L(-1); mean 930 ng L(-1)). NDMA was detected infrequently in the leachate regardless of the soil type or irrigation schedule. At a method detection limit of 2 ng L(-1), NDMA was only detected in 9 out of 400 leachate samples and when it was detected, the NDMA concentration was less than 5 ng L(-1). NDMA was relatively persistent in the turfgrass soils during laboratory incubation, indicating that mechanisms other than biotransformation, likely volatilization and/or plant uptake, contributed to the rapid dissipation. Under conditions typical of turfgrass irrigation with wastewater effluent it is unlikely that NDMA will contaminate ground water.

  17. Watershed-Scale Impacts from Surface Water Disposal of Oil and Gas Wastewater in Western Pennsylvania.

    Burgos, William D; Castillo-Meza, Luis; Tasker, Travis L; Geeza, Thomas J; Drohan, Patrick J; Liu, Xiaofeng; Landis, Joshua D; Blotevogel, Jens; McLaughlin, Molly; Borch, Thomas; Warner, Nathaniel R

    2017-08-01

    Combining horizontal drilling with high volume hydraulic fracturing has increased extraction of hydrocarbons from low-permeability oil and gas (O&G) formations across the United States; accompanied by increased wastewater production. Surface water discharges of O&G wastewater by centralized waste treatment (CWT) plants pose risks to aquatic and human health. We evaluated the impact of surface water disposal of O&G wastewater from CWT plants upstream of the Conemaugh River Lake (dam controlled reservoir) in western Pennsylvania. Regulatory compliance data were collected to calculate annual contaminant loads (Ba, Cl, total dissolved solids (TDS)) to document historical industrial activity. In this study, two CWT plants 10 and 19 km upstream of a reservoir left geochemical signatures in sediments and porewaters corresponding to peak industrial activity that occurred 5 to 10 years earlier. Sediment cores were sectioned for the collection of paired samples of sediment and porewater, and analyzed for analytes to identify unconventional O&G wastewater disposal. Sediment layers corresponding to the years of maximum O&G wastewater disposal contained higher concentrations of salts, alkaline earth metals, and organic chemicals. Isotopic ratios of 226 Ra /228 Ra and 87 Sr /86 Sr identified that peak concentrations of Ra and Sr were likely sourced from wastewaters that originated from the Marcellus Shale formation.

  18. Factors affecting reuse of wastewater

    Haraszti, L

    1981-01-01

    Changing the quality of circulating water, raising the effectiveness of sedimentation, examples of biological treatment of wastewater are presented. The necessity of continuing the studies on biological treatment of wastewater is demonstrated. It is considered useful to define the importance of KhPK and BP5 in each case. During biological treatment in ponds, to define the relation BPK5:N:P, research on conditions for nutrient removal must be done. To do this, as well as decrease the significance of KhPK, a mathematical model for defining the effectiveness of biological treatment of wastewater and consequently their reuse must be developed.

  19. Sterols indicate water quality and wastewater treatment efficiency.

    Reichwaldt, Elke S; Ho, Wei Y; Zhou, Wenxu; Ghadouani, Anas

    2017-01-01

    As the world's population continues to grow, water pollution is presenting one of the biggest challenges worldwide. More wastewater is being generated and the demand for clean water is increasing. To ensure the safety and health of humans and the environment, highly efficient wastewater treatment systems, and a reliable assessment of water quality and pollutants are required. The advance of holistic approaches to water quality management and the increasing use of ecological water treatment technologies, such as constructed wetlands and waste stabilisation ponds (WSPs), challenge the appropriateness of commonly used water quality indicators. Instead, additional indicators, which are direct measures of the processes involved in the stabilisation of human waste, have to be established to provide an in-depth understanding of system performance. In this study we identified the sterol composition of wastewater treated in WSPs and assessed the suitability of human sterol levels as a bioindicator of treatment efficiency of wastewater in WSPs. As treatment progressed in WSPs, the relative abundance of human faecal sterols, such as coprostanol, epicoprostanol, 24-ethylcoprostanol, and sitostanol decreased significantly and the sterol composition in wastewater changed significantly. Furthermore, sterol levels were found to be correlated with commonly used wastewater quality indicators, such as BOD, TSS and E. coli. Three of the seven sterol ratios that have previously been used to track sewage pollution in the environment, detected a faecal signal in the effluent of WSPs, however, the others were influenced by high prevalence of sterols originating from algal and fungal activities. This finding poses a concern for environmental assessment studies, because environmental pollution from waste stabilisation ponds can go unnoticed. In conclusion, faecal sterols and their ratios can be used as reliable indicators of treatment efficiency and water quality during wastewater

  20. Engineered nanoparticles in wastewater and wastewater sludge - Evidence and impacts

    Brar, Satinder K.; Verma, Mausam; Tyagi, R.D.; Surampalli, R.Y.

    2010-01-01

    Nanotechnology has widespread application in agricultural, environmental and industrial sectors ranging from fabrication of molecular assemblies to microbial array chips. Despite the booming application of nanotechnology, there have been serious implications which are coming into light in the recent years within different environmental compartments, namely air, water and soil and its likely impact on the human health. Health and environmental effects of common metals and materials are well-known, however, when the metals and materials take the form of nanoparticles - consequential hazards based on shape and size are yet to be explored. The nanoparticles released from different nanomaterials used in our household and industrial commodities find their way through waste disposal routes into the wastewater treatment facilities and end up in wastewater sludge. Further escape of these nanoparticles into the effluent will contaminate the aquatic and soil environment. Hence, an understanding of the presence, behavior and impact of these nanoparticles in wastewater and wastewater sludge is necessary and timely. Despite the lack of sufficient literature, the present review attempts to link various compartmentalization aspects of the nanoparticles, their physical properties and toxicity in wastewater and wastewater sludge through simile drawn from other environmental streams.

  1. Wastewater treatment by flotation

    F.P. Puget

    2000-12-01

    Full Text Available This work deals with the performance analysis of a separation set-up characterized by the ejector-hydrocyclone association, applied in the treatment of a synthetic dairy wastewater effluent. The results obtained were compared with the results from a flotation column (cylindrical body of a hydrocyclone operated both batch and continuously. As far as the experimental set-up studied in this work and the operating conditions imposed to the process, it is possible to reach a 25% decrease in the total effluent chemical oxygen demand (COD. This corresponds approximately to 60% of the COD of the material in suspension. The best results are obtained for ratios air flow rate-feed flow rate (Qair/Q L greater then 0.15 and for ratios underflow rate-overflow rate (Qu/Qo lower than 1.0.

  2. Modelling of wastewater systems

    Bechmann, Henrik

    to analyze and quantify the effect of the Aeration Tank Settling (ATS) operating mode, which is used during rain events. Furthermore, the model is used to propose a control algorithm for the phase lengths during ATS operation. The models are mainly formulated as state space model in continuous time......In this thesis, models of pollution fluxes in the inlet to 2 Danish wastewater treatment plants (WWTPs) as well as of suspended solids (SS) concentrations in the aeration tanks of an alternating WWTP and in the effluent from the aeration tanks are developed. The latter model is furthermore used...... at modelling the fluxes in terms of the multiple correlation coefficient R2. The model of the SS concentrations in the aeration tanks of an alternating WWTP as well as in the effluent from the aeration tanks is a mass balance model based on measurements of SS in one aeration tank and in the common outlet...

  3. ONKALO POSE experiment. Phase 3: execution and monitoring

    Valli, J.; Hakala, M.; Wanne, T.; Kantia, P.; Siren, T.

    2014-01-01

    In-depth knowledge of the in situ stress state at the Olkiluoto site is critical for stability assessment both prior to and after deposition of spent nuclear fuel in order to understand and avoid potential damage to the rock at the site. Posiva's Olkiluoto Spalling Experiment (POSE) was designed specifically for this purpose with three primary goals: establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, establish the state of in situ stress at the -345 m depth level and act as a Prediction-Outcome (P-O) exercise. Phases 1 and 2 of POSE are outlined in WR 2012-60. The objectives of the third phase of the POSE experiment are the same as the original objectives outlined above. This report outlines the execution and results of the third phase of the POSE experiment. The third phase of the experiment involved internally heating the third experimental hole (ONK-EH3) of the POSE niche in order to cause a symmetrical thermal stress increase around the hole due to the thermal expansion of rock. This thermomechanically induced stress increase, coupled with the estimated existing in situ stress state, should cause the maximum principal stress around the hole to exceed the predicted spalling strength of the rock around the hole. ONK-EH3 is located almost completely in pegmatitic granite. Four fractures near the top of the hole were mapped after boring ONK-EH3, and a tensile failure located at the contact between mica-rich gneiss and pegmatitic granite was observed 18 months after boring, prior to the experiment. Based on predictive calculations and the estimated in situ state of stress, the maximum principal stress magnitude should reach ca. 100 MPa when the temperature was just below 100 deg C after 12 weeks of heating. There were problems with the heater control unit at the beginning of the experiment, after which heating proceeded according to plan. The crack damage threshold of pegmatitic granite has been determined to be 85 ±17 MPa at Olkiluoto

  4. Relative Pose Estimation and Accuracy Verification of Spherical Panoramic Image

    XIE Donghai

    2017-11-01

    Full Text Available This paper improves the method of the traditional 5-point relative pose estimation algorithm, and proposes a relative pose estimation algorithm which is suitable for spherical panoramic images. The algorithm firstly computes the essential matrix, then decomposes the essential matrix to obtain the rotation matrix and the translation vector using SVD, and finally the reconstructed three-dimensional points are used to eliminate the error solution. The innovation of the algorithm lies the derivation of panorama epipolar formula and the use of the spherical distance from the point to the epipolar plane as the error term for the spherical panorama co-planarity function. The simulation experiment shows that when the random noise of the image feature points is within the range of pixel, the error of the three Euler angles is about 0.1°, and the error between the relative translational displacement and the simulated value is about 1.5°. The result of the experiment using the data obtained by the vehicle panorama camera and the POS shows that:the error of the roll angle and pitch angle can be within 0.2°, the error of the heading angle can be within 0.4°, and the error between the relative translational displacement and the POS can be within 2°. The result of our relative pose estimation algorithm is used to generate the spherical panoramic epipolar images, then we extract the key points between the spherical panoramic images and calculate the errors in the column direction. The result shows that the errors is less than 1 pixel.

  5. Regularization theory for ill-posed problems selected topics

    Lu, Shuai

    2013-01-01

    Thismonograph is a valuable contribution to thehighly topical and extremly productive field ofregularisationmethods for inverse and ill-posed problems. The author is an internationally outstanding and acceptedmathematicianin this field. In his book he offers a well-balanced mixtureof basic and innovative aspects.He demonstrates new,differentiatedviewpoints, and important examples for applications. The bookdemontrates thecurrent developments inthe field of regularization theory,such as multiparameter regularization and regularization in learning theory. The book is written for graduate and PhDs

  6. A review on wastewater disinfection

    Mohammad Mehdi Amin; Hassan Hashemi; Amir Mohammadi Bovini; Yung Tse Hung

    2013-01-01

    Changes in regulations and development of new technologies have affected the selection of alternative for treated wastewater disinfection. Disinfection is the last barrier of wastewater reclamation process to protect ecosystem safety and human health. Driving forces include water scarcity and drinking water supply, irrigation, rapid industrialization, using reclaimed water, source protection, overpopulation, and environmental protection. The safe operation of water reuse depends on effluent d...

  7. Novelty Detection for Interactive Pose Recognition by a Social Robot

    Victor Gonzalez-Pacheco

    2015-04-01

    Full Text Available Active robot learners take an active role in their own learning by making queries to their human teachers when they receive new data. However, not every received input is useful for the robot, and asking for non-informative inputs or asking too many questions might worsen the user's perception of the robot. We present a novelty detection system that enables a robot to ask labels for new stimuli only when they seem both novel and interesting. Our system separates the decision process into two steps: first, it discriminates novel from known stimuli, and second, it estimates if these stimuli are likely to happen again. Our approach uses the notion of curiosity, which controls the eagerness with which the robot asks questions to the user. We evaluate our approach in the domain of pose learning by training our robot with a set of pointing poses able to detect up to 84%, 79%, and 78% of the observed novelties in three different experiments. Our approach enables robots to keep learning continuously, even after training is finished. The introduction of the curiosity parameter allows tuning, for the conditions in which the robot should want to learn more.

  8. Probabilistic Mapping of Human Visual Attention from Head Pose Estimation

    Andrea Veronese

    2017-10-01

    Full Text Available Effective interaction between a human and a robot requires the bidirectional perception and interpretation of actions and behavior. While actions can be identified as a directly observable activity, this might not be sufficient to deduce actions in a scene. For example, orienting our face toward a book might suggest the action toward “reading.” For a human observer, this deduction requires the direction of gaze, the object identified as a book and the intersection between gaze and book. With this in mind, we aim to estimate and map human visual attention as directed to a scene, and assess how this relates to the detection of objects and their related actions. In particular, we consider human head pose as measurement to infer the attention of a human engaged in a task and study which prior knowledge should be included in such a detection system. In a user study, we show the successful detection of attention to objects in a typical office task scenario (i.e., reading, working with a computer, studying an object. Our system requires a single external RGB camera for head pose measurements and a pre-recorded 3D point cloud of the environment.

  9. Gaussian particle filter based pose and motion estimation

    2007-01-01

    Determination of relative three-dimensional (3D) position, orientation, and relative motion between two reference frames is an important problem in robotic guidance, manipulation, and assembly as well as in other fields such as photogrammetry.A solution to pose and motion estimation problem that uses two-dimensional (2D) intensity images from a single camera is desirable for real-time applications. The difficulty in performing this measurement is that the process of projecting 3D object features to 2D images is a nonlinear transformation. In this paper, the 3D transformation is modeled as a nonlinear stochastic system with the state estimation providing six degrees-of-freedom motion and position values, using line features in image plane as measuring inputs and dual quaternion to represent both rotation and translation in a unified notation. A filtering method called the Gaussian particle filter (GPF) based on the particle filtering concept is presented for 3D pose and motion estimation of a moving target from monocular image sequences. The method has been implemented with simulated data, and simulation results are provided along with comparisons to the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) to show the relative advantages of the GPF. Simulation results showed that GPF is a superior alternative to EKF and UKF.

  10. Laser Remediation of Threats Posed by Small Orbital Debris

    Fork, Richard L.; Rogers, Jan R.; Hovater, Mary A.

    2012-01-01

    The continually increasing amount of orbital debris in near Earth space poses an increasing challenge to space situational awareness. Recent collisions of spacecraft caused abrupt increases in the density of both large and small debris in near Earth space. An especially challenging class of threats is that due to the increasing density of small (1 mm to 10 cm dimension) orbital debris. This small debris poses a serious threat since: (1) The high velocity enables even millimeter dimension debris to cause serious damage to vulnerable areas of space assets, e.g., detector windows; (2) The small size and large number of debris elements prevent adequate detection and cataloguing. We have identified solutions to this threat in the form of novel laser systems and novel ways of using these laser systems. While implementation of the solutions we identify is challenging we find approaches offering threat mitigation within time frames and at costs of practical interest. We base our analysis on the unique combination of coherent light specifically structured in both space and time and applied in novel ways entirely within the vacuum of space to deorbiting small debris. We compare and contrast laser based small debris removal strategies using ground based laser systems with strategies using space based laser systems. We find laser systems located and used entirely within space offer essential and decisive advantages over groundbased laser systems.

  11. Characterization of the resistome in manure, soil and wastewater from dairy and beef production systems

    Noelle R. Noyes; Xiang Yang; Lyndsey M. Linke; Roberta J. Magnuson; Shaun R. Cook; Rahat Zaheer; Hua Yang; Dale R. Woerner; Ifigenia Geornaras; Jessica A. McArt; Sheryl P. Gow; Jaime Ruiz; Kenneth L. Jones; Christina A. Boucher; Tim A. McAllister

    2016-01-01

    It has been proposed that livestock production effluents such as wastewater, airborne dust and manure increase the density of antimicrobial resistant bacteria and genes in the environment. The public health risk posed by this proposed outcome has been difficult to quantify using traditional microbiological approaches. We utilized shotgun metagenomics to provide a first description of the resistome of North American dairy and beef production effluents, and identify factors that significantly i...

  12. Assessing the Effectiveness of Microelement Removal in the South Tertiary Wastewater Plant, Riyadh KSA

    Leda G. Bousiakou; Leda G. Bousiakou; Rabia Qindeel; A. S. Almuzaini; Hosham A. Alghamdi; Walid Tawfik; Walid Tawfik; W. A Farooq; H. Kalkani; E. Manzou

    2015-01-01

    This work focuses on the monitoring of trace element removal from the Riyadh South Tertiary Wastewater Treatment plant using inductively coupled plasma mass spectrometry (ICP-MS). Considering that the final effluent originating from the plant is directed for irrigation purposes towards the farms of Al- Dirayia, Dirab and Wadi Hanifa it is important to consider the possible presence of elevated microelement concentrations that could pose potential threats to the human health. All samples were...

  13. Determining the Performances of Pre-Service Primary School Teachers in Problem Posing Situations

    Kilic, Cigdem

    2013-01-01

    This study examined the problem posing strategies of pre-service primary school teachers in different problem posing situations (PPSs) and analysed the issues they encounter while posing problems. A problem posing task consisting of six PPSs (two free, two structured, and two semi-structured situations) was delivered to 40 participants.…

  14. ONKALO POSE experiment. Phase 1 and 2: execution and monitoring

    Johansson, E. [Saanio and Riekkola Oy, Helsinki (Finland); Siren, T. [Posiva Oy, Helsinki (Finland); Hakala, M. [KMS-Hakala Oy, Nokia (Finland); Kantia, P. [Geofcon Oy, Rovaniemi (Finland)

    2014-02-15

    Posiva has conducted in the ONKALO rock characterisation facility during 2010 - 2011 an in situ experiment named POSE (Posiva's Olkiluoto Spalling Experiment). The POSE experiment had three objectives: to establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, to establish the state of in situ stress at the -345 m depth level, and to act as a Prediction-Outcome (P-O) exercise. The POSE experiment consisted of drilling with full-face boring machine two near fullscale deposition holes, diameter 1.52 m (compared to 1.75 m for the actual deposition holes), to a depth of 7.2 m, leaving a 0.9 m pillar between the holes. The holes were planned to be located in such way that maximum excavation-induced stresses could act in the pillar and damage could then take place. Boring of the two holes in 2010 was called Phase 1 (Pillar test). This was followed in 2011 by Phase 2 (Pillar heating test) where four heaters with a length of 7.5 m heated the test area to increase the stresses around the experimental holes. In the heating phase the other hole was back-filled with sand. The test was extensively monitored during the execution using temperature monitoring, strain gauge monitoring, video monitoring, microseismic monitoring and pressure monitoring. In addition, the holes were after the test measured using ground penetration radar (GPR) and 3D photogrammetry for detailed modelling. The outcomes from the test showed that no damage, except for three opened/sheared fractures, was noticed during the boring of the holes (Phase 1). Surface damage was, though, induced by heating (Phase 2). The damage was well localized around the holes and controlled by the foliation (mica rich layers) and rock type contacts which were known to be relatively weak. Surface type failures were not observed in the gneiss, but it was noticed in limited areas in the pegmatite-granite. The depths of the damaged areas due to heating were less than 100 mm. The depths and sizes of the

  15. Macrobend optical sensing for pose measurement in soft robot arms

    Sareh, Sina; Noh, Yohan; Liu, Hongbin; Althoefer, Kaspar; Li, Min; Ranzani, Tommaso

    2015-01-01

    This paper introduces a pose-sensing system for soft robot arms integrating a set of macrobend stretch sensors. The macrobend sensory design in this study consists of optical fibres and is based on the notion that bending an optical fibre modulates the intensity of the light transmitted through the fibre. This sensing method is capable of measuring bending, elongation and compression in soft continuum robots and is also applicable to wearable sensing technologies, e.g. pose sensing in the wrist joint of a human hand. In our arrangement, applied to a cylindrical soft robot arm, the optical fibres for macrobend sensing originate from the base, extend to the tip of the arm, and then loop back to the base. The connectors that link the fibres to the necessary opto-electronics are all placed at the base of the arm, resulting in a simplified overall design. The ability of this custom macrobend stretch sensor to flexibly adapt its configuration allows preserving the inherent softness and compliance of the robot which it is installed on. The macrobend sensing system is immune to electrical noise and magnetic fields, is safe (because no electricity is needed at the sensing site), and is suitable for modular implementation in multi-link soft continuum robotic arms. The measurable light outputs of the proposed stretch sensor vary due to bend-induced light attenuation (macrobend loss), which is a function of the fibre bend radius as well as the number of repeated turns. The experimental study conducted as part of this research revealed that the chosen bend radius has a far greater impact on the measured light intensity values than the number of turns (if greater than five). Taking into account that the bend radius is the only significantly influencing design parameter, the macrobend stretch sensors were developed to create a practical solution to the pose sensing in soft continuum robot arms. Henceforward, the proposed sensing design was benchmarked against an electromagnetic

  16. ONKALO POSE experiment. Phase 1 and 2: execution and monitoring

    Johansson, E.; Siren, T.; Hakala, M.; Kantia, P.

    2014-02-01

    Posiva has conducted in the ONKALO rock characterisation facility during 2010 - 2011 an in situ experiment named POSE (Posiva's Olkiluoto Spalling Experiment). The POSE experiment had three objectives: to establish the in situ spalling/damage strength of Olkiluoto migmatitic gneiss, to establish the state of in situ stress at the -345 m depth level, and to act as a Prediction-Outcome (P-O) exercise. The POSE experiment consisted of drilling with full-face boring machine two near fullscale deposition holes, diameter 1.52 m (compared to 1.75 m for the actual deposition holes), to a depth of 7.2 m, leaving a 0.9 m pillar between the holes. The holes were planned to be located in such way that maximum excavation-induced stresses could act in the pillar and damage could then take place. Boring of the two holes in 2010 was called Phase 1 (Pillar test). This was followed in 2011 by Phase 2 (Pillar heating test) where four heaters with a length of 7.5 m heated the test area to increase the stresses around the experimental holes. In the heating phase the other hole was back-filled with sand. The test was extensively monitored during the execution using temperature monitoring, strain gauge monitoring, video monitoring, microseismic monitoring and pressure monitoring. In addition, the holes were after the test measured using ground penetration radar (GPR) and 3D photogrammetry for detailed modelling. The outcomes from the test showed that no damage, except for three opened/sheared fractures, was noticed during the boring of the holes (Phase 1). Surface damage was, though, induced by heating (Phase 2). The damage was well localized around the holes and controlled by the foliation (mica rich layers) and rock type contacts which were known to be relatively weak. Surface type failures were not observed in the gneiss, but it was noticed in limited areas in the pegmatite-granite. The depths of the damaged areas due to heating were less than 100 mm. The depths and sizes of the

  17. EFEKTIVITAS PEMBELAJARAN MATEMATIKA DENGAN METODE PROBLEM POSING BERBASIS PENDIDIKAN KARAKTER

    Eka Lia Susanti

    2012-06-01

    Full Text Available Abstract Tujuan penelitian ini adalah untuk mengetahui apakah pembelajaran matematika dengan metode Problem Posing berbasis pendidikan karakter di laboratorium TeenZania pada materi garis singgung lingkaran efektif. Populasi dalam penelitian ini adalah peserta didik di SMP N 2 Pati. Sampel dalam penelitian ini diambil dengan teknik cluster random sampling. Variabel dalam penelitian ini yaitu keaktifan sebagai variabel independen dan prestasi belajar sebagai variabel dependen. Cara pengambilan data dengan lembar pengamatan dan tes. Data diolah dengan uji banding t dan uji pengaruh regresi. Hasil penelitian menunjukkan bahwa prestasi belajar kelas eksperimen (82,74 secara statistik melebihi KKM (75. Dengan uji regresi linear sederhana diperoleh persamaan regresi ?=-15,847 + 1,194X dan R^2=0,829. Koefisien X merupakan bilangan positif sehingga keaktifan berpengaruh positif pada prestasi belajar sebesar 82,9%. Rata-rata prestasi belajar kelas eksperimen (82,74 dan rata-rata prestasi belajar kelas kontrol (72,91. Secara uji stastistik prestasi belajar kelas eksperimen lebih baik daripada prestasi belajar kelas kontrol. Berdasarkan hasil analisis disimpulkan (1 pembelajaran mencapai tuntas belajar; (2 adanya pengaruh positif pada keaktifan terhadap prestasi belajar; dan (3 prestasi belajar kelas eksperimen lebih baik daripada prestasi belajar kelas kontrol; sehingga pembelajaran matematika dengan metode problem posing berbasis pendidikan karakter di laboratorium TeenZania merupakan pembelajaran yang efektif. The purpose of this study was to determine whether the learning of mathematics by Problem Posing method in a TeenZania laboratory based character education in circle tangent material effectively. The population in this study were students in SMP N 2 Pati. The sample in this study were drawn by cluster random sampling technique. The variables in this study is the activity as an independent variable and learning achievement as the dependent variable

  18. Lavrentiev regularization method for nonlinear ill-posed problems

    Kinh, Nguyen Van

    2002-10-01

    In this paper we shall be concerned with Lavientiev regularization method to reconstruct solutions x 0 of non ill-posed problems F(x)=y o , where instead of y 0 noisy data y δ is an element of X with absolut(y δ -y 0 ) ≤ δ are given and F:X→X is an accretive nonlinear operator from a real reflexive Banach space X into itself. In this regularization method solutions x α δ are obtained by solving the singularly perturbed nonlinear operator equation F(x)+α(x-x*)=y δ with some initial guess x*. Assuming certain conditions concerning the operator F and the smoothness of the element x*-x 0 we derive stability estimates which show that the accuracy of the regularized solutions is order optimal provided that the regularization parameter α has been chosen properly. (author)

  19. Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

    Wang, L; Yin, H L; Meng, Q

    2006-01-01

    In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter

  20. Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

    Wang, L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Yin, H L [Chinese-German Institute of Automatic Control Engineering, Tongji University (China); Meng, Q [Shanghai University of Electric Power (China)

    2006-10-15

    In recent two decades, more and more research on the endoscopic surgery has been carried out [2]. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrist's pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter.

  1. Challenges Posed by Novel Psychoactive Substances – Middle East Perspective

    Maciej J. Bogusz

    2017-04-01

    Full Text Available New psychoactive substances (NPS are defined as substances of abuse, either in a pure form or a preparation, that are not controlled by the 1961 Single Convention on Narcotic Drugs or the 1971 Convention on Psychotropic Substances, but which may pose a public health threat. In this context, the term “new” does not necessarily refer to new inventions but to substances that have recently become available or popular in a given society or country. This definition indicates that the problem of NPS is not new; however, the availability of any information via new communication technologies in the 21st century has enabled the spread of unwanted and socially harmful information, like information on the commercial availability of various NPS, offered in rising amounts and brands.

  2. Level of environmental threat posed by horticultural trade in Cactaceae.

    Novoa, Ana; Le Roux, Johannes J; Richardson, David M; Wilson, John R U

    2017-10-01

    Ornamental horticulture has been identified as an important threat to plant biodiversity and is a major pathway for plant invasions worldwide. In this context, the family Cactaceae is particularly challenging because it is considered the fifth most threatened large taxonomic group in the world; several species are among the most widespread and damaging invasive species; and Cactaceae is one of the most popular horticultural plant groups. Based on the Convention on International Trade in Endangered Species of Wild Flora and Fauna and the 11 largest online auction sites selling cacti, we documented the international cactus trade. To provide an in-depth look at the dynamics of the industry, we surveyed the businesses involved in the cactus trade in South Africa (a hotspot of cactus trade and invasions). We purchased seeds of every available species and used DNA barcoding to identify species to the genus level. Although <20% of this trade involved threatened species and <3% involved known invasive species, many species were identified by a common name. However, only 0.02% of the globally traded cacti were collected from wild populations. Despite a large commercial network, all South African imports (of which 15% and 1.5% were of species listed as threatened and invasive, respectively) came from the same source. With DNA barcoding, we identified 24% of the species to genus level. Based on our results, we believe that if trade restrictions are placed on the small proportion of cacti that are invasive and there is no major increase in harvesting of native populations, then the commercial trade in cactus poses a negligible environmental threat. However, there are currently no effective methods for easily identifying which cacti are traded, and both the illicit harvesting of cacti from the wild and the informal trade in invasive taxa pose on-going conservation challenges. © 2017 Society for Conservation Biology.

  3. Removal of Arsenic from Wastewaters by Airlift Electrocoagulation: Part 3: Copper Smelter Wastewater Treatment

    Hansen, H.K.; Ottosen, Lisbeth M.

    2010-01-01

    The arsenic content in wastewater is of major concern for copper smelters. A typical complex wastewater treatment is needed with a combination of chemical and physical processes. Electrocoagulation (EC) has shown its potential for arsenic removal due to the formation of ferric hydroxide-arsenate ...... threshold value for wastewater discharge could rapidly be reached when the conventional method did not clean the wastewater sufficiently....

  4. Water brief-WDM & wastewater reuse

    aalfouns

    Wastewater Reuse for Water Demand Management in the Middle East and ... Among the substantial WDM tools in MENA is the use of wastewater to reduce the pressure on scarce freshwater .... recycled water to irrigate crops with associated ...

  5. Management and Planning for Small Community Wastewater

    Operators Small Systems Management and Planning for Small Community Wastewater The NESC has provided of Clean Water Agencies (NACWA) Achieving Environmental Excellence: An Environmental Management Agencies, The Office of Wastewater Management at EPA, in cooperation with the Global Environment and

  6. Properties of Concrete Mixes with Carwash Wastewater

    Shahidan Shahiron

    2017-01-01

    Full Text Available The rapid growth of the car wash industry today results in the need for wastewater reclamation. Thus, this paper aims to investigate the effect of using car wash wastewater on concrete properties in terms of mechanical properties. The basic characteristics of wastewater were investigated according to USEPA (Method 150.1 & 3 00.0 while the mechanical properties of concrete with car wash wastewater were compared according to ASTM C1602 and BS EN 1008 standards. In this research, the compressive strength, modulus of elasticity and tensile strength were studied. The percentages of wastewater replaced in the concrete mix ranged from 0% up to 40%. In addition, the results also suggest that the concrete with 20% car wash wastewater achieved the highest compressive strength and modulus of elasticity compared to other compositions of wastewater. Moreover, the results also recommended that concrete mixed with car wash wastewater has better compressive strength compared to conventional concrete.

  7. Understanding farmers' preferences for wastewater reuse ...

    Wastewater has emerged as an alternative source of water. Since the agricultural sector remains the largest water user world-wide, it is the main potential user of treated wastewater. However, while there are trade-offs in using wastewater, it may be the only option in water scarce regions. South Africa has included water ...

  8. Quantum leap for treating wastewaters

    Wallace, Paula

    2012-01-01

    Full text: For many Australian food manufacturers there is increasing pressure from government agencies to reach higher standards of wastewater treatment for environmental discharge. In fact, throughout the western wolrd industrual water users are facing a similar challenge. One of the big problems is ageing pipe networks, particularly sewage pipes. Also, industrial wastewaters with high sugar-nutrient loads can cause serious damage to pipelines. This is because fermentation occurs within the wastewater, eroding and degrading the pipes, causing numerous cracks and fractures. This in turn leads to water ingress, which puts a strain on treatment plants because of the higher volume of water, especially in wet weather. Food manufacturing produces large volumes of mostly biodegradable liquid and solid waste. Wastewaters released from food manufacturing can be 'muddy', with high concentrations of suspended solids, fats, oils and grease (FOGs), and, usually, nutrients such as nitrogen. The issue for many food manufacturers is that existing wastewater treatment systems are unable to reduce the nutrient load in the biological treatment stage to a level allowing acceptable discharge. In addition, most rely on large tanks housing bacteria that are submerged in water and aerated. Aeration is energy-hungry and can create a 'sludge-cake' on top of the water, which is difficult to treat. Most existing technologies also use filters, but they foul easily and require ongoing maintenance. According to BioGill chief executive John West, the BioGill technology is groundbreaking and radically different from conventional bioreactors because the 'gills' are not submerged. Instead, the gills, composed of Nano-Ceramic Membrane sheets arranged vertically in pairs, are suspended in the air, above ground, with wastewater travelling down between them. “Fungi and bacteria, known as biomass, grow on the membranes in direct contact with the air, eating nutrients much faster than other systems

  9. Automatic Regulation of Wastewater Discharge

    Bolea Yolanda

    2017-01-01

    Full Text Available Wastewater plants, mainly with secondary treatments, discharge polluted water to environment that cannot be used in any human activity. When those dumps are in the sea it is expected that most of the biological pollutants die or almost disappear before water reaches human range. This natural withdrawal of bacteria, viruses and other pathogens is due to some conditions such as the salt water of the sea and the sun effect, and the dumps areas are calculated taking into account these conditions. However, under certain meteorological phenomena water arrives to the coast without the full disappearance of pollutant elements. In Mediterranean Sea there are some periods of adverse climatic conditions that pollute the coast near the wastewater dumping. In this paper, authors present an automatic control that prevents such pollution episodes using two mathematical models, one for the pollutant transportation and the other for the pollutant removal in wastewater spills.

  10. Bioremediation of wastewater using microalgae

    Chalivendra, Saikumar

    Population expansion and industrial development has deteriorated the quality of freshwater reservoirs around the world and has caused freshwater shortages in certain areas. Discharge of industrial effluents containing toxic heavy metals such as Cd and Cr into the environment have serious impact on human, animal and aquatic life. In order to solve these problems, the present study was focused on evaluating and demonstrating potential of microalgae for bioremediation of wastewater laden with nitrogen (N) in the form of nitrates, phosphorous (P) in the form of phosphates, chromium (Cr (VI)) and cadmium (Cd (II)). After screening several microalgae, Chlorella vulgaris and algae taken from Pleasant Hill Lake were chosen as candidate species for this study. The viability of the process was demonstrated in laboratory bioreactors and various experimental parameters such as contact time, initial metal concentration, algae concentration, pH and temperature that would affect remediation rates were studied. Based on the experimental results, correlations were developed to enable customizing and designing a commercial Algae based Wastewater Treatment System (AWTS). A commercial AWTS system that can be easily customized and is suitable for integration into existing wastewater treatment facilities was developed, and capital cost estimates for system including installation and annual operating costs were determined. The work concludes that algal bioremediation is a viable alternate technology for treating wastewater in an economical and sustainable way when compared to conventional treatment processes. The annual wastewater treatment cost to remove N,P is ~26x lower and to remove Cr, Cd is 7x lower than conventional treatment processes. The cost benefit analysis performed shows that if this technology is implemented at industrial complexes, Air Force freight and other Department of Defense installations with wastewater treatment plants, it could lead to millions of dollars in

  11. Assessing the risk posed by natural hazards to infrastructures

    Eidsvig, Unni Marie K.; Kristensen, Krister; Vidar Vangelsten, Bjørn

    2017-03-01

    This paper proposes a model for assessing the risk posed by natural hazards to infrastructures, with a focus on the indirect losses and loss of stability for the population relying on the infrastructure. The model prescribes a three-level analysis with increasing level of detail, moving from qualitative to quantitative analysis. The focus is on a methodology for semi-quantitative analyses to be performed at the second level. The purpose of this type of analysis is to perform a screening of the scenarios of natural hazards threatening the infrastructures, identifying the most critical scenarios and investigating the need for further analyses (third level). The proposed semi-quantitative methodology considers the frequency of the natural hazard, different aspects of vulnerability, including the physical vulnerability of the infrastructure itself, and the societal dependency on the infrastructure. An indicator-based approach is applied, ranking the indicators on a relative scale according to pre-defined ranking criteria. The proposed indicators, which characterise conditions that influence the probability of an infrastructure malfunctioning caused by a natural event, are defined as (1) robustness and buffer capacity, (2) level of protection, (3) quality/level of maintenance and renewal, (4) adaptability and quality of operational procedures and (5) transparency/complexity/degree of coupling. Further indicators describe conditions influencing the socio-economic consequences of the infrastructure malfunctioning, such as (1) redundancy and/or substitution, (2) cascading effects and dependencies, (3) preparedness and (4) early warning, emergency response and measures. The aggregated risk estimate is a combination of the semi-quantitative vulnerability indicators, as well as quantitative estimates of the frequency of the natural hazard, the potential duration of the infrastructure malfunctioning (e.g. depending on the required restoration effort) and the number of users of

  12. Invasive Lionfish (Pterosis volitans) Pose Public Health Threats.

    Diaz, James H

    2015-01-01

    The lionfish, Pterosis volitans, a native of Indo-Pacific oceans, is a popular saltwater aquarium fish despite venomous spines on its fins. Lionfish were inadvertently introduced into the western Atlantic from Florida in the early 1990s and have overpopulated and dispersed widely into the Caribbean Sea and Gulf of Mexico. Initiatives to control lionfish populations were launched, including the National Oceanographic and Atmospheric Administration (NOAA)-sponsored "Lionfish as Food Campaign".2 Recently, scientists from the Food and Drug Administration (FDA) reported that lionfish caught off the US Virgin Islands contained ciguatoxins and could cause ciguatera fish poisoning (CFP); a seafood-borne poisoning without an antidote or any specific treatment, and a potential for prolonged neurotoxicity. Lionfish pose several public health threats. New strategies to control the lionfish population explosion in coastal waters and offshore fisheries are needed now to ensure seafood safety and public health. The lionfish, Pterosis volitans, is native to the reefs of the western Indian and Pacific Oceans (Figure 1). Brightly colored with red, white, and black stripes and adorned with feathery fins, the lionfish is a popular saltwater aquarium fish despite venomous spines on its fins (Figure 2). Lionfish were introduced into the western North Atlantic from Florida in the early 1990s after some specimens were discarded by dissatisfied amateur aquarists and others escaped from hurricane-flooded public aquariums.1 Since lionfish are voracious carnivores, have few natural predators, and reproduce prolifically, they have overpopulated and dispersed widely from Cape Hatteras to Florida, throughout the Caribbean Sea, and into the Gulf of Mexico.1 The population density of lionfish in its new, invaded territory now exceeds that of its native habitat.1 As a result, campaigns to control lionfish populations were launched in Florida and the Caribbean. Lionfish now pose several public

  13. The STS-93 crew pose in front of Columbia

    1999-01-01

    The STS-93 crew pose in front of the Space Shuttle orbiter Columbia following their landing on runway 33 at the Shuttle Landing Facility. Main gear touchdown occurred at 11:20:35 p.m. EDT on July 27. From left to right, they are Mission Specialists Catherine G. Coleman (Ph.D.) and Stephen A. Hawley (Ph.D.), Pilot Jeffrey S. Ashby, Commander Eileen Collins, and Mission Specialist Michel Tognini of France, with the Centre National d'Etudes Spatiales (CNES). The mission's primary objective was to deploy the Chandra X-ray Observatory, which will allow scientists from around the world to study some of the most distant, powerful and dynamic objects in the universe. This was the 95th flight in the Space Shuttle program and the 26th for Columbia. The landing was the 19th consecutive Shuttle landing in Florida and the 12th night landing in Shuttle program history. On this mission, Collins became the first woman to serve as a Shuttle commander.

  14. STS-93 Commander Collins poses in front of Columbia

    1999-01-01

    STS-93 Commander Eileen Collins poses in front of the Space Shuttle orbiter Columbia following her textbook landing on runway 33 at the Shuttle Landing Facility. Main gear touchdown occurred at 11:20:35 p.m. EDT on July 27. On this mission, Collins became the first woman to serve as a Shuttle commander. Also on board were her fellow STS-93 crew members: Pilot Jeffrey S. Ashby and Mission Specialists Stephen A. Hawley (Ph.D.), Catherine G. Coleman (Ph.D.) and Michel Tognini of France, with the Centre National d'Etudes Spatiales (CNES). The mission's primary objective was to deploy the Chandra X-ray Observatory, which will allow scientists from around the world to study some of the most distant, powerful and dynamic objects in the universe. This was the 95th flight in the Space Shuttle program and the 26th for Columbia. The landing was the 19th consecutive Shuttle landing in Florida and the 12th night landing in Shuttle program history.

  15. Real-time pose invariant logo and pattern detection

    Sidla, Oliver; Kottmann, Michal; Benesova, Wanda

    2011-01-01

    The detection of pose invariant planar patterns has many practical applications in computer vision and surveillance systems. The recognition of company logos is used in market studies to examine the visibility and frequency of logos in advertisement. Danger signs on vehicles could be detected to trigger warning systems in tunnels, or brand detection on transport vehicles can be used to count company-specific traffic. We present the results of a study on planar pattern detection which is based on keypoint detection and matching of distortion invariant 2d feature descriptors. Specifically we look at the keypoint detectors of type: i) Lowe's DoG approximation from the SURF algorithm, ii) the Harris Corner Detector, iii) the FAST Corner Detector and iv) Lepetit's keypoint detector. Our study then compares the feature descriptors SURF and compact signatures based on Random Ferns: we use 3 sets of sample images to detect and match 3 logos of different structure to find out which combinations of keypoint detector/feature descriptors work well. A real-world test tries to detect vehicles with a distinctive logo in an outdoor environment under realistic lighting and weather conditions: a camera was mounted on a suitable location for observing the entrance to a parking area so that incoming vehicles could be monitored. In this 2 hour long recording we can successfully detect a specific company logo without false positives.

  16. The role of the posed smile in overall facial esthetics.

    Havens, David C; McNamara, James A; Sigler, Lauren M; Baccetti, Tiziano

    2010-03-01

    To evaluate the role of the posed smile in overall facial esthetics, as determined by laypersons and orthodontists. Twenty orthodontists and 20 lay evaluators were asked to perform six Q-sorts on different photographs of 48 white female subjects. The six Q-sorts consisted of three different photographs for each of two time points (pre- and posttreatment), as follows: (1) smile-only, (2) face without the smile, and (3) face with the smile. The evaluators determined a split-line for attractive and unattractive images at the end of each Q-sort. The proportions of attractive patients were compared across Q-sorts using a Wilcoxon signed-rank test for paired data. The evaluators also ranked nine facial/dental characteristics at the completion of the six Q-sorts. Evaluators found the pretreatment face without the smile to be significantly more attractive than the face with the smile or the smile-only photographs. Dissimilar results were seen posttreatment; there was not a significant difference between the three posttreatment photographs. The two panels agreed on the proportion of "attractive" subjects but differed on the attractiveness level of each individual subject. The presence of a malocclusion has a negative impact on facial attractiveness. Orthodontic correction of a malocclusion affects overall facial esthetics positively. Laypeople and orthodontists agree on what is attractive. Overall facial harmony is the most important characteristic used in deciding facial attractiveness.

  17. Compensating Pose Uncertainties through Appropriate Gripper Finger Cutouts

    Wolniakowski Adam

    2018-03-01

    Full Text Available The gripper finger design is a recurring problem in many robotic grasping platforms used in industry. The task of switching the gripper configuration to accommodate for a new batch of objects typically requires engineering expertise, and is a lengthy and costly iterative trial-and-error process. One of the open challenges is the need for the gripper to compensate for uncertainties inherent to the workcell, e.g. due to errors in calibration, inaccurate pose estimation from the vision system, or object deformation. In this paper, we present an analysis of gripper uncertainty compensating capabilities in a sample industrial object grasping scenario for a finger that was designed using an automated simulation-based geometry optimization method (Wolniakowski et al., 2013, 2015. We test the developed gripper with a set of grasps subjected to structured perturbation in a simulation environment and in the real-world setting. We provide a comparison of the data obtained by using both of these approaches. We argue that the strong correspondence observed in results validates the use of dynamic simulation for the gripper finger design and optimization.

  18. Asynchronous vehicle pose correction using visual detection of ground features

    Harnarinesingh, Randy E S; Syan, Chanan S

    2014-01-01

    The inherent noise associated with odometry manifests itself as errors in localization for autonomous vehicles. Visual odometry has been previously used in order to supplement classical vehicle odometry. However, visual odometry is limited in its ability to reduce errors in localization for large travel distances that entail the cumulative summing of individual frame-to-frame image errors. In this paper, a novel machine vision approach for tiled surfaces is proposed to address this problem. Tile edges in a laboratory environment are used to define a travel trajectory for the Quansar Qbot (autonomous vehicle) built on the iRobot iRoomba platform with a forward facing camera. Tile intersections are used to enable asynchronous error recovery for vehicle position and orientation. The proposed approach employs real-time image classification and is feasible for error mitigation for large travel distances. The average position error for an 8m travel distance using classical odometry was measured to be 0.28m. However, implementation of the proposed approach resulted in an error of 0.028m. The proposed approach therefore significantly reduces pose estimation error and could be used to supplement existing modalities such as GPS and Laser-based range sensors

  19. Mendalami Dasar-Dasar dalam Pengambilan Pose pada Pemotretan Model

    Agnes Paulina Gunawan

    2013-04-01

    Full Text Available There are many activities and numerous objects in this universe, which make them interesting for photographers to explore as their masterpiece. One of the things that has been enjoyed and is always developing over time is the use of human as an object, whether as a candid photography or as a posing model in accordance to photographer's concept and theme. Using human being as an object is always popular among beginners and professional photographers. Even nowadays people often hold photo shoot as a media in many social network sites. And so if they understand the simple theories in basic knowledge of using human object, the results will be maximized, and of course, much more interesting. The more a photographer does his job, the better his experience is, and his work will develop. Thus, it makes him more alert to the situation and character of a model, which will then become more observant in predicting their outcome in photography.   

  20. Low C/N ratio raw textile wastewater reduced labile C and enhanced organic-inorganic N and enzymatic activities in a semiarid alkaline soil.

    Roohi, Mahnaz; Riaz, Muhammad; Arif, Muhammad Saleem; Shahzad, Sher Muhammad; Yasmeen, Tahira; Ashraf, Muhammad Arslan; Riaz, Muhammad Atif; Mian, Ishaq A

    2017-02-01

    Application of raw and treated wastewater for irrigation is an extensive practice for agricultural production in arid and semiarid regions. Raw textile wastewater has been used for cultivation in urban and peri-urban areas in Pakistan without any systematic consideration to soil quality. We conducted a laboratory incubation study to investigate the effects of low C/N ratio raw textile wastewater on soil nitrogen (N) contents, labile carbon (C) as water-soluble C (WSC) contents, and activities of urease and dehydrogenase enzymes. The 60-day incubation study used an alkaline clay loam aridisol that received 0 (distilled water), 25, 50, and 100% wastewater concentrations, and microcosms were incubated aerobically under room temperature at 70% water holding capacity. Results revealed that raw wastewater significantly (p 50% of the soil total Kjeldahl N (TKN) contents and served as the major N pool. However, nitrification index (NO 3 - -N/NH 4 + -N ratio) decreased at high wastewater concentrations. A significant negative correlation was observed between EON and WSC (p production and accumulation of soil NO 3 - -N and EON contents in concentrated wastewater-treated soil could pose an ecological concern for soil fertility, biological health, and water quality. However, the EON could lead to mineral N pool but only if sufficient labile C source was present. The effects of wastewater irrigation on soil N cycling need to be assessed before it is recommended for crop production.

  1. Ecotoxicological risks associated with tannery effluent wastewater.

    Shakir, Lubna; Ejaz, Sohail; Ashraf, Muhammad; Qureshi, Naureen Aziz; Anjum, Aftab Ahmad; Iltaf, Imran; Javeed, Aqeel

    2012-09-01

    The problem of water pollution acquires greater relevance in the context of a developing agrarian economy like Pakistan. Even though, the leather industry is a leading economic sector in Pakistan, there is an increasing environmental concern regarding tanneries because they produce large amounts of potentially toxic wastewater containing both trivalent and hexavalent chromium, which are equally hazardous for human population, aquaculture and agricultural activities in the area. Therefore, we defined the scope of the present study as to employ different bioassays to determine the eco-toxic potential of tannery effluent wastewater (TW) and its chromium based components, i.e., potassium dichromate (K(2)Cr(2)O(7)) and chromium sulfate Cr(2)(SO(4))(3). Particle-induced X-ray emission (PIXE) analysis of TW was carried out to determine the concentration of chromium in TW and then equal concentrations of hexavalent (K(2)Cr(2)O(7)) and trivalent chromium Cr(2)(SO(4))(3) were obtained for this study. Cytotoxicity assay, artemia bioassay and phytotoxicity assay was utilized to investigate the eco-toxicological potential of different concentrations of TW, K(2)Cr(2)O(7) and Cr(2)(SO(4))(3). All the dilutions of TW, K(2)Cr(2)O(7) and Cr(2)(SO(4))(3) presented concentration dependent cytotoxic effects in these assays. The data clearly represents that among all three tested materials, different dilutions of K(2)Cr(2)O(7) caused significantly more damage (P<0.001) to vero cell, brine shrimp and germination of maize seeds. Interestingly, the overall toxicity effects of TW treated groups were subsequent to K(2)Cr(2)O(7) treated group. Based on biological evidences presented in this article, it is concluded that hexavalent chromium (K(2)Cr(2)O(7)) and TW has got significant eco-damaging potential clearly elaborating that environmental burden in district Kasur is numerous and high levels of chromium is posing a considerable risk to the human population, aquaculture and agricultural

  2. A review on wastewater disinfection

    Mohammad Mehdi Amin

    2013-01-01

    Full Text Available Changes in regulations and development of new technologies have affected the selection of alternative for treated wastewater disinfection. Disinfection is the last barrier of wastewater reclamation process to protect ecosystem safety and human health. Driving forces include water scarcity and drinking water supply, irrigation, rapid industrialization, using reclaimed water, source protection, overpopulation, and environmental protection. The safe operation of water reuse depends on effluent disinfection. Understanding the differences in inactivation mechanisms is critical to identify rate-limiting steps involved in the inactivation process as well as to develop more effective disinfection strategies. Disinfection byproducts discharged from wastewater treatment plants may impair aquatic ecosystems and downstream drinking-water quality. Numerous inorganic and organic micropollutants can undergo reactions with disinfectants. Therefore, to mitigate the adverse effects and also to enhance that efficiency, the use of alternative oxidation/disinfection systems should be evaluated as possible alternative to chlorine. This review gives a summary of the traditional, innovative, and combined disinfection alternatives and also disinfection byproducts for effluent of municipal wastewater treatment plants.

  3. Design in Domestic Wastewater Irrigation

    Huibers, F.P.; Raschid-Sally, L.

    2005-01-01

    When looking at the domestic wastewater streams, from freshwater source to destination in an agricultural field, we are confronted with a complexity of issues that need careful attention. Social and economic realities arise, along with technical, biological and institutional issues. Local realities

  4. Imprinted Polymers in Wastewater Treatment

    Eastman, Christopher; Goodrich, Scott; Gartner, Isabelle; Mueller, Anja

    2004-03-31

    In wastewater treatment, a method that specifically recognizes a variety of impurities in a flexible manner would be useful for treatment facilities with varying needs. Current purification techniques (i.e. bacteria, oxidation, reduction, precipitation and filtration) are nonspecific and difficult to control in complex mixtures. Heavy metal removal is particularly important in improving the efficiency of wastewater treatment, as they inhibit or even destroy the bacteria used for filtration. Imprinting polymerization is a technique that allows for the efficient removal of specific compounds and has been used in purification of enantiomers. It has potential to be applied in wastewater systems with the impurities acting as the template for the imprinting polymerization. The polymer with the bound impurities intact can then be removed via precipitation. After removal of the impurity the polymer can be reused. Data for the imprinting polymerization of polyacrylates and polyacrylamides for several metal complexes will be presented. Imprinting polymerization in combination with emulsion polymerization to improve the removal of hydrophobic contaminants will be described. Removal efficiencies will be presented and compared with conventional wastewater treatment methods.

  5. Artificial wetland for wastewater treatment

    Arias I, Carlos A; Brix, Hans

    2003-01-01

    The development of constructed wetland technology for wastewater treatment has gone a long way and from an experimental and unknown empirical method, which was capable of handling wastewater a sound technology was developed. Thanks to research, and the work of many public and private companies that have gather valuable operation information, constructed wetland technology has evolved to be a relievable, versatile and effective way to treat wastewater, run off, handle sludge and even improve environmental quality and provide recreation sites, while maintaining low operation and maintenance costs, and at the same time, producing water of quality that can meet stringent regulations, while being and environmental friendly solution to treat waste-waters. Constructed wetlands can be established in many different ways and its characteristics can differ greatly, according to the user needs, the geographic site and even the climatic conditions of the area. The following article deals with the general characteristics of the technology and the physical and chemical phenomena that govern the pollution reduction with in the different available systems

  6. Green Systems for Wastewater Treatment

    Environmental Science and Technology, 1975

    1975-01-01

    Plants found in marshlands and wetlands in many parts of the world may play an increasing part in a very new, yet very old approach to treatment of water and wastewater--the application of biological methods. Biological water pollution control methods being utilized around the world are examined. (BT)

  7. Fluidization of Dried Wastewater Sludge.

    Hartman, Miloslav; Pohořelý, Michael; Trnka, Otakar

    2007-01-01

    Roč. 178, 3 (2007) , s. 166-172 ISSN 0032-5910 R&D Projects: GA AV ČR(CZ) IAA4072201 Institutional research plan: CEZ:AV0Z40720504 Keywords : fluidization characteristics * multiphase reactors * dried stabilized wastewater sludge Subject RIV: CI - Industrial Chemistry, Chemical Engineering Impact factor: 1.130, year: 2007

  8. ONKALO POSE experiment. Phase 3: acoustic and ultrasonic monitoring

    Reyes-Montes, J.; Flynn, W.; Huang, J.

    2014-01-01

    The objectives of the third phase of the POSE experiment are to determine the in situ state of stress at Olkiluoto and the spalling strength of Olkiluoto rock, by internal heating of the experimental hole (ONK-EH3) using 8 vertically installed heaters. This report presents the results from the Acoustic and ultrasonic monitoring carried out around the third experimental hole of the POSE niche between November 2012 and May 2013. The experiment was monitored using an array of 24 transducers installed along 4 monitoring drillholes and data was automatically acquired and processed using the system installed at the niche by Applied Seismology Consultants in May 2012. Daily ultrasonic surveys were carried out between 14 th November 2012 and 21 st May 2013, monitoring the changes in transmission velocities of P and S-waves with an estimated error of ±2 m x s -1 (ASC, 2013). Changes in transmission velocities closely follow the evolution of the temperature profile in the hole wall. An increase in both P-and S-wave transmission velocities is observed at all depth levels and surveyed raypaths during the heating phase, with the highest changes observed in raypaths skimming the hole surface and depths between 2.33 m and 3.7 m. This observation indicates the closure of in situ and excavation-induced microcracks due to thermal stress. After the heaters were switched off, P-wave velocities show a marked decrease, in all raypaths reaching values below those measured at the start of the monitoring approximately 4 weeks after the heaters were switched off. The highest decrease was observed along raypaths surveying the region skimming the hole wall. This decrease below original background values indicates the induction of rock degradation as microcracking induced through the heating-cooling cycle. Changes in P- and S-wave transmission velocity were used to calculate changes in Young's modulus and Poisson's ratio along the different raypaths and depth levels. An overall

  9. Crisis planning to manage risks posed by animal rights extremists.

    Bailey, Matthew R; Rich, Barbara A; Bennett, B Taylor

    2010-01-01

    Among the multitude of crises that US research institutions may face are those caused by animal rights activists. While most activists opposed to animal research use peaceful and lawful means of expressing their opinions, some extremists resort to illegal methods. Arson, break-ins, and theft with significant property damage at US animal research facilities began in the 1980s. The most troubling trend to develop in the past decade is the targeting of individuals associated with animal research, whether directly or indirectly, and the use of violent scare tactics to intimidate researchers and their families. The National Association for Biomedical Research has a 30-year history of monitoring the animal rights movement and assisting member institutions with crisis situations. In this article we discuss attacks on researchers at their homes, cyber crimes, exploitation of new media formats, infiltration of research facilities, and the targeting of external research stakeholders and business partners. We describe the need for a well-conceived crisis management plan and strong leadership to mitigate crisis situations. Institutions with well-informed leaders and crisis management teams ready to take timely action are best equipped to protect staff, laboratory animals, and research programs. They act on early warnings, provide support for targeted staff, seek legal remedies, thoughtfully control access to research facilities, and identify and enlist new research supporters. We underscore the importance of up-to-date crisis planning so that institutions are not only aware of ongoing risks posed by animal rights extremists but also better prepared to take preemptive action and able to manage those risks successfully.

  10. Investigation of Problem-Solving and Problem-Posing Abilities of Seventh-Grade Students

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

    This study aims to examine the effect of multiple problem-solving skills on the problem-posing abilities of gifted and non-gifted students and to assess whether the possession of such skills can predict giftedness or affect problem-posing abilities. Participants' metaphorical images of problem posing were also explored. Participants were 20 gifted…

  11. Cultural adaptations to the differential threats posed by hot versus cold climates.

    Murray, Damian R

    2013-10-01

    Hot and cold climates have posed differential threats to human survival throughout history. Cold temperatures can pose direct threats to survival in themselves, whereas hot temperatures may pose threats indirectly through higher prevalence of infectious disease. These differential threats yield convergent predictions for the relationship between more demanding climates and freedom of expression, but divergent predictions for freedom from discrimination.

  12. Single-frame 3D human pose recovery from multiple views

    Hofmann, M.; Gavrila, D.M.

    2009-01-01

    We present a system for the estimation of unconstrained 3D human upper body pose from multi-camera single-frame views. Pose recovery starts with a shape detection stage where candidate poses are generated based on hierarchical exemplar matching in the individual camera views. The hierarchy used in

  13. Multi-view 3D Human Pose Estimation in Complex Environment

    Hofmann, K.M.; Gavrila, D.M.

    2012-01-01

    We introduce a framework for unconstrained 3D human upper body pose estimation from multiple camera views in complex environment. Its main novelty lies in the integration of three components: single-frame pose recovery, temporal integration and model texture adaptation. Single-frame pose recovery

  14. Monitoring of drug resistance amplification and attenuation with the use of tetracycline-resistant bacteria during wastewater treatment

    Harnisz, Monika; Korzeniewska, Ewa; Niestępski, Sebastian; Osińska, Adriana; Nalepa, Beata

    2017-11-01

    The objective of this study was to monitor changes (amplification or attenuation) in antibiotic resistance during wastewater treatment based on the ecology of tetracycline-resistant bacteria. The untreated and treated wastewater were collected in four seasons. Number of tetracycline-(TETR) and oxytetracycline-resistant (OTCR) bacteria, their qualitative composition, minimum inhibitory concentrations (MICs), sensitivity to other antibiotics, and the presence of tet (A, B, C, D, E) resistance genes were determined. TETR and OTCR counts in untreated wastewater were 100 to 1000 higher than in treated effluent. OTCR bacterial counts were higher than TETR populations in both untreated and treated wastewater. TETR isolates were not dominated by a single bacterial genus or species, whereas Aeromonas hydrophila and Aeromonas sobria were the most common in OTCR isolates. The treatment process attenuated the drug resistance of TETR bacteria and amplified the resistance of OTCR bacteria. In both microbial groups, the frequency of tet(A) gene increased in effluent in comparison with untreated wastewater. Our results also indicate that treated wastewater is a reservoir of multiple drug-resistant bacteria as well as resistance determinants which may pose a health hazard for humans and animals when released to the natural environment.

  15. State estimation for large-scale wastewater treatment plants.

    Busch, Jan; Elixmann, David; Kühl, Peter; Gerkens, Carine; Schlöder, Johannes P; Bock, Hans G; Marquardt, Wolfgang

    2013-09-01

    Many relevant process states in wastewater treatment are not measurable, or their measurements are subject to considerable uncertainty. This poses a serious problem for process monitoring and control. Model-based state estimation can provide estimates of the unknown states and increase the reliability of measurements. In this paper, an integrated approach is presented for the optimization-based sensor network design and the estimation problem. Using the ASM1 model in the reference scenario BSM1, a cost-optimal sensor network is designed and the prominent estimators EKF and MHE are evaluated. Very good estimation results for the system comprising 78 states are found requiring sensor networks of only moderate complexity. Copyright © 2013 Elsevier Ltd. All rights reserved.

  16. Organic contaminants in onsite wastewater treatment systems

    Conn, K.E.; Siegrist, R.L.; Barber, L.B.; Brown, G.K.

    2007-01-01

    Wastewater from thirty onsite wastewater treatment systems was sampled during a reconnaissance field study to quantify bulk parameters and the occurrence of organic wastewater contaminants including endocrine disrupting compounds in treatment systems representing a variety of wastewater sources and treatment processes and their receiving environments. Bulk parameters ranged in concentrations representative of the wide variety of wastewater sources (residential vs. non-residential). Organic contaminants such as sterols, surfactant metabolites, antimicrobial agents, stimulants, metal-chelating agents, and other consumer product chemicals, measured by gas chromatography/mass spectrometry were detected frequently in onsite system wastewater. Wastewater composition was unique between source type likely due to differences in source water and chemical usage. Removal efficiencies varied by engineered treatment type and physicochemical properties of the contaminant, resulting in discharge to the soil treatment unit at ecotoxicologically-relevant concentrations. Organic wastewater contaminants were detected less frequently and at lower concentrations in onsite system receiving environments. Understanding the occurrence and fate of organic wastewater contaminants in onsite wastewater treatment systems will aid in minimizing risk to ecological and human health.

  17. Characterization of the resistome in manure, soil and wastewater from dairy and beef production systems.

    Noyes, Noelle R; Yang, Xiang; Linke, Lyndsey M; Magnuson, Roberta J; Cook, Shaun R; Zaheer, Rahat; Yang, Hua; Woerner, Dale R; Geornaras, Ifigenia; McArt, Jessica A; Gow, Sheryl P; Ruiz, Jaime; Jones, Kenneth L; Boucher, Christina A; McAllister, Tim A; Belk, Keith E; Morley, Paul S

    2016-04-20

    It has been proposed that livestock production effluents such as wastewater, airborne dust and manure increase the density of antimicrobial resistant bacteria and genes in the environment. The public health risk posed by this proposed outcome has been difficult to quantify using traditional microbiological approaches. We utilized shotgun metagenomics to provide a first description of the resistome of North American dairy and beef production effluents, and identify factors that significantly impact this resistome. We identified 34 mechanisms of antimicrobial drug resistance within 34 soil, manure and wastewater samples from feedlot, ranch and dairy operations. The majority of resistance-associated sequences found in all samples belonged to tetracycline resistance mechanisms. We found that the ranch samples contained significantly fewer resistance mechanisms than dairy and feedlot samples, and that the resistome of dairy operations differed significantly from that of feedlots. The resistome in soil, manure and wastewater differed, suggesting that management of these effluents should be tailored appropriately. By providing a baseline of the cattle production waste resistome, this study represents a solid foundation for future efforts to characterize and quantify the public health risk posed by livestock effluents.

  18. Characteristics and Biodegradability of Wastewater Organic Matter in Municipal Wastewater Treatment Plants Collecting Domestic Wastewater and Industrial Discharge

    Yun-Young Choi; Seung-Ryong Baek; Jae-In Kim; Jeong-Woo Choi; Jin Hur; Tae-U Lee; Cheol-Joon Park; Byung Joon Lee

    2017-01-01

    Municipal wastewater treatment plants (WWTPs) in Korea collect and treat not only domestic wastewater, but also discharge from industrial complexes. However, some industrial discharges contain a large amount of non-biodegradable organic matter, which cannot be treated properly in a conventional biological WWTP. This study aimed to investigate the characteristics and biodegradability of the wastewater organic matter contained in the industrial discharges and to examine the fate of the industri...

  19. Nitrification of an industrial wastewater in a moving-bed biofilm reactor: effect of salt concentration.

    Vendramel, Simone; Dezotti, Marcia; Sant'Anna, Geraldo L

    2011-01-01

    Nitrification of wastewaters from chemical industries can pose some challenges due to the presence of inhibitory compounds. Some wastewaters, besides their organic complexity present variable levels of salt concentration. In order to investigate the effect of salt (NaCl) content on the nitrification of a conventional biologically treated industrial wastewater, a bench scale moving-bed biofilm reactor was operated on a sequencing batch mode. The wastewater presenting a chloride content of 0.05 g l(-1) was supplemented with NaCl up to 12 g Cl(-) l(-1). The reactor operation cycle was: filling (5 min), aeration (12 or 24h), settling (5 min) and drawing (5 min). Each experimental run was conducted for 3 to 6 months to address problems related to the inherent wastewater variability and process stabilization. A PLC system assured automatic operation and control of the pertinent process variables. Data obtained from selected batch experiments were adjusted by a kinetic model, which considered ammonia, nitrite and nitrate variations. The average performance results indicated that nitrification efficiency was not influenced by chloride content in the range of 0.05 to 6 g Cl(-) l(-1) and remained around 90%. When the chloride content was 12 g Cl(-) l(-1), a significant drop in the nitrification efficiency was observed, even operating with a reaction period of 24 h. Also, a negative effect of the wastewater organic matter content on nitrification efficiency was observed, which was probably caused by growth of heterotrophs in detriment of autotrophs and nitrification inhibition by residual chemicals.

  20. Investigation of PPCPs in wastewater treatment plants in Greece: occurrence, removal and environmental risk assessment.

    Kosma, Christina I; Lambropoulou, Dimitra A; Albanis, Triantafyllos A

    2014-01-01

    In the present work, an extensive study on the presence of eighteen pharmaceuticals and personal care products (PPCPs) in eight wastewater treatment plants (WWTPs) of Greece has been conducted. The study covered four sampling periods over 1-year, where samples (influents; effluents) from eight WWTPs of various cities in Greece were taken. All WWTPs investigated are equipped with conventional activated sludge treatment. A common pre-concentration step based on SPE was applied, followed by LC-UV/Vis-ESI-MS. Further confirmation of positive findings was accomplished by using LC coupled to a high resolution Orbitrap mass spectrometer. The results showed the occurrence of all target compounds in the wastewater samples with concentrations up to 96.65 μg/L. Paracetamol, caffeine, trimethoprim, sulfamethoxazole, carbamazepine, diclofenac and salicylic acid were the dominant compounds, while tolfenamic acid, fenofibrate and simvastatin were the less frequently detected compounds with concentrations in effluents below the LOQ. The removal efficiencies showed that many WWTPs were unable to effectively remove most of the PPCPs investigated. Finally, the study provides an assessment of the environmental risk posed by their presence in wastewaters by means of the risk quotient (RQ). RQs were more than unity for various compounds in the effluents expressing possible threat for the aquatic environment. Triclosan was found to be the most critical compound in terms of contribution and environmental risk, concluding that it should be seriously considered as a candidate for regulatory monitoring and prioritization on a European scale on the basis of realistic PNECs. The results of the extensive monitoring study contributed to a better insight on PPCPs in Greece and their presence in influent and effluent wastewaters. Furthermore, the unequivocal identification of two transformation products of trimethoprim in real wastewaters by using the advantages of the LTQ Orbitrap capabilities

  1. Potential dual use of biochar for wastewater treatment and soil amelioration

    Marschner, Bernd; Werner, Steffen; Alfes, Karsten; Lübken, Manfred

    2013-04-01

    Irrigating crops with wastewater from open drainage channels is a common practice in urban agricultural production in many dry regions of Africa, Asia and Latin America. While the wastewater-borne nutrients reduce the need for inputs of mineral fertilizers or manures and thus reduce production costs, wastewater-borne pathogens and contaminants pose a health risk for the producers and consumers of the crops. Furthermore, the input of nutrients with the irrigation water may greatly exceed crop requirements and thus lead to unproductive leaching losses of nutrients. It is generally acknowledged that biochar additions can increase the soil's sorption and retention capacity for nutrients and water. However, positive effects on crop production are generally only observed, if this is combined with mineral fertilizers or manures due to the low nutrient content of biochars. Biochar possibly also has a high potential for use in water purification, replacing the coal-based activated carbon as a sorbent for contaminants and pathogens. It was therefore hypothesized that biochar can be used for pathogen removal from wastewater while at the same time being loaded with nutrients and contaminants. If contaminants are of minor concern the "loaded" biochar can be used as a soil amendment, providing not only long-term sorption capacity but also nutrients. Experiments were conducted with pyrochar from Miscanthus, rice husks and wood chips, which strongly differed in elemental composition, MIR-DRIFT spectra, surface charge properties and sorption potential for DOC and phosphate. When used as top filter layer in a sand column system, the biochars effectively reduced E. coli concentrations from raw wastewater by up to 2 log units. While biochars from rice husks and Miscanthus accumulated N substantially, wood chip biochar showed no N retention. On the other hand, P accumulation was most pronounced for wood chip biochar. Ongoing incubation experiments with the "loaded" and fresh biochar in

  2. Satellite Remote Sensing Detection of Coastal Pollution in Southern California: Stormwater Runoff and Wastewater Plumes

    Trinh, R. C.; Holt, B.; Gierach, M.

    2016-02-01

    Coastal pollution poses a major health and environmental hazard, not only for beach goers and coastal communities but for marine organisms as well. Stormwater runoff is the largest source of environmental pollution in coastal waters of the Southern California Bight (SCB) and is of great concern in increasingly urbanized areas. Buoyant wastewater plumes also pose a marine environmental risk. In this study we provide a comprehensive overview of satellite remote sensing capabilities in detecting buoyant coastal pollutants in the form of stormwater runoff and wastewater effluent. The SCB is the final destination of four major urban rivers that act as channels for runoff and pollution during and after rainstorms. We analyzed and compared sea surface roughness data from various Synthetic Aperture Radar (SAR) instruments to ocean color data from the Moderate Imaging System (MODIS) sensor on board the Aqua satellite and correlated the results with existing environmental data in order to create a climatology of naturally occurring stormwater plumes in coastal waters after rain events, from 1992 to 2014 from four major rivers in the area. Heat maps of the primary extent of stormwater plumes were constructed to specify areas that may be subject to the greatest risk of coastal contamination. In conjunction with our efforts to monitor coastal pollution and validate the abilities of satellite remote sensing, a recent Fall 2015 wastewater diversion from the City of Los Angeles Hyperion Treatment Plant (HTP) provided the opportunity to apply these remote sensing methodologies of plume detection to wastewater. During maintenance of their 5-mile long outfall pipe, wastewater is diverted to a shorter outfall pipe that terminates 1-mile offshore and in shallower waters. Sea surface temperature (SST), chlorophyll-a (chl-a) fluorescence, remote sensing reflectance and particulate backscatter signatures were analyzed from MODIS. Terra-ASTER and Landsat-8 thermal infrared data were also

  3. Sequential micro and ultrafiltration of distillery wastewater

    Vasić Vesna M.

    2015-01-01

    Full Text Available Water reuse and recycling, wastewater treatment, drinking water production and environmental protection are the key challenges for the future of our planet. Membrane separation technologies for the removal of all suspended solids and a fraction of dissolved solids from wastewaters, are becoming more and more promising. Also, these processes are playing a major role in wastewater purification systems because of their high potential for recovery of water from many industrial wastewaters. The aim of this work was to evaluate the application of micro and ultrafiltration for distillery wastewater purification in order to produce water suitable for reuse in the bioethanol industry. The results of the analyses of the permeate obtained after micro and ultrafiltration showed that the content of pollutants in distillery wastewater was significantly reduced. The removal efficiency for chemical oxygen demand, dry matter and total nitrogen was 90%, 99.2% and 99.9%, respectively. Suspended solids were completely removed from the stillage.

  4. Water and Wastewater Rate Hikes Outpace CPI

    Stratton, Hannah [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Fuchs, Heidi [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Chen, Yuting [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Dunham, Camilla [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Williams, Alison [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

    2017-08-31

    Water and wastewater treatment and delivery is the most capital-intensive of all utility services. Historically underpriced, water and wastewater rates have exhibited unprecedented growth in the past fifteen years. Steep annual increases in water and wastewater rates that outpace the Consumer Price Index (CPI) have increasingly become the norm across the United States. In this paper, we analyze water and wastewater rates across U.S. census regions between 2000 and 2014. We also examine some of the driving factors behind these rate increases, including drought, water source, required infrastructure investment, population patterns, and conservation effects. Our results demonstrate that water and wastewater prices have consistently increased and have outstripped CPI throughout the study period nationwide, as well as within each census region. Further, evaluation of the current and upcoming challenges facing water and wastewater utilities suggests that sharp rate increases are likely to continue in the foreseeable future.

  5. Performance of wastewater treatment plants in Jordan and suitability ...

    STORAGESEVER

    2008-08-04

    Aug 4, 2008 ... and NH4; therefore it is classified as a strong waste. ... Key words: Wastewater, treatment plants, water reuse, wastewater characteristics, wastewater treatment,. Jordan. ..... MSc. thesis, university of Jordan. Bataineh F, Najjar ...

  6. Creativity of Field-dependent and Field-independent Students in Posing Mathematical Problems

    Azlina, N.; Amin, S. M.; Lukito, A.

    2018-01-01

    This study aims at describing the creativity of elementary school students with different cognitive styles in mathematical problem-posing. The posed problems were assessed based on three components of creativity, namely fluency, flexibility, and novelty. The free-type problem posing was used in this study. This study is a descriptive research with qualitative approach. Data collections were conducted through written task and task-based interviews. The subjects were two elementary students. One of them is Field Dependent (FD) and the other is Field Independent (FI) which were measured by GEFT (Group Embedded Figures Test). Further, the data were analyzed based on creativity components. The results show thatFD student’s posed problems have fulfilled the two components of creativity namely fluency, in which the subject posed at least 3 mathematical problems, and flexibility, in whichthe subject posed problems with at least 3 different categories/ideas. Meanwhile,FI student’s posed problems have fulfilled all three components of creativity, namely fluency, in which thesubject posed at least 3 mathematical problems, flexibility, in which thesubject posed problems with at least 3 different categories/ideas, and novelty, in which the subject posed problems that are purely the result of her own ideas and different from problems they have known.

  7. Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

    Lujiang Liu

    2016-06-01

    Full Text Available Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective.

  8. Contribution of hospital effluents to the load of pharmaceuticals in urban wastewaters: identification of ecologically relevant pharmaceuticals.

    Santos, Lúcia H M L M; Gros, Meritxell; Rodriguez-Mozaz, Sara; Delerue-Matos, Cristina; Pena, Angelina; Barceló, Damià; Montenegro, M Conceição B S M

    2013-09-01

    The impact of effluent wastewaters from four different hospitals: a university (1456 beds), a general (350 beds), a pediatric (110 beds) and a maternity hospital (96 beds), which are conveyed to the same wastewater treatment plant (WWTP), was evaluated in the receiving urban wastewaters. The occurrence of 78 pharmaceuticals belonging to several therapeutic classes was assessed in hospital effluents and WWTP wastewaters (influent and effluent) as well as the contribution of each hospital in WWTP influent in terms of pharmaceutical load. Results indicate that pharmaceuticals are widespread pollutants in both hospital and urban wastewaters. The contribution of hospitals to the input of pharmaceuticals in urban wastewaters widely varies, according to their dimension. The estimated total mass loadings were 306 g d(-1) for the university hospital, 155 g d(-1) for the general one, 14 g d(-1) for the pediatric hospital and 1.5 g d(-1) for the maternity hospital, showing that the biggest hospitals have a greater contribution to the total mass load of pharmaceuticals. Furthermore, analysis of individual contributions of each therapeutic group showed that NSAIDs, analgesics and antibiotics are among the groups with the highest inputs. Removal efficiency can go from over 90% for pharmaceuticals like acetaminophen and ibuprofen to not removal for β-blockers and salbutamol. Total mass load of pharmaceuticals into receiving surface waters was estimated between 5 and 14 g/d/1000 inhabitants. Finally, the environmental risk posed by pharmaceuticals detected in hospital and WWTP effluents was assessed by means of hazard quotients toward different trophic levels (algae, daphnids and fish). Several pharmaceuticals present in the different matrices were identified as potentially hazardous to aquatic organisms, showing that especial attention should be paid to antibiotics such as ciprofloxacin, ofloxacin, sulfamethoxazole, azithromycin and clarithromycin, since their hazard quotients

  9. Separation of Tritium from Wastewater

    JEPPSON, D.W.

    2000-01-01

    A proprietary tritium loading bed developed by Molecular Separations, Inc (MSI) has been shown to selectively load tritiated water as waters of hydration at near ambient temperatures. Tests conducted with a 126 (micro)C 1 tritium/liter water standard mixture showed reductions to 25 (micro)C 1 /L utilizing two, 2-meter long columns in series. Demonstration tests with Hanford Site wastewater samples indicate an approximate tritium concentration reduction from 0.3 (micro)C 1 /L to 0.07 (micro)C 1 /L for a series of two, 2-meter long stationary column beds Further reduction to less than 0.02 (micro)C 1 /L, the current drinking water maximum contaminant level (MCL), is projected with additional bed media in series. Tritium can be removed from the loaded beds with a modest temperature increase and the beds can be reused Results of initial tests are presented and a moving bed process for treating large quantities of wastewaters is proposed. The moving bed separation process appears promising to treat existing large quantities of wastewater at various US Department of Energy (DOE) sites. The enriched tritium stream can be grouted for waste disposition. The separations system has also been shown to reduce tritium concentrations in nuclear reactor cooling water to levels that allow reuse. Energy requirements to reconstitute the loading beds and waste disposal costs for this process appear modest

  10. Sonochemical disinfection of municipal wastewater

    Antoniadis, Apostolos; Poulios, Ioannis; Nikolakaki, Eleni; Mantzavinos, Dionissios

    2007-01-01

    The application of high intensity, low frequency ultrasound for the disinfection of simulated and septic tank wastewaters is evaluated in this work. Laboratory scale experiments were conducted at 24 and 80 kHz ultrasound frequency with horn-type sonicators capable of operating in continuous and pulsed irradiation modes at nominal ultrasound intensities up to 450 W. For the experiments with simulated wastewaters, Escherichia coli were used as biological indicator of disinfection efficiency, while for the experiments with septic tank wastewaters, the total microbiological load was used. Complete elimination of E. coli could be achieved within 20-30 min of irradiation at 24 kHz and 450 W with the efficiency decreasing with decreasing intensity and frequency. Moreover, continuous irradiation was more effective than intermittent treatment based on a common energy input. Irradiation of the septic tank effluent prior to biological treatment at 24 kHz and 450 W for 30 min resulted in a three-log total microbiological load reduction, and this was nearly equal to the reduction that could be achieved during biological treatment. Bacterial cell elimination upon irradiation was irreversible as no reappearance of the microorganisms occurred after 24 h

  11. Effects of alumina refinery wastewater and signature metal constituents at the upper thermal tolerance of: 2. The early life stages of the coral Acropora tenuis

    Negri, Andrew P.; Harford, Andrew J.; Parry, David L.; Dam, Rick A. van

    2011-01-01

    Research highlights: →Methodology to assess relevant toxicants to sensitive early life histories of coral. → Explored the thermal sensitivity of fertilisation and larval metamorphosis in a coral. → First study to identify IC 50 s for Al, Ga and V in corals (at summer temperature). → First study to test the effects of an alumina outfall wastewater on coral. → Found additive effects of wastewater and high SST on fertilisation and metamorphosis. - Abstract: The success of early life history transitions of the coral Acropora tenuis were used as endpoints to evaluate thermal stress and the effects of wastewater discharged to a tropical marine environment. The studies assessed the effects of: (i) temperature; (ii) three signature metals of the wastewater, aluminium (Al), vanadium (V) and gallium (Ga); and (iii) the wastewater (at 27 o C and 32 o C) on fertilisation and larval metamorphosis. The median inhibition temperatures for fertilisation and metamorphosis were 32.8 o C and 33.0 o C, respectively. Fertilisation IC 50 s for Al, V and Ga were 2997, 2884 and 3430 μg L -1 , respectively. Metamorphosis IC 50 s for Al, V and Ga were 1945, 675 and 3566 μg L -1 , respectively. The wastewater only affected fertilisation and metamorphosis at moderate concentrations (IC 50 s = 63% and 67%, v/v, respectively, at 27 o C), posing a low risk to this species in the field. The effects of wastewater and temperature on fertilisation and metamorphosis were additive.

  12. Characterization of persistent colors and decolorization of effluent from biologically treated cellulosic ethanol production wastewater.

    Shan, Lili; Liu, Junfeng; Yu, Yanling; Ambuchi, John J; Feng, Yujie

    2016-05-01

    The high chroma of cellulosic ethanol production wastewater poses a serious environmental concern; however, color-causing compounds are still not fully clear. The characteristics of the color compounds and decolorization of biologically treated effluent by electro-catalytic oxidation were investigated in this study. Excitation-emission matrix (EEM), fourier transform infrared spectrometer (FTIR), UV-Vis spectra, and ultrafiltration (UF) fractionation were used to analyze color compounds. High chroma of wastewater largely comes from humic materials, which exhibited great fluorescence proportion (67.1 %) in the biologically treated effluent. Additionally, the color compounds were mainly distributed in the molecular weight fractions with 3-10 and 10-30 kDa, which contributed 53.5 and 34.6 % of the wastewater color, respectively. Further decolorization of biologically treated effluent by electro-catalytic oxidation was investigated, and 98.3 % of color removal accompanied with 97.3 % reduction of humic acid-like matter was achieved after 180 min. The results presented herein will facilitate the development of a well decolorization for cellulosic ethanol production wastewater and better understanding of the biological fermentation.

  13. Antibiotic Resistance and Antibiotic Resistance Genes in Escherichia coli Isolates from Hospital Wastewater in Vietnam.

    Lien, La Thi Quynh; Lan, Pham Thi; Chuc, Nguyen Thi Kim; Hoa, Nguyen Quynh; Nhung, Pham Hong; Thoa, Nguyen Thi Minh; Diwan, Vishal; Tamhankar, Ashok J; Stålsby Lundborg, Cecilia

    2017-06-29

    The environmental spread of antibiotic-resistant bacteria has been recognised as a growing public health threat for which hospitals play a significant role. The aims of this study were to investigate the prevalence of antibiotic resistance and antibiotic resistance genes (ARGs) in Escherichia coli isolates from hospital wastewater in Vietnam. Wastewater samples before and after treatment were collected using continuous sampling every month over a year. Standard disk diffusion and E-test were used for antibiotic susceptibility testing. Extended-spectrum beta-lactamase (ESBL) production was tested using combined disk diffusion. ARGs were detected by polymerase chain reactions. Resistance to at least one antibiotic was detected in 83% of isolates; multidrug resistance was found in 32%. The highest resistance prevalence was found for co-trimoxazole (70%) and the lowest for imipenem (1%). Forty-three percent of isolates were ESBL-producing, with the bla TEM gene being more common than bla CTX-M . Co-harbouring of the bla CTX-M , bla TEM and qepA genes was found in 46% of isolates resistant to ciprofloxacin. The large presence of antibiotic-resistant E. coli isolates combined with ARGs in hospital wastewater, even post-treatment, poses a threat to public health. It highlights the need to develop effective processes for hospital wastewater treatment plants to eliminate antibiotic resistant bacteria and ARGs.

  14. Treatment of wastewaters from manufactured gas plants

    Cocheci, V.; Bogatu, C.; Radovan, C. [Technical University of Timisoara, Timisoara (Romania)

    1995-12-31

    The treatment of wastewaters with high concentrations of organic compounds often represents a difficult problem. In some cases, for the destruction and removal of toxic compounds using processes like biological and chemical oxidation were proposed. Wastewaters from manufactured gas plants contain high concentrations of organic pollutants and ammonia. In this paper a technology for the treatment of these wastewaters is proposed. The experiments were realized with wastewaters from two Romanian manufactured gas plants. The process consists of the following steps: polycondensation-settling-stripping-biological treatment-electrocoagulation-electrochemical oxidation, or chemical oxidation. 6 refs., 4 tabs.

  15. Uptake of human pharmaceuticals in bull sharks (Carcharhinus leucas) inhabiting a wastewater-impacted river.

    Gelsleichter, James; Szabo, Nancy J

    2013-07-01

    The presence of human pharmaceuticals in sewage-impacted ecosystems is a growing concern that poses health risks to aquatic wildlife. Despite this, few studies have investigated the uptake of active pharmaceutical ingredients (APIs) in aquatic organisms. In this study, the uptake of 9 APIs from human drugs was examined and compared in neonate bull sharks (Carcharhinus leucas) residing in pristine (Myakka River) and wastewater-impacted (Caloosahatchee River) tributaries of Florida's Charlotte Harbor estuary. The synthetic estrogen used in human contraceptives (17α-ethynylestradiol) and 6 of the selective serotonin/norepinephrine reuptake inhibitors (citalopram, fluoxetine, fluvoxamine, paroxetine, sertraline, venlafaxine) used in human antidepressants were observed at detectable and, in some cases, quantifiable levels in plasma of Caloosahatchee River sharks. Comparatively, only venlafaxine was detected in the plasma of a single Myakka River shark at a level below the limit of quantitation. These results suggest that sharks residing in wastewater-impacted habitats accumulate APIs, a factor that may pose special risks to C. leucas since it is one of few shark species to regularly occupy freshwater systems. Further research is needed to determine if the low levels of API uptake observed in Caloosahatchee River bull sharks pose health risks to these animals. Copyright © 2013 Elsevier B.V. All rights reserved.

  16. Safe Re-use Practices in Wastewater-Irrigated Urban Vegetable Farming in Ghana

    Keraita, Bernard; Abaidoo, R.C; Beernaerts, I.

    2012-01-01

    of stakeholders at different levels along the food chain. This paper presents an overview of safe re-use practices including farm-based water treatment methods, water application techniques, post-harvest handling practices, and washing methods. The overview is based on a comprehensive analysis of the literature......Irrigation using untreated wastewater poses health risks to farmers and consumers of crop products, especially vegetables. With hardly any wastewater treatment in Ghana, a multiple-barrier approach was adopted and safe re-use practices were developed through action research involving a number...... and our own specific studies, which used data from a broad range of research methods and approaches. Identifying, testing, and assessment of safe practices were done with the active participation of key actors using observations, extensive microbiological laboratory assessments, and field...

  17. Perbedaan Keterampilan Pemecahan Masalah pada Pembelajaran Fisika Menggunakan Metode Problem Posing dan Problem Solving

    Rahman, Adetya; Hartini, Sri; An'nur, Syubhan

    2015-01-01

    Teachers should be able to choose the method of learning that can help students in learning physics, namely the method of problem posing and problem solving method. The purposes of this study are : (1) describe the learning physics skills by using problem posing method, (2) describe the learning physics skills by using problem solving method, and (3) know difference between learning physics skills by using problem posing method and problem solving method in class XI of Science SMAN 6 Banjarma...

  18. Teach it Yourself - Fast Modeling of Industrial Objects for 6D Pose Estimation

    Sølund, Thomas; Rajeeth Savarimuthu, Thiusius; Glent Buch, Anders

    2015-01-01

    In this paper, we present a vision system that allows a human to create new 3D models of novel industrial parts by placing the part in two different positions in the scene. The two shot modeling framework generates models with a precision that allows the model to be used for 6D pose estimation wi....... In addition, the models are applied in a pose estimation application, evaluated with 37 different scenes with 61 unique object poses. The pose estimation results show a mean translation error on 4.97 mm and a mean rotation error on 3.38 degrees....

  19. Secondary wastewater treatment by microalgae isolated from ...

    Microalgae play a fundamental role in primary and secondary wastewater treatment. In this work the growth, photosynthetic activity and removal of phosphorus from wastewater effluents by indigenous blue-green algal species, Spirulina and Oscillatoria, isolated from Gaborone oxidation ponds was studied. Oscillatoria and ...

  20. Treatment and recycling of textile wastewaters

    Ciardelli, G.; Brighetti, G.

    1999-01-01

    The results of an experimental campaign involving the treatment of textile wastewaters for recycle by mean of an absorption resins pilot plant are briefly described. The case study concerned the treatment and reuse of yarns dyeing wastewaters. Results obtained indicate the possibility of an industrial scale implementation of the technique [it

  1. Industrial wastewater treatment with electron beam

    Han, Bumsoo; Ko, Jaein; Kim, Jinkyu; Kim, Yuri; Chung, Wooho [Central Research Institute of Samsung Heavy Industries Co., Taejon (Korea)

    2001-03-01

    Global withdrawals of water to satisfy human demands have grown dramatically in this century. Between 1900 and 1945, water consumption increased by over six times, more than double the rate of population growth. This rapid growth in water demand is due to the increasing reliance on irrigation to achieve food security, the growth of industrial uses, and the increasing use per capita for domestic purposes. Given the seriousness of the situation and future risk of crises, there is an urgent need to develop the water-efficient technologies including economical treatment methods of wastewater and polluted water. In the Central Research Institute of Samsung Heavy Industries (SHI), many industrial wastewater including leachate from landfill area, wastewater from papermill, dyeing complex, petrochemical processes, etc. are under investigation with electron beam irradiation. For the study of treating dyeing wastewater combined with conventional facilities, an electron beam pilot plant for treating 1,000m{sup 3}/day of wastewater from 80,000m{sup 3}/day of total dyeing wastewater has constructed and operated in Taegu Dyeing Industrial Complex. A commercial plant for re-circulation of wastewater from Papermill Company is also designed for S-paper Co. in Cheongwon City, and after the successful installation, up to 80% of wastewater could be re-used in paper producing process. (author)

  2. Industrial wastewater treatment with electron beam

    Han, Bumsoo; Ko, Jaein; Kim, Jinkyu; Kim, Yuri; Chung, Wooho

    2001-01-01

    Global withdrawals of water to satisfy human demands have grown dramatically in this century. Between 1900 and 1945, water consumption increased by over six times, more than double the rate of population growth. This rapid growth in water demand is due to the increasing reliance on irrigation to achieve food security, the growth of industrial uses, and the increasing use per capita for domestic purposes. Given the seriousness of the situation and future risk of crises, there is an urgent need to develop the water-efficient technologies including economical treatment methods of wastewater and polluted water. In the Central Research Institute of Samsung Heavy Industries (SHI), many industrial wastewater including leachate from landfill area, wastewater from papermill, dyeing complex, petrochemical processes, etc. are under investigation with electron beam irradiation. For the study of treating dyeing wastewater combined with conventional facilities, an electron beam pilot plant for treating 1,000m 3 /day of wastewater from 80,000m 3 /day of total dyeing wastewater has constructed and operated in Taegu Dyeing Industrial Complex. A commercial plant for re-circulation of wastewater from Papermill Company is also designed for S-paper Co. in Cheongwon City, and after the successful installation, up to 80% of wastewater could be re-used in paper producing process. (author)

  3. Nutrients requirements in biological industrial wastewater treatment ...

    In both these wastewaters nutrients were not added. A simple formula is introduced to calculate nutrient requirements based on removal efficiency and observed biomass yield coefficient. Key Words: Olive mill wastewater; anaerobic treatment; aerobic treatment; sequencing batch reactor; biomass yield; nutrient requirement.

  4. Domestic wastewater treatment using electron accelerator

    Borrely, Sueli I.

    1995-01-01

    This work aims the application of an industrial electron beam accelerator to disinfect sludge and to remove organic matter existent in the influent and effluent from the Mairipora domestic wastewater treatment plant. The in vitro Co-60 radiosensitivity of the major representative Salmonella species in wastewater from Sao Paulo city was also studied. (author). 66 refs., 19 figs., 12 tabs

  5. Cytogenotoxicity screening of untreated hospital wastewaters using ...

    Physico-chemical parameters of the wastewaters were determined in accordance with standard methods. Onions root growth inhibition test was used to assess the toxic status of the wastewaters, while cytogenotoxicity was measured by microscopic investigation of the chromosomal aberrations. Onion bulbs were exposed ...

  6. Options for wastewater management in Harare, Zimbabwe

    Nhapi, I.

    2004-01-01

    The sustainable management of wastewater should aim at pollution prevention and reduction first, followed by resource recovery and reuse. This thesis shows that substantial water quality improvements could be achieved through a so-called 3-Step Strategic Approach to wastewater management. This

  7. Treatment of Preserved Wastewater with UASB

    Zhang Yongli

    2016-01-01

    Full Text Available The preserved wastewater was treated by the upflow anaerobic sludge blanket (UASB reactor, the effects of the anaerobic time on COD, turbidity, pH, conductivity, SS, absorbance, and decolorization rate of the preserved wastewater were investigated. The results showed that with the increase of the anaerobic time, the treatment effect of the UASB reactor on the preserved wastewater was improved. Under the optimum anaerobic time condition, the COD removal rate, turbidity removal rate, pH, conductivity, SS removal rate, absorbance, and decoloration rate of the wastewater were 49.6%, 38.5%, 5.68, 0.518×104, 24%, 0.598, and 32.4%, respectively. Therefore, the UASB reactor can be used as a pretreatment for the preserved wastewater, in order to reduce the difficulty of subsequent aerobic treatment.

  8. Electron beam treatment of industrial wastewater

    Han, Bumsoo; Kim, JinKyu; Kim, Yuri

    2004-01-01

    For industrial wastewater with low impurity levels such as contaminated ground water, cleaning water and etc., purification only with electron beam is possible, but it should be managed carefully with reducing required irradiation doses as low as possible. Also for industrial wastewater with high impurity levels such as dyeing wastewater, leachate and etc., purification only with electron beam requires high amount of doses and far beyond economies. Electron beam treatment combined with conventional purification methods such as coagulation, biological treatment, etc. is suitable for reduction of non-biodegradable impurities in wastewater and will extend the application area of electron beam. A pilot plant with electron beam for treating 1,000 m 3 /day of wastewater from dyeing industries has constructed and operated continuously since Oct 1998. Electron beam irradiation instead of chemical treatment shows much improvement in removing impurities and increases the efficiency of biological treatment. Actual plant is under consideration based upon the experimental results. (author)

  9. Do contaminants originating from state-of-the-art treated wastewater impact the ecological quality of surface waters?

    Stalter, Daniel; Magdeburg, Axel; Quednow, Kristin; Botzat, Alexandra; Oehlmann, Jörg

    2013-01-01

    Since the 1980s, advances in wastewater treatment technology have led to considerably improved surface water quality in the urban areas of many high income countries. However, trace concentrations of organic wastewater-associated contaminants may still pose a key environmental hazard impairing the ecological quality of surface waters. To identify key impact factors, we analyzed the effects of a wide range of anthropogenic and environmental variables on the aquatic macroinvertebrate community. We assessed ecological water quality at 26 sampling sites in four urban German lowland river systems with a 0-100% load of state-of-the-art biological activated sludge treated wastewater. The chemical analysis suite comprised 12 organic contaminants (five phosphor organic flame retardants, two musk fragrances, bisphenol A, nonylphenol, octylphenol, diethyltoluamide, terbutryn), 16 polycyclic aromatic hydrocarbons, and 12 heavy metals. Non-metric multidimensional scaling identified organic contaminants that are mainly wastewater-associated (i.e., phosphor organic flame retardants, musk fragrances, and diethyltoluamide) as a major impact variable on macroinvertebrate species composition. The structural degradation of streams was also identified as a significant factor. Multiple linear regression models revealed a significant impact of organic contaminants on invertebrate populations, in particular on Ephemeroptera, Plecoptera, and Trichoptera species. Spearman rank correlation analyses confirmed wastewater-associated organic contaminants as the most significant variable negatively impacting the biodiversity of sensitive macroinvertebrate species. In addition to increased aquatic pollution with organic contaminants, a greater wastewater fraction was accompanied by a slight decrease in oxygen concentration and an increase in salinity. This study highlights the importance of reducing the wastewater-associated impact on surface waters. For aquatic ecosystems in urban areas this

  10. The Impact of Climate Change on Raw and Untreated Wastewater Use for Agriculture, Especially in Arid Regions: A Review.

    Faour-Klingbeil, Dima; Todd, Ewen C D

    2018-02-01

    Climate change is one of the major challenges of our time that pose unprecedented stress to the environment and threats to human health. The global impacts of climate change are vast, spanning from extreme weather events to changes in patterns and distribution of infectious diseases. Lack of rainfall associated with higher temperatures has a direct influence on agricultural production. This is compounded by a growing population forecasted to expand further with increasing needs for food and water. All this has led to the increasing use of wastewater worldwide. In this review, we more specifically discuss the use of untreated wastewater in agriculture in the Middle East and North Africa (MENA) countries, the most arid region in the world. This presents challenges for agriculture with respect to water availability and increasing wastewater use in agri-food chain. This in turn exerts pressures on the safety of food raised from such irrigated crops. Current practices in the MENA region indicate that ineffective water resource management, lack of water quality policies, and slow-paced wastewater management strategies continue to contribute to a decline in water resources and an increased unplanned use of black and graywater in agriculture. Radical actions are needed in the region to improve water and wastewater management to adapt to these impacts. In this regard, the 2006 WHO guidelines for the use of wastewater contain recommendations for the most effective solutions. They provide a step-by-step guide for series of appropriate health protection measures for microbial reduction targets of 6 log units for viral, bacterial, and protozoan pathogens, but these need to be combined with new varieties of crops that are drought and pest resistant. More research into economic local treatment procedures for wastewater in the region is warranted.

  11. Do Contaminants Originating from State-of-the-Art Treated Wastewater Impact the Ecological Quality of Surface Waters?

    Stalter, Daniel; Magdeburg, Axel; Quednow, Kristin; Botzat, Alexandra; Oehlmann, Jörg

    2013-01-01

    Since the 1980s, advances in wastewater treatment technology have led to considerably improved surface water quality in the urban areas of many high income countries. However, trace concentrations of organic wastewater-associated contaminants may still pose a key environmental hazard impairing the ecological quality of surface waters. To identify key impact factors, we analyzed the effects of a wide range of anthropogenic and environmental variables on the aquatic macroinvertebrate community. We assessed ecological water quality at 26 sampling sites in four urban German lowland river systems with a 0–100% load of state-of-the-art biological activated sludge treated wastewater. The chemical analysis suite comprised 12 organic contaminants (five phosphor organic flame retardants, two musk fragrances, bisphenol A, nonylphenol, octylphenol, diethyltoluamide, terbutryn), 16 polycyclic aromatic hydrocarbons, and 12 heavy metals. Non-metric multidimensional scaling identified organic contaminants that are mainly wastewater-associated (i.e., phosphor organic flame retardants, musk fragrances, and diethyltoluamide) as a major impact variable on macroinvertebrate species composition. The structural degradation of streams was also identified as a significant factor. Multiple linear regression models revealed a significant impact of organic contaminants on invertebrate populations, in particular on Ephemeroptera, Plecoptera, and Trichoptera species. Spearman rank correlation analyses confirmed wastewater-associated organic contaminants as the most significant variable negatively impacting the biodiversity of sensitive macroinvertebrate species. In addition to increased aquatic pollution with organic contaminants, a greater wastewater fraction was accompanied by a slight decrease in oxygen concentration and an increase in salinity. This study highlights the importance of reducing the wastewater-associated impact on surface waters. For aquatic ecosystems in urban areas this

  12. Do contaminants originating from state-of-the-art treated wastewater impact the ecological quality of surface waters?

    Daniel Stalter

    Full Text Available Since the 1980s, advances in wastewater treatment technology have led to considerably improved surface water quality in the urban areas of many high income countries. However, trace concentrations of organic wastewater-associated contaminants may still pose a key environmental hazard impairing the ecological quality of surface waters. To identify key impact factors, we analyzed the effects of a wide range of anthropogenic and environmental variables on the aquatic macroinvertebrate community. We assessed ecological water quality at 26 sampling sites in four urban German lowland river systems with a 0-100% load of state-of-the-art biological activated sludge treated wastewater. The chemical analysis suite comprised 12 organic contaminants (five phosphor organic flame retardants, two musk fragrances, bisphenol A, nonylphenol, octylphenol, diethyltoluamide, terbutryn, 16 polycyclic aromatic hydrocarbons, and 12 heavy metals. Non-metric multidimensional scaling identified organic contaminants that are mainly wastewater-associated (i.e., phosphor organic flame retardants, musk fragrances, and diethyltoluamide as a major impact variable on macroinvertebrate species composition. The structural degradation of streams was also identified as a significant factor. Multiple linear regression models revealed a significant impact of organic contaminants on invertebrate populations, in particular on Ephemeroptera, Plecoptera, and Trichoptera species. Spearman rank correlation analyses confirmed wastewater-associated organic contaminants as the most significant variable negatively impacting the biodiversity of sensitive macroinvertebrate species. In addition to increased aquatic pollution with organic contaminants, a greater wastewater fraction was accompanied by a slight decrease in oxygen concentration and an increase in salinity. This study highlights the importance of reducing the wastewater-associated impact on surface waters. For aquatic ecosystems in

  13. Making 2D face recognition more robust using AAMs for pose compensation

    Huisman, Peter; Munster, Ruud; Moro-Ellenberger, Stephanie; Veldhuis, Raymond N.J.; Bazen, A.M.

    2006-01-01

    The problem of pose in 2D face recognition is widely acknowledged. Commercial systems are limited to near frontal face images and cannot deal with pose deviations larger than 15 degrees from the frontal view. This is a problem, when using face recognition for surveillance applications in which

  14. Integrating Worked Examples into Problem Posing in a Web-Based Learning Environment

    Hsiao, Ju-Yuan; Hung, Chun-Ling; Lan, Yu-Feng; Jeng, Yoau-Chau

    2013-01-01

    Most students always lack of experience and perceive difficult regarding problem posing. The study hypothesized that worked examples may have benefits for supporting students' problem posing activities. A quasi-experiment was conducted in the context of a business mathematics course for examining the effects of integrating worked examples into…

  15. Analyzing Pre-Service Primary Teachers' Fraction Knowledge Structures through Problem Posing

    Kilic, Cigdem

    2015-01-01

    In this study it was aimed to determine pre-service primary teachers' knowledge structures of fraction through problem posing activities. A total of 90 pre-service primary teachers participated in this study. A problem posing test consisting of two questions was used and the participants were asked to generate as many as problems based on the…

  16. An Investigation of Eighth Grade Students' Problem Posing Skills (Turkey Sample)

    Arikan, Elif Esra; Ünal, Hasan

    2015-01-01

    To pose a problem refers to the creative activity for mathematics education. The purpose of the study was to explore the eighth grade students' problem posing ability. Three learning domains such as requiring four operations, fractions and geometry were chosen for this reason. There were two classes which were coded as class A and class B. Class A…

  17. Body-part templates for recovery of 2D human poses under occlusion

    Poppe, Ronald Walter; Poel, Mannes; Perales, F.J.; Fisher, R.B.

    2008-01-01

    Detection of humans and estimation of their 2D poses from a single image are challenging tasks. This is especially true when part of the observation is occluded. However, given a limited class of movements, poses can be recovered given the visible body-parts. To this end, we propose a novel template

  18. Teachers Implementing Mathematical Problem Posing in the Classroom: Challenges and Strategies

    Leung, Shuk-kwan S.

    2013-01-01

    This paper reports a study about how a teacher educator shared knowledge with teachers when they worked together to implement mathematical problem posing (MPP) in the classroom. It includes feasible methods for getting practitioners to use research-based tasks aligned to the curriculum in order to encourage children to pose mathematical problems.…

  19. Problem-Posing in Education: Transformation of the Practice of the Health Professional.

    Casagrande, L. D. R.; Caron-Ruffino, M.; Rodrigues, R. A. P.; Vendrusculo, D. M. S.; Takayanagui, A. M. M.; Zago, M. M. F.; Mendes, M. D.

    1998-01-01

    Studied the use of a problem-posing model in health education. The model based on the ideas of Paulo Freire is presented. Four innovative experiences of teaching-learning in environmental and occupational health and patient education are reported. Notes that the problem-posing model has the capability to transform health-education practice.…

  20. The Effects of Problem Posing on Student Mathematical Learning: A Meta-Analysis

    Rosli, Roslinda; Capraro, Mary Margaret; Capraro, Robert M.

    2014-01-01

    The purpose of the study was to meta-synthesize research findings on the effectiveness of problem posing and to investigate the factors that might affect the incorporation of problem posing in the teaching and learning of mathematics. The eligibility criteria for inclusion of literature in the meta-analysis was: published between 1989 and 2011,…

  1. Tooth display and lip position during spontaneous and posed smiling in adults.

    Van Der Geld, Pieter; Oosterveld, Paul; Berge, Stefaan J; Kuijpers-Jagtman, Anne M

    2008-08-01

    To analyze differences in tooth display, lip-line height, and smile width between the posed smiling record, traditionally produced for orthodontic diagnosis, and the spontaneous (Duchenne) smile of joy. The faces of 122 male participants were each filmed during spontaneous and posed smiling. Spontaneous smiles were elicited through the participants watching a comical movie. Maxillary and mandibular lip-line heights, tooth display, and smile width were measured using a digital videographic method for smile analysis. Paired sample t-tests were used to compare measurements of posed and spontaneous smiling. Maxillary lip-line heights during spontaneous smiling were significantly higher than during posed smiling. Compared to spontaneous smiling, tooth display in the (pre)molar area during posed smiling decreased by up to 30%, along with a significant reduction of smile width. During posed smiling, also mandibular lip-line heights changed and the teeth were more covered by the lower lip than during spontaneous smiling. Reduced lip-line heights, tooth display, and smile width on a posed smiling record can have implications for the diagnostics of lip-line height, smile arc, buccal corridors, and plane of occlusion. Spontaneous smiling records next to posed smiling records are therefore recommended for diagnostic purposes. Because of the dynamic nature of spontaneous smiling, it is proposed to switch to dynamic video recording of the smile.

  2. Coupled bias-variance tradeoff for cross-pose face recognition.

    Li, Annan; Shan, Shiguang; Gao, Wen

    2012-01-01

    Subspace-based face representation can be looked as a regression problem. From this viewpoint, we first revisited the problem of recognizing faces across pose differences, which is a bottleneck in face recognition. Then, we propose a new approach for cross-pose face recognition using a regressor with a coupled bias-variance tradeoff. We found that striking a coupled balance between bias and variance in regression for different poses could improve the regressor-based cross-pose face representation, i.e., the regressor can be more stable against a pose difference. With the basic idea, ridge regression and lasso regression are explored. Experimental results on CMU PIE, the FERET, and the Multi-PIE face databases show that the proposed bias-variance tradeoff can achieve considerable reinforcement in recognition performance.

  3. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot

    Yicheng Liu

    2016-01-01

    Full Text Available In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.

  4. A Support System for the Electric Appliance Control Using Pose Recognition

    Kawano, Takuya; Yamamoto, Kazuhiko; Kato, Kunihito; Hongo, Hitoshi

    In this paper, we propose an electric appliance control support system for aged and bedridden people using pose recognition. We proposed a pose recognition system that distinguishes between seven poses of the user on the bed. First, the face and arm regions of the user are detected by using the skin color. Our system focuses a recognition region surrounding the face region. Next, the higher order local autocorrelation features within the region are extracted. The linear discriminant analysis creates the coefficient matrix that can optimally distinguish among training data from the seven poses. Our algorithm can recognize the seven poses even if the subject wears different clothes and slightly shifts or slants on the bed. From the experimental results, our system achieved an accuracy rate of over 99 %. Then, we show that it possibles to construct one of a user-friendly system.

  5. Head Pose Estimation Using Multilinear Subspace Analysis for Robot Human Awareness

    Ivanov, Tonislav; Matthies, Larry; Vasilescu, M. Alex O.

    2009-01-01

    Mobile robots, operating in unconstrained indoor and outdoor environments, would benefit in many ways from perception of the human awareness around them. Knowledge of people's head pose and gaze directions would enable the robot to deduce which people are aware of the its presence, and to predict future motions of the people for better path planning. To make such inferences, requires estimating head pose on facial images that are combination of multiple varying factors, such as identity, appearance, head pose, and illumination. By applying multilinear algebra, the algebra of higher-order tensors, we can separate these factors and estimate head pose regardless of subject's identity or image conditions. Furthermore, we can automatically handle uncertainty in the size of the face and its location. We demonstrate a pipeline of on-the-move detection of pedestrians with a robot stereo vision system, segmentation of the head, and head pose estimation in cluttered urban street scenes.

  6. Environmental impacts of wastewater from urban slums: case study - Old Fadama, Accra

    Monney, I.

    2013-06-01

    Full Text Available The burgeoning of slums in the developing world poses an urgent environmental threat due to insanitary conditions and rampant disposal of wastewater. To assess the potential environmental impacts, domestic wastewater from Ghana's biggest urban slum - Old Fadama was characterised throughout the dry and wet seasons. The study drew on a comprehensive assessment of the general sanitary conditions in the community to determine the sources of pollution and water quality monitoring. BOD5 levels of wastewater from the study area were 545.63±99.88mg/L and 645.94±331.43mg/L in the dry and wet seasons respectively whereas COD levels were 1100.45±167.16mg/L and 1415.12±722.83mg/L in the dry and wet seasons respectively. E-coli levels were 4±1x106CFU/100mL and 4200±2400 x106CFU/100mL in the dry and wet seasons respectively whereas total coliform levels also showed the same trend with 9±2106CFU/100mL and 16800±5100106CFU/100mL in the dry and wet seasons respectively. The study identifies that wastewater from this community has potential deleterious environmental implications due to high levels of nutrients, oxygen-demanding substances and faecal coliforms. Pollutants were identified to be emanating predominantly from open defecation and indiscriminate waste disposal. Efforts should thus be directed towards improving sanitary conditions viz. access to toilet facilities, waste disposal mechanisms and best management practices for wastewater.

  7. Application of Shape Similarity in Pose Selection and Virtual Screening in CSARdock2014 Exercise.

    Kumar, Ashutosh; Zhang, Kam Y J

    2016-06-27

    To evaluate the applicability of shape similarity in docking-based pose selection and virtual screening, we participated in the CSARdock2014 benchmark exercise for identifying the correct docking pose of inhibitors targeting factor XA, spleen tyrosine kinase, and tRNA methyltransferase. This exercise provides a valuable opportunity for researchers to test their docking programs, methods, and protocols in a blind testing environment. In the CSARdock2014 benchmark exercise, we have implemented an approach that uses ligand 3D shape similarity to facilitate docking-based pose selection and virtual screening. We showed here that ligand 3D shape similarity between bound poses could be used to identify the native-like pose from an ensemble of docking-generated poses. Our method correctly identified the native pose as the top-ranking pose for 73% of test cases in a blind testing environment. Moreover, the pose selection results also revealed an excellent correlation between ligand 3D shape similarity scores and RMSD to X-ray crystal structure ligand. In the virtual screening exercise, the average RMSD for our pose prediction was found to be 1.02 Å, and it was one of the top performances achieved in CSARdock2014 benchmark exercise. Furthermore, the inclusion of shape similarity improved virtual screening performance of docking-based scoring and ranking. The coefficient of determination (r(2)) between experimental activities and docking scores for 276 spleen tyrosine kinase inhibitors was found to be 0.365 but reached 0.614 when the ligand 3D shape similarity was included.

  8. Application of reverse osmosis in radioactive wastewater treatment

    Kong Jinsong; Guo Weiqun

    2012-01-01

    Considering the disadvantages of the conventional evaporation and ion exchange process for radioactive wastewater treatment, the reverse osmosis is used to treat the low level radioactive wastewater. The paper summarizes the research and application progress of the reverse osmosis in the radioactive wastewater treatment and indicates that the reverse osmosis in the radioactive wastewater treatment is very important. (authors)

  9. Microbial-based evaluation of anaerobic membrane bioreactors (AnMBRs) for the sustainable and efficient treatment of municipal wastewater

    Harb, Moustapha

    2017-03-01

    potential to improve the sustainability of wastewater treatment. This is exemplified by attributes of AnMBR systems associated with both increased system efficiency and wastewater reuse potential through methane recovery and lower abundance of effluent microbial contaminants, respectively. Overall, the studies collated in this dissertation have shown that understanding the microbial communities of AnMBRs can play a central role in further improving these attributes and in reducing the risks posed by emerging contaminants and pathogens in wastewater treatment systems.

  10. RECENT ADVANCES IN LEATHER TANNERY WASTEWATER TREATMENT

    LOFRANO Giusy

    2016-05-01

    Full Text Available The tannery industry is one of the most important economic sectors in many countries, representing an important economic field also in developing countries. Leather tannery industry is water intensive and originates highly polluted wastewater that contain various micropollutants raising environmental and health concerns. Tannery wastewater is difficult to treat biologically because of complex characteristics like high salinity e high content of xenobiotics compounds. After conventional treatment (i.e., chromium precipitation–primary sedimentation–biological oxidation–secondary sedimentation, effluents still do not meet the required limits, at least for some parameters such as BOD, COD, salinity, ammonia and surfactants. The leather industry is being pressured to search cleaner, economically as well as environmentally friendly wastewater treatment technologies alternative or integrative to the conventional treatment in order to face the challenge of sustainability. The most spread approach to manage tannery wastewater is the steam segregation before conveying wastewaters to in treatment plants that typically include pre-treatment, mechanical and physico-chemical treatment, biological treatment, and treatment of the generated sludge. Thus proper treatment technologies are needed to handle tannery wastewater to remove effectively the environmental benign pollutants. However among various processes applied or proposed the sustainable technologies are emerging concern. This paper, as the-state-of-the-art, attempts to revise the over world trends of treatment technologies and advances for pollution prevention from tannery chemicals and wastewater.

  11. Priorities for toxic wastewater management in Pakistan

    Rahman, A. [Sustainable Development Policy Institute, Islamabad (Pakistan)

    1996-12-31

    This study assesses the number of industries in Pakistan, the total discharge of wastewater, the biological oxygen demand (BOD) load, and the toxicity of the wastewater. The industrial sector is a major contributor to water pollution, with high levels of BOD, heavy metals, and toxic compounds. Only 30 industries have installed water pollution control equipment, and most are working at a very low operational level. Priority industrial sectors for pollution control are medium- to large-scale textile industries and small-scale tanneries and electroplating industries. Each day the textile industries discharge about 85,000 m{sup 3} of wastewater with a high BOD, while the electroplating industries discharge about 23,000 m{sup 3} of highly toxic and hazardous wastewater. Various in-plant modifications can reduce wastewater discharges. Economic incentives, like tax rebates, subsidies, and soft loans, could be an option for motivating medium- to large-scale industries to control water pollution. Central treatment plants may be constructed for treating wastewater generated by small-scale industries. The estimated costs for the treatment of textile and electroplating wastewater are given. The legislative structure in Pakistan is insufficient for control of industrial pollution; not only do existing laws need revision, but more laws and regulations are needed to improve the state of affairs, and enforcement agencies need to be strengthened. 15 refs., 1 fig., 9 tabs.

  12. Assessing exposure risks for aquatic organisms posed by Tamiflu use under seasonal influenza and pandemic conditions

    Chen, Wei-Yu; Lin, Chia-Jung; Liao, Chung-Min

    2014-01-01

    Environmental pollution by anti-influenza drugs is increasingly recognized as a threat to aquatic environments. However, little is known about empirical data on risk effects posed by environmentally relevant concentrations of anti-influenza drug based on recently published ecotoxicological researches in Taiwan. Here we linked ecotoxicology models with an epidemiological scheme to assess exposure risks of aquatic organisms and environmental hazards posed by antiviral oseltamivir (Tamiflu) use in Taiwan. Built on published bioassays, we used probabilistic risk assessment model to estimate potential threats of environmentally relevant hazards on algae, daphnid, and zerbrafish. We found that Tamiflu use was unlikely to pose a significant chronic environmental risk to daphnia and zebrafish during seasonal influenza. However, the chronic environmental risk posed by Tamiflu use during pandemic was alarming. We conclude that no significant risk to algal growth was found during seasonal influenza and high pandemic Tamiflu use. -- Highlights: • Environmentally relevant concentrations of anti-influenza drug have ecotoxicologically important effects. • Tamiflu is unlikely to pose a significant chronic environmental risk during seasonal influenza. • Chronic environmental risk posed by Tamiflu during pandemic is alarming. • Tertiary process in sewage treatment plants is crucial in mitigating Tamiflu exposure risk. -- A probabilistic framework can be used for assessing exposure risks posed by environmentally relevant concentrations of anti-influenza drug in aquatic ecosystems

  13. Attribute And-Or Grammar for Joint Parsing of Human Pose, Parts and Attributes.

    Park, Seyoung; Nie, Xiaohan; Zhu, Song-Chun

    2017-07-25

    This paper presents an attribute and-or grammar (A-AOG) model for jointly inferring human body pose and human attributes in a parse graph with attributes augmented to nodes in the hierarchical representation. In contrast to other popular methods in the current literature that train separate classifiers for poses and individual attributes, our method explicitly represents the decomposition and articulation of body parts, and account for the correlations between poses and attributes. The A-AOG model is an amalgamation of three traditional grammar formulations: (i)Phrase structure grammar representing the hierarchical decomposition of the human body from whole to parts; (ii)Dependency grammar modeling the geometric articulation by a kinematic graph of the body pose; and (iii)Attribute grammar accounting for the compatibility relations between different parts in the hierarchy so that their appearances follow a consistent style. The parse graph outputs human detection, pose estimation, and attribute prediction simultaneously, which are intuitive and interpretable. We conduct experiments on two tasks on two datasets, and experimental results demonstrate the advantage of joint modeling in comparison with computing poses and attributes independently. Furthermore, our model obtains better performance over existing methods for both pose estimation and attribute prediction tasks.

  14. Coupled multiview autoencoders with locality sensitivity for three-dimensional human pose estimation

    Yu, Jialin; Sun, Jifeng; Luo, Shasha; Duan, Bichao

    2017-09-01

    Estimating three-dimensional (3D) human poses from a single camera is usually implemented by searching pose candidates with image descriptors. Existing methods usually suppose that the mapping from feature space to pose space is linear, but in fact, their mapping relationship is highly nonlinear, which heavily degrades the performance of 3D pose estimation. We propose a method to recover 3D pose from a silhouette image. It is based on the multiview feature embedding (MFE) and the locality-sensitive autoencoders (LSAEs). On the one hand, we first depict the manifold regularized sparse low-rank approximation for MFE and then the input image is characterized by a fused feature descriptor. On the other hand, both the fused feature and its corresponding 3D pose are separately encoded by LSAEs. A two-layer back-propagation neural network is trained by parameter fine-tuning and then used to map the encoded 2D features to encoded 3D poses. Our LSAE ensures a good preservation of the local topology of data points. Experimental results demonstrate the effectiveness of our proposed method.

  15. Monocular-Based 6-Degree of Freedom Pose Estimation Technology for Robotic Intelligent Grasping Systems

    Tao Liu

    2017-02-01

    Full Text Available Industrial robots are expected to undertake ever more advanced tasks in the modern manufacturing industry, such as intelligent grasping, in which robots should be capable of recognizing the position and orientation of a part before grasping it. In this paper, a monocular-based 6-degree of freedom (DOF pose estimation technology to enable robots to grasp large-size parts at informal poses is proposed. A camera was mounted on the robot end-flange and oriented to measure several featured points on the part before the robot moved to grasp it. In order to estimate the part pose, a nonlinear optimization model based on the camera object space collinearity error in different poses is established, and the initial iteration value is estimated with the differential transformation. Measuring poses of the camera are optimized based on uncertainty analysis. Also, the principle of the robotic intelligent grasping system was developed, with which the robot could adjust its pose to grasp the part. In experimental tests, the part poses estimated with the method described in this paper were compared with those produced by a laser tracker, and results show the RMS angle and position error are about 0.0228° and 0.4603 mm. Robotic intelligent grasping tests were also successfully performed in the experiments.

  16. Selection of technologies for municipal wastewater treatment

    Juan Pablo Rodríguez Miranda

    2015-11-01

    Full Text Available In water environmental planning in watersheds should contain aspects for the decontamination of receiving water body, therefore the selection of the treatment plants municipal wastewater in developing countries, you should consider aspects of the typical composition raw wastewater pollutant removal efficiency by technology, performance indicators for technology, environmental aspects of localization and spatial localization strategy. This methodology is built on the basis of technical, economic and environmental attributes, such as a tool for decision making future investments in treatment plants municipal wastewater with multidisciplinary elements.

  17. Hazardous substances in wastewater systems:a delicate issue for wastewater management

    Palmquist, Helena

    2001-01-01

    Many substances derived from human activity end up in wastewater systems at some point. A large number of different substances - up to 30,000 - are present in wastewater. Some of them are valuable, such as nitrogen and phosphorus, but there are also hazardous substances such as heavy metals and anthropogenic organic substances. To be able to utilise the wastewater nutrients on arable land (agriculture, forestry or other alternatives), it is of great importance to investigate the sources of ha...

  18. Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction

    Svenstrup, Mikael; Hansen, Søren Tranberg; Andersen, Hans Jørgen

    2009-01-01

    Abstract—This paper introduces a new method to determine a person’s pose based on laser range measurements. Such estimates are typically a prerequisite for any human-aware robot navigation, which is the basis for effective and timeextended interaction between a mobile robot and a human. The robot......’s pose. The resulting pose estimates are used to identify humans who wish to be approached and interacted with. The interaction motion of the robot is based on adaptive potential functions centered around the person that respect the persons social spaces. The method is tested in experiments...

  19. Head Pose Estimation on Eyeglasses Using Line Detection and Classification Approach

    Setthawong, Pisal; Vannija, Vajirasak

    This paper proposes a unique approach for head pose estimation of subjects with eyeglasses by using a combination of line detection and classification approaches. Head pose estimation is considered as an important non-verbal form of communication and could also be used in the area of Human-Computer Interface. A major improvement of the proposed approach is that it allows estimation of head poses at a high yaw/pitch angle when compared with existing geometric approaches, does not require expensive data preparation and training, and is generally fast when compared with other approaches.

  20. Characterization of livestock wastewater at various stages of wastewater treatment plant

    Ting Teo Ming; Kim, Tak Hyun; Lee, Myun Joo

    2007-01-01

    A characterization study has been conducted at Gongju Livestock Wastewater Treatment Plant, Gongju, South Korea. It is owned and operated by the government with treatment capacity of 250 tons per day. Livestock wastewater was collected from individual farmer and treated at the treatment plant. The centralized livestock wastewater treatment plant has various treatment processes namely pre-treatment, anaerobic digestion, nitrification, de-nitrification , chemical treatment, sand filtration and ozonization. The livestock wastewater was characterized by high COD, SS, T-N and T-P with concentration of 20600 mg/l, 6933 mg/l, 2820 mg/l and 700 mg/ l, respectively. After the wastewater has undergone various treatment processes it was discharged to waterways with concentration of COD, SS, T-N and T-P at 105 mg/l, 73 mg/l, 2.1 mg/l and 9 mg/l, respectively. This is part of the study to investigate the potential of irradiation to be applied at the centralized livestock wastewater treatment plant. Although livestock wastewater can be potentially applied to crop as source of nutrients it also affect the water quality due to runoff and leaching. When the wastewater applied at the rates in excess of crop uptake rates, the excess wastewater could potentially enter surface and groundwater and polluted them. (author)

  1. Characteristics and Biodegradability of Wastewater Organic Matter in Municipal Wastewater Treatment Plants Collecting Domestic Wastewater and Industrial Discharge

    Yun-Young Choi

    2017-06-01

    Full Text Available Municipal wastewater treatment plants (WWTPs in Korea collect and treat not only domestic wastewater, but also discharge from industrial complexes. However, some industrial discharges contain a large amount of non-biodegradable organic matter, which cannot be treated properly in a conventional biological WWTP. This study aimed to investigate the characteristics and biodegradability of the wastewater organic matter contained in the industrial discharges and to examine the fate of the industrial discharges in a biological WWTP. In contrast to most previous studies targeting a specific group of organic compounds or traditional water quality indices, such as biological oxygen demand (BOD and chemical oxygen demand (COD, this study was purposed to quantify and characterize the biodegradable and nonbiodegradable fractions of the wastewater organic matter. Chemical oxygen demand (COD fractionation tests and fluorescence spectroscopy revealed that the industrial discharge from dyeing or pulp mill factories contained more non-biodegradable soluble organic matter than did the domestic wastewater. Statistical analysis on the WWTPs’ monitoring data indicated that the industrial discharge containing non-biodegradable soluble organic matter was not treated effectively in a biological WWTP, but was escaping from the system. Thus, industrial discharge that contained non-biodegradable soluble organic matter was a major factor in the decrease in biodegradability of the discharge, affecting the ultimate fate of wastewater organic matter in a biological WWTP. Further application of COD fractionation and fluorescence spectroscopy to wastewaters, with various industrial discharges, will help scientists and engineers to better design and operate a biological WWTP, by understanding the fate of wastewater organic matter.

  2. Duckweed cultures in animal wastewaters

    Corradi, M; Copelli, M; Ghetti, P F

    1981-01-01

    Cultures of duckweed (Lemna gibba and L. minor) were made for 2 months in 2 ponds fed by a semicontinuous flow of partially treated animal wastewaters. The growth rate of the organic load were obtained from weekly data and the rate of removal of N and P was evaluated. At high loads (concentrations greater than 400 COD, 60 NH/sub 4/+, 10 mg/L PO/sub 4/ to the power of 3-) an average yield (dry weight) of approximately 7 g/square meters/day was established. The mean dry weight of biomass was 6%. The N and P content in duckweed was 1.1 and 4.7%, respective, and the daily absorption rates were 415 N and 97 mg/square meters/day P. The technique of skimming biomass at a rate proportional to the growth rate is useful to maintain duckweed cultures in continuous active growth conditions.

  3. Quality of concrete plant wastewater for reuse

    H. M. Paula

    Full Text Available Efficient water use is one of the most important requirements of cleaner production, and the use of the wastewater from concrete production can be an important means to this end. However, there are no Brazilian studies on the quality of concrete plant wastewater and the activities in which such water can be used. This paper aims to evaluate the quality of concrete plant wastewater and to propose guidelines for its treatment for non-potable applications. Wastewater samples were collected from three points in the studied treatment system, and tests were later performed in the laboratory to evaluate the water quality. The results obtained were compared with the limit values for the quality parameters that have been used for the analysis of the non-potable water supply in Brazil. The results indicate a need to at least add coagulation and pH correction processes to the treatment system.

  4. Utility Bill Insert for Wastewater Services

    Intended for use by wastewater and water supply utilities, one side of the utility bill insert has information for customers that discharge to sanitary sewer systems; the other side is for customers with septic systems.

  5. Biological hydrogen production from industrial wastewaters

    Peixoto, Guilherme; Pantoja Filho, Jorge Luis Rodrigues; Zaiat, Marcelo [Universidade de Sao Paulo (EESC/USP), Sao Carlos, SP (Brazil). School of Engineering. Dept. Hydraulics and Sanitation], Email: peixoto@sc.usp.br

    2010-07-01

    This research evaluates the potential for producing hydrogen in anaerobic reactors using industrial wastewaters (glycerol from bio diesel production, wastewater from the parboilization of rice, and vinasse from ethanol production). In a complementary experiment the soluble products formed during hydrogen production were evaluated for methane generation. The assays were performed in batch reactors with 2 liters volume, and sucrose was used as a control substrate. The acidogenic inoculum was taken from a packed-bed reactor used to produce hydrogen from a sucrose-based synthetic substrate. The methanogenic inoculum was taken from an upflow anaerobic sludge blanket reactor treating poultry slaughterhouse wastewater. Hydrogen was produced from rice parboilization wastewater (24.27 ml H{sub 2} g{sup -1} COD) vinasse (22.75 ml H{sub 2} g{sup -1} COD) and sucrose (25.60 ml H{sub 2} g{sup -1} COD), while glycerol only showed potential for methane generation. (author)

  6. Tertiary Treatment Process of Preserved Wastewater

    Wang Qingyu

    2016-01-01

    Full Text Available The effects of the composite coagulants on coagulation sedimentation for the preserved wastewater was investigated by changing the composite coagulant dosages, and the coagulant was composed of polymeric ferric sulfate (PFS, polyaluminium chloride (PAC, and polyaluminum ferric silicate (PAFSC, while the effect of the tertiary treatment process on the preserved wastewater was tested, which was exceeded the standard seriously. The results showed that 400 mg/L was the optimum composite coagulant dosage. The removal rates of salt and sugar were as high as 99.1% and 99.5% respectively, and the removal rates of CODCr and SS were 99.3% and 96.0%, respectively after the preserved wastewater was treated by the tertiary treatment technology, which both reached the primary standard of “The Integrated Wastewater Discharge Standard” (GB8978-1996.

  7. Leidenfrost Driven Waste-Water Separator

    National Aeronautics and Space Administration — A Leidenfrost Driven Waste-Water Separator (LDS) is proposed in response to TA 6.1: Environmental Control and Life Support Systems and Habitation Systems. The LDS...

  8. Decentralised wastewater treatment effluent fertigation: preliminary ...

    Decentralised wastewater treatment effluent fertigation: preliminary technical assessment. ... living in informal settlements with the effluent produced being used on agricultural land. ... Banana and taro required 3 514 mm of irrigation effluent.

  9. Trotting Gait of a Quadruped Robot Based on the Time-Pose Control Method

    Cai RunBin

    2013-02-01

    Full Text Available We present the Time-Pose control method for the trotting gait of a quadruped robot on flat ground and up a slope. The method, with brief control structure, real-time operation ability and high adaptability, divides quadruped robot control into gait control and pose control. Virtual leg and intuitive controllers are introduced to simplify the model and generate the trajectory of mass centre and location of supporting legs in gait control, while redundancy optimization is used for solving the inverse kinematics in pose control. The models both on flat ground and up a slope are fully analysed, and different kinds of optimization methods are compared using the manipulability measure in order to select the best option. Simulations are performed, which prove that the Time-Pose control method is realizable for these two kinds of environment.

  10. Risks posed by large seismic events in the gold mining districts of South Africa

    Durrheim, RJ

    2011-01-01

    Full Text Available buildings are considered vulnerable to damage by large seismic events, posing safety and financial risks. It is recommended that an earthquake engineer inspect the building stock and review the content and enforcement of building codes. Appropriate training...

  11. A Grasp-Pose Generation Method Based on Gaussian Mixture Models

    Wenjia Wu

    2015-11-01

    Full Text Available A Gaussian Mixture Model (GMM-based grasp-pose generation method is proposed in this paper. Through offline training, the GMM is set up and used to depict the distribution of the robot's reachable orientations. By dividing the robot's workspace into small 3D voxels and training the GMM for each voxel, a look-up table covering all the workspace is built with the x, y and z positions as the index and the GMM as the entry. Through the definition of Task Space Regions (TSR, an object's feasible grasp poses are expressed as a continuous region. With the GMM, grasp poses can be preferentially sampled from regions with high reachability probabilities in the online grasp-planning stage. The GMM can also be used as a preliminary judgement of a grasp pose's reachability. Experiments on both a simulated and a real robot show the superiority of our method over the existing method.

  12. Improved pose and affinity predictions using different protocols tailored on the basis of data availability

    Prathipati, Philip; Nagao, Chioko; Ahmad, Shandar; Mizuguchi, Kenji

    2016-09-01

    The D3R 2015 grand drug design challenge provided a set of blinded challenges for evaluating the applicability of our protocols for pose and affinity prediction. In the present study, we report the application of two different strategies for the two D3R protein targets HSP90 and MAP4K4. HSP90 is a well-studied target system with numerous co-crystal structures and SAR data. Furthermore the D3R HSP90 test compounds showed high structural similarity to existing HSP90 inhibitors in BindingDB. Thus, we adopted an integrated docking and scoring approach involving a combination of both pharmacophoric and heavy atom similarity alignments, local minimization and quantitative structure activity relationships modeling, resulting in the reasonable prediction of pose [with the root mean square deviation (RMSD) values of 1.75 Å for mean pose 1, 1.417 Å for the mean best pose and 1.85 Å for the mean all poses] and affinity (ROC AUC = 0.702 at 7.5 pIC50 cut-off and R = 0.45 for 180 compounds). The second protein, MAP4K4, represents a novel system with limited SAR and co-crystal structure data and little structural similarity of the D3R MAP4K4 test compounds to known MAP4K4 ligands. For this system, we implemented an exhaustive pose and affinity prediction protocol involving docking and scoring using the PLANTS software which considers side chain flexibility together with protein-ligand fingerprints analysis assisting in pose prioritization. This protocol through fares poorly in pose prediction (with the RMSD values of 4.346 Å for mean pose 1, 4.69 Å for mean best pose and 4.75 Å for mean all poses) and produced reasonable affinity prediction (AUC = 0.728 at 7.5 pIC50 cut-off and R = 0.67 for 18 compounds, ranked 1st among 80 submissions).

  13. Web-based Visualisation of Head Pose and Facial Expressions Changes:

    Kalliatakis, Grigorios; Vidakis, Nikolaos; Triantafyllidis, Georgios

    2016-01-01

    Despite significant recent advances in the field of head pose estimation and facial expression recognition, raising the cognitive level when analysing human activity presents serious challenges to current concepts. Motivated by the need of generating comprehensible visual representations from...... and accurately estimate head pose changes in unconstrained environment. In order to complete the secondary process of recognising four universal dominant facial expressions (happiness, anger, sadness and surprise), emotion recognition via facial expressions (ERFE) was adopted. After that, a lightweight data...

  14. Consistently Showing Your Best Side? Intra-individual Consistency in #Selfie Pose Orientation

    Lindell, Annukka K.

    2017-01-01

    Painted and photographic portraits of others show an asymmetric bias: people favor their left cheek. Both experimental and database studies confirm that the left cheek bias extends to selfies. To date all such selfie studies have been cross-sectional; whether individual selfie-takers tend to consistently favor the same pose orientation, or switch between multiple poses, remains to be determined. The present study thus examined intra-individual consistency in selfie pose orientations. Two hundred selfie-taking participants (100 male and 100 female) were identified by searching #selfie on Instagram. The most recent 10 single-subject selfies for the each of the participants were selected and coded for type of selfie (normal; mirror) and pose orientation (left, midline, right), resulting in a sample of 2000 selfies. Results indicated that selfie-takers do tend to consistently adopt a preferred pose orientation (α = 0.72), with more participants showing an overall left cheek bias (41%) than would be expected by chance (overall right cheek bias = 31.5%; overall midline bias = 19.5%; no overall bias = 8%). Logistic regression modellng, controlling for the repeated measure of participant identity, indicated that sex did not affect pose orientation. However, selfie type proved a significant predictor when comparing left and right cheek poses, with a stronger left cheek bias for mirror than normal selfies. Overall, these novel findings indicate that selfie-takers show intra-individual consistency in pose orientation, and in addition, replicate the previously reported left cheek bias for selfies and other types of portrait, confirming that the left cheek bias also presents within individuals’ selfie corpora. PMID:28270790

  15. A review of cooperative and uncooperative spacecraft pose determination techniques for close-proximity operations

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2017-08-01

    The capability of an active spacecraft to accurately estimate its relative position and attitude (pose) with respect to an active/inactive, artificial/natural space object (target) orbiting in close-proximity is required to carry out various activities like formation flying, on-orbit servicing, active debris removal, and space exploration. According to the specific mission scenario, the pose determination task involves both theoretical and technological challenges related to the search for the most suitable algorithmic solution and sensor architecture, respectively. As regards the latter aspect, electro-optical sensors represent the best option as their use is compatible with mass and power limitation of micro and small satellites, and their measurements can be processed to estimate all the pose parameters. Overall, the degree of complexity of the challenges related to pose determination largely varies depending on the nature of the targets, which may be actively/passively cooperative, uncooperative but known, or uncooperative and unknown space objects. In this respect, while cooperative pose determination has been successfully demonstrated in orbit, the uncooperative case is still under study by universities, research centers, space agencies and private companies. However, in both the cases, the demand for space applications involving relative navigation maneuvers, also in close-proximity, for which pose determination capabilities are mandatory, is significantly increasing. In this framework, a review of state-of-the-art techniques and algorithms developed in the last decades for cooperative and uncooperative pose determination by processing data provided by electro-optical sensors is herein presented. Specifically, their main advantages and drawbacks in terms of achieved performance, computational complexity, and sensitivity to variability of pose and target geometry, are highlighted.

  16. The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups

    2015-05-21

    terrorist attacks of September 11th, 2001 researchers have sought to better understand the macroeconomic consequences of terrorism. Despite a...The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups A Monograph by MAJ Joshua Glonek...SUBTITLE The Economic Impact of Terrorism in the Near East: Understanding the Threats Posed by Militant Groups 5a. CONTRACT NUMBER 5b. GRANT

  17. Chemical Characterisation of Printed Circuit Board Wastewater

    Sobri, S; Ali, A H M, E-mail: eeza@eng.upm.edu.my [Department of Chemical and Environmental Engineering, Faculty of Engineering, Universiti Putra Malaysia, 43400 Serdang, Selangor (Malaysia)

    2011-02-15

    Manufacturing of PCBs is highly complicated and involves many processes. Recycling of PCB wastewater receives wide concerns as the recent international growth in the electronics industry has generated a drastic increase in the amount of waste PCBs with profound environmental impacts such as soil and groundwater contamination. This paper reports on the chemical characterization of PCB wastewater as the initial investigation for selective metal recovery.

  18. Design Criteria for Process Wastewater Pretreatment Facilities

    1988-05-01

    Stripping Column H13 ’Re Purpose: The purpose of this report, is to provide design criteria for pretreatment needs for ’ I. INTRODUCTION ’". discharge of...which a portion of the vessel is filled with packing. Packing materials vary from corrugated steel to bundles of fibers (Langdon et al., 1972) to beds...concentration(s) using Table 20. Wastewater treatability studies should be considered as a process-screening tool for all wastewater streams for

  19. Treatment of wastewater with the constructed wetland

    Fernandez, R.; Olivares, S.

    2003-01-01

    Constructed wetland is an environmental sound, actual and economic solution for the treatment of wastewater. The use of these constructed wetlands increased in the last few years, principally in developed countries. However there is not much information about the performance of these biological systems in tropical and subtropical climates. In these review the state of art of these technology is given, and also the advantage of the use of the constructed wetland for the wastewater treatment in our country

  20. Effect of Treated Wastewater Irrigation on Heavy Metals Distribution in a Tunisian Soil

    K. Khaskhoussy

    2015-06-01

    Full Text Available Treated wastewater (TWW may contain toxic chemical constituents that pose negative environmental and health impacts. In this study, soil samples under treated wastewater irrigation were studied. For this purpose, six plots were made in an irrigated area in north of Tunisia and treated with two water qualities: fresh water (FW and treated wastewater (TWW. Five soil depths were used: 0-30, 30-60, 60-90, 90-120 and 120-150 cm. The TWW irrigation increased significantly (P≤0.05 the soils’ EC, Na, K, Ca, Mg, Cl, SAR, Cu, Cd and Ni and had no significant (P ≤0.05 effect on the soils’ pH, Zn, Co and Pb contents. EC, Na, Cl, SAR, Zn and Co increased significantly with soil depth. The results for K, Ca, Mg, Cd, Pb and Ni exhibited similar repartition in different layers of soil. It was also shown that the amount of different elements in soil irrigated with fresh water (FW were less compared with the control soil

  1. Anodic oxidation of slaughterhouse wastewater on boron-doped diamond: process variables effect.

    Abdelhay, Arwa; Jum'h, Inshad; Abdulhay, Enas; Al-Kazwini, Akeel; Alzubi, Mashael

    2017-12-01

    A non-sacrificial boron-doped diamond electrode was prepared in the laboratory and used as a novel anode for electrochemical oxidation of poultry slaughterhouse wastewater. This wastewater poses environmental threats as it is characterized by a high content of recalcitrant organics. The influence of several process variables, applied current density, initial pH, supporting electrolyte nature, and concentration of electrocoagulant, on chemical oxygen demand (COD) removal, color removal, and turbidity removal was investigated. Results showed that raising the applied current density to 3.83 mA/cm 2 has a positive effect on COD removal, color removal, and turbidity removal. These parameters increased to 100%, 90%, and 80% respectively. A low pH of 5 favored oxidants generation and consequently increased the COD removal percentage to reach 100%. Complete removal of COD had occurred in the presence of NaCl (1%) as supporting electrolyte. Na 2 SO 4 demonstrated lower efficiency than NaCl in terms of COD removal. The COD decay kinetics follows the pseudo-first-order reaction. The simultaneous use of Na 2 SO 4 and FeCl 3 decreased the turbidity in wastewater by 98% due to electrocoagulation.

  2. Small scale recirculating vertical flow constructed wetland (RVFCW) for the treatment and reuse of wastewater.

    Gross, A; Sklarz, M Y; Yakirevich, A; Soares, M I M

    2008-01-01

    The quantity of freshwater available worldwide is declining, revealing a pressing need for its more efficient use. Moreover, in many developing countries and lightly populated areas, raw wastewater is discarded into the environment posing serious ecological and health problems. Unfortunately, this situation will persist unless low-cost, effective and simple technologies are brought in. The aim of this study is to present such a treatment method, a novel setup which is termed recirculating vertical flow constructed wetland (RVFCW). The RVFCW is composed of two components: (i) a three-layer bed consisting of planted organic soil over an upper layer of filtering media (i.e. tuff or beads) and a lower layer of limestone pebbles, and (ii) a reservoir located beneath the bed. Wastewater flows directly into the plant root zone and trickles down through the three-layer bed into the reservoir, allowing passive aeration. From the reservoir the water is recirculated back to the bed, several times, until the desired purification is achieved. The results obtained show that the RVFCW is an effective and convenient strategy to treat (domestic, grey and agro) wastewater for re-use in irrigation. The system performance is expected to be further improved once current optimization experiments and mathematical modeling studies are concluded. IWA Publishing 2008.

  3. Emission of bacteria and fungi in the air from wastewater treatment plants - a review.

    Korzeniewska, Ewa

    2011-01-01

    An increase in global population, coupled with intensive development of industry and agriculture, has resulted in the generation and accumulation of large amounts of waste around the world. The spread of pathogenic microorganisms, endotoxins, odours and dust particles in the air is an inevitable consequence of waste production and waste management. Thus, the risk of infections associated with wastewater treatment plants (WWTPs) has become of a particular importance in recent decades. Sewage and unstable sludge contain various pathogens such as viruses, bacteria, and human and animal parasites. These microorganisms can be transmitted to the ambient air in wastewater droplets, which are generated during aeration or mechanical moving of the sewage. Bioaerosols generated during wastewater treatment may therefore pose a potential health hazard to workers of these plants or to habitants of their surroundings. The degree of human exposure to airborne bacteria, fungi, endotoxin and other allergens may vary significantly depending upon the type and the capacity of a plant, kind of the facilities, performed activities and meteorological conditions.

  4. Review of wastewater problems and wastewater-management planning in the San Francisco Bay region, California

    Hines, Walter G.

    1973-01-01

    The San Francisco Bay region has suffered adverse environmental effects related to the discharge of municipal-, industrial-, and agricultural- wastewater and storm-water runoff. Specific pollutional properties of theses discharges are not well understood in all cases although the toxic materials and aquatic-plant nutrients (biostimulants) found in municipal and industrial waterwater are considered to be a major cause of regional water-quality problems. Other water-quality problems in the region are commonly attributed to pesticides found in agricultural wastewater and potentially pathogenic bacteria in municipal-wastewater discharges and in storm-water runoff. The geographical distribution and magnitude of wastewater discharges in the bay region, particularly those from municipalities and industries, is largely a function of population, economic growth, and urban development. As might be expected, the total volume of wastewater has increased in a trend paralleling this growth and development. More significant, perhaps, is the fact that the total volume parameters such as BOD (biochemical oxygen demand), biostimulant concentrations, and toxicity, has increased despite large expenditures on new and improved municipal- and industrial-wastewater-treatment plants. Also, pollutant loadings from other major source, such as agriculture and storm-water runoff, have increased. At the time of writing (1972), many Federal, State, regional, and local agencies are engaged in a comprehensive wastewater-management-planning effort for the entire bay region. Initial objectives of this planning effort are: (1) the consolidation and coordination of loosely integrated wastewater-management facilities and (2) the elimination of wastewater discharges to ecologically sensitive areas, such as fresh-water streams and shallow extremities of San Francisco Bay. There has been some investigation of potential long-range wastewater-management alternatives based upon disposal in deep water in the

  5. Municipal wastewater biological nutrient removal driven by the fermentation liquid of dairy wastewater.

    Liu, Hui; Chen, Yinguang; Wu, Jiang

    2017-11-01

    Carbon substrate is required by biological nutrient removal (BNR) microorganism, but it is usually insufficient in the influent of many municipal wastewater treatment plants. In this study the use of ethanol-enriched fermentation liquid, which was derived from dairy wastewater, as the preferred carbon substrate of BNR was reported. First, the application of dairy wastewater and food processing wastewater and their fermentation liquid as the carbon substrate of BNR was compared in the short-term tests. The fermented wastewater showed higher BNR performance than the unfermented one, and the fermentation liquid of dairy wastewater (FL-DW), which was obtained under pH 8 and fermentation time of 6 day, exhibited the highest phosphorus (95.5%) and total nitrogen (97.6%) removal efficiencies due to its high ethanol content (57.9%). Then, the long-term performance of FL-DW acting as the carbon substrate of BNR was compared with that of acetate and ethanol, and the FL-DW showed the greatest phosphorus and total nitrogen removal. Further investigation showed that the use of FL-DW caused the highest polyhydroxyalkanoates (PHAs) synthesis in BNR microbial cells, and more PHAs were used for phosphorus uptake and denitrification rather than glycogen synthesis and microbial growth. The FL-DW can be used as a preferred carbon substrate for BNR microbes. AB: aerobic end sludge active biomass; BNR: biological nutrient removal; DW: dairy wastewater; FL-DW: fermentation liquid of dairy wastewater; FPW: food processing wastewater; FL-FPW: fermentation liquid of food processing wastewater; PHAs: polyhydroxyalkanoates; PHB: poly-3-hydroxybutyrate; PHV: poly-3-hydroxyvalerate; PH2MV: poly-3-hydroxy-2- methylvalerate; PAOs: phosphorus accumulating organisms; SBR: sequencing batch reactor; SOP: soluble ortho-phosphorus; TN: total nitrogen; TSS: total suspended solids; VSS: volatile suspended solids; VFAs: volatile fatty acids; WWTPs: wastewater treatment plants.

  6. Pose Estimation with a Kinect for Ergonomic Studies: Evaluation of the Accuracy Using a Virtual Mannequin

    Pierre Plantard

    2015-01-01

    Full Text Available Analyzing human poses with a Kinect is a promising method to evaluate potentials risks of musculoskeletal disorders at workstations. In ecological situations, complex 3D poses and constraints imposed by the environment make it difficult to obtain reliable kinematic information. Thus, being able to predict the potential accuracy of the measurement for such complex 3D poses and sensor placements is challenging in classical experimental setups. To tackle this problem, we propose a new evaluation method based on a virtual mannequin. In this study, we apply this method to the evaluation of joint positions (shoulder, elbow, and wrist, joint angles (shoulder and elbow, and the corresponding RULA (a popular ergonomics assessment grid upper-limb score for a large set of poses and sensor placements. Thanks to this evaluation method, more than 500,000 configurations have been automatically tested, which would be almost impossible to evaluate with classical protocols. The results show that the kinematic information obtained by the Kinect software is generally accurate enough to fill in ergonomic assessment grids. However inaccuracy strongly increases for some specific poses and sensor positions. Using this evaluation method enabled us to report configurations that could lead to these high inaccuracies. As a supplementary material, we provide a software tool to help designers to evaluate the expected accuracy of this sensor for a set of upper-limb configurations. Results obtained with the virtual mannequin are in accordance with those obtained from a real subject for a limited set of poses and sensor placements.

  7. Muscle utilization patterns vary by skill levels of the practitioners across specific yoga poses (asanas).

    Ni, Meng; Mooney, Kiersten; Balachandran, Anoop; Richards, Luca; Harriell, Kysha; Signorile, Joseph F

    2014-08-01

    To compare muscle activation patterns in 14 dominant side muscles during different yoga poses across three skill levels. Mixed repeated-measures descriptive study. University neuromuscular research laboratory, Miami, US. A group of 36 yoga practitioners (9 M/27 F; mean ± SD, 31.6 ± 12.6 years) with at least 3 months yoga practice experience. Each of the 11 surya namaskar poses A and B was performed separately for 15s and the surface electromyography for 14 muscles were recorded. Normalized root mean square of the electromyographic signal (NrmsEMG) for 14 muscles (5 upper body, 4 trunk, 5 lower body). There were significant main effects of pose for all fourteen muscles except middle trapezius (p<.02) and of skill level for the vastus medialis; p=.027). A significant skill level × pose interaction existed for five muscles (pectoralis major sternal head, anterior deltoid, medial deltoid, upper rectus abdominis and gastrocnemius lateralis; p<.05). Post hoc analyses using Bonferroni comparisons indicated that different poses activated specific muscle groups; however, this varied by skill level. Our results indicate that different poses can produce specific muscle activation patterns which may vary due to practitioners' skill levels. This information can be used in designing rehabilitation and training programs and for cuing during yoga training. Copyright © 2014 Elsevier Ltd. All rights reserved.

  8. Multi-Task Convolutional Neural Network for Pose-Invariant Face Recognition

    Yin, Xi; Liu, Xiaoming

    2018-02-01

    This paper explores multi-task learning (MTL) for face recognition. We answer the questions of how and why MTL can improve the face recognition performance. First, we propose a multi-task Convolutional Neural Network (CNN) for face recognition where identity classification is the main task and pose, illumination, and expression estimations are the side tasks. Second, we develop a dynamic-weighting scheme to automatically assign the loss weight to each side task, which is a crucial problem in MTL. Third, we propose a pose-directed multi-task CNN by grouping different poses to learn pose-specific identity features, simultaneously across all poses. Last but not least, we propose an energy-based weight analysis method to explore how CNN-based MTL works. We observe that the side tasks serve as regularizations to disentangle the variations from the learnt identity features. Extensive experiments on the entire Multi-PIE dataset demonstrate the effectiveness of the proposed approach. To the best of our knowledge, this is the first work using all data in Multi-PIE for face recognition. Our approach is also applicable to in-the-wild datasets for pose-invariant face recognition and achieves comparable or better performance than state of the art on LFW, CFP, and IJB-A datasets.

  9. Detection, fate and inactivation of pathogenic norovirus employing settlement and UV treatment in wastewater treatment facilities

    Barrett, M.; Fitzhenry, K.; O'Flaherty, V.; Dore, W.; Keaveney, S.; Cormican, M.; Rowan, N.; Clifford, E.

    2016-01-01

    It is accepted that discharged wastewaters can be a significant source of pathogenic viruses in receiving water bodies contributing to pollution and may in turn enter the human food chain and pose a risk to human health, thus norovirus (NoV) is often a predominant cause of gastroenteritis globally. Working with NoV poses particular challenges as it cannot be readily identified and detection by molecular methods does not assess infectivity. It has been proposed that the infectivity of NoV may be modelled through the use of an alternative virus; F-specific RNA (FRNA) bacteriophages; GA genotype and other FRNA bacteriophages have been used as a surrogate in studies of NoV inactivation. This study investigated the efficiency of novel pulsed ultraviolet irradiation and low pressure ultraviolet irradiation as a potential pathogen inactivation system for NoV and FRNA bacteriophage (GA) in secondary treated wastewaters. The role of UV dose and the impact of suspended solids concentration on removal efficiency were also examined. The study also investigated the role of settlement processes in wastewater treatment plants in removing NoV. While NoV inactivation could not be determined it was found that at a maximum UV dose of 6.9 J/cm"2 (6900 mJ/cm"2) an average 2.4 log removal of FRNA bacteriophage (GA) was observed; indicating the potential need for high UV doses to remove NoV if FRNA bacteriophage prove a suitable indicator for NoV. The study found that increasing concentrations of suspended solids impacted on PUV efficiency however, it appears the extent of the impact may be site specific. Furthermore, the study found that settlement processes can play a significant role in the removal of FRNA bacteriophage, thus potentially NoV. - Highlights: • Effectiveness of low pressure UV and novel high-intensity pulsed UV disinfection in NoVs removal. • Reduction of FRNA bacteriophage was seen in clarified wastewater after settling. • Adsorption of viral particles to solids

  10. Detection, fate and inactivation of pathogenic norovirus employing settlement and UV treatment in wastewater treatment facilities

    Barrett, M. [Microbial Ecology Laboratory, Microbiology, School of Natural sciences, National University of Ireland Galway (Ireland); Ryan Institute, National University of Ireland Galway (Ireland); College of Engineering and Informatics, National University of Ireland Galway (Ireland); Fitzhenry, K. [Ryan Institute, National University of Ireland Galway (Ireland); College of Engineering and Informatics, National University of Ireland Galway (Ireland); O' Flaherty, V. [Microbial Ecology Laboratory, Microbiology, School of Natural sciences, National University of Ireland Galway (Ireland); Ryan Institute, National University of Ireland Galway (Ireland); Dore, W.; Keaveney, S. [Marine Institute, Galway (Ireland); Cormican, M. [Ryan Institute, National University of Ireland Galway (Ireland); Centre for Health from Environment, Ryan Institute, National University of Ireland Galway (Ireland); Rowan, N. [Bioscience Research Institute, Athlone Institute of Technology (Ireland); Clifford, E., E-mail: eoghan.clifford@nuigalway.ie [Ryan Institute, National University of Ireland Galway (Ireland); College of Engineering and Informatics, National University of Ireland Galway (Ireland)

    2016-10-15

    It is accepted that discharged wastewaters can be a significant source of pathogenic viruses in receiving water bodies contributing to pollution and may in turn enter the human food chain and pose a risk to human health, thus norovirus (NoV) is often a predominant cause of gastroenteritis globally. Working with NoV poses particular challenges as it cannot be readily identified and detection by molecular methods does not assess infectivity. It has been proposed that the infectivity of NoV may be modelled through the use of an alternative virus; F-specific RNA (FRNA) bacteriophages; GA genotype and other FRNA bacteriophages have been used as a surrogate in studies of NoV inactivation. This study investigated the efficiency of novel pulsed ultraviolet irradiation and low pressure ultraviolet irradiation as a potential pathogen inactivation system for NoV and FRNA bacteriophage (GA) in secondary treated wastewaters. The role of UV dose and the impact of suspended solids concentration on removal efficiency were also examined. The study also investigated the role of settlement processes in wastewater treatment plants in removing NoV. While NoV inactivation could not be determined it was found that at a maximum UV dose of 6.9 J/cm{sup 2} (6900 mJ/cm{sup 2}) an average 2.4 log removal of FRNA bacteriophage (GA) was observed; indicating the potential need for high UV doses to remove NoV if FRNA bacteriophage prove a suitable indicator for NoV. The study found that increasing concentrations of suspended solids impacted on PUV efficiency however, it appears the extent of the impact may be site specific. Furthermore, the study found that settlement processes can play a significant role in the removal of FRNA bacteriophage, thus potentially NoV. - Highlights: • Effectiveness of low pressure UV and novel high-intensity pulsed UV disinfection in NoVs removal. • Reduction of FRNA bacteriophage was seen in clarified wastewater after settling. • Adsorption of viral particles

  11. Ultraviolet disinfection of treated municipal wastewaters

    Vander Laan, H; Cairns, B

    1993-12-31

    A wastewater disinfection system developed by a Canadian company, Trojan Technologies Inc., was discussed. Disinfection for pathogen reduction prior to discharge of treated municipal wastewater back into rivers and lakes has been either ignored or treated by the use of chemicals. In 1979 the first pilot ultraviolet (UV) wastewater disinfection system was established. Since then, over 500 municipal UV installations have been commissioned. The largest installation can process 212 million gallons of water per day. The advantages of UV as a disinfectant are: (1) It is more effective than chlorine. (2) There are no mutagenic/carcinogenic byproducts formed with UV. (3) No toxic chemical residuals are discharged. (4) UV is safe to both the operators and the public. (5) It is cost effective. Europe has not been as active in wastewater disinfection as has North America. One result of the absence of wastewater disinfection in Europe is that the Rhine River, for example, carries 50 million salmonella per second. Disinfection of wastewater effluents is, of course, indispensable in protecting our drinking water supply. 2 figs.

  12. Wastewater heat recovery method and apparatus

    Kronberg, J.W.

    1991-01-01

    This invention is comprised of a heat recovery system with a heat exchanger and a mixing valve. A drain trap includes a heat exchanger with an inner coiled tube, baffle plate, wastewater inlet, wastewater outlet, cold water inlet, and preheated water outlet. Wastewater enters the drain trap through the wastewater inlet, is slowed and spread by the baffle plate, and passes downward to the wastewater outlet. Cold water enters the inner tube through the cold water inlet and flows generally upward, taking on heat from the wastewater. This preheated water is fed to the mixing valve, which includes a flexible yoke to which are attached an adjustable steel rod, two stationary zinc rods, and a pivoting arm. The free end of the arm forms a pad which rests against a valve seat. The rods and pivoting arm expand or contract as the temperature of the incoming preheated water changes. The zinc rods expand more than the steel rod, flexing the yoke and rotating the pivoting arm. The pad moves towards the valve seat as the temperature of the preheated water rises, and away as the temperature falls, admitting a variable amount of hot water to maintain a nearly constant average process water temperature.

  13. Toxicity identification evaluation of cosmetics industry wastewater.

    de Melo, Elisa Dias; Mounteer, Ann H; Leão, Lucas Henrique de Souza; Bahia, Renata Cibele Barros; Campos, Izabella Maria Ferreira

    2013-01-15

    The cosmetics industry has shown steady growth in many developing countries over the past several years, yet little research exists on toxicity of wastewaters it generates. This study describes a toxicity identification evaluation conducted on wastewater from a small Brazilian hair care products manufacturing plant. Physicochemical and ecotoxicological analyses of three wastewater treatment plant inlet and outlet samples collected over a six month period revealed inefficient operation of the treatment system and thus treated wastewater organic matter, suspended solids and surfactants contents consistently exceeded discharge limits. Treated wastewater also presented high acute toxicity to Daphnia similis and chronic toxicity to Ceriodaphnia dubia and Pseudokirchneriella subcapitata. This toxicity was associated with suspended solids, volatile or sublatable and non-polar to moderately polar organic compounds that could be recovered in filtration and aeration residues. Seven surfactants used in the largest quantities in the production process were highly toxic to P. subcapitata and D. similis. These results indicated that surfactants, important production raw materials, are a probable source of toxicity, although other possible sources, such as fragrances, should not be discarded. Improved treatment plant operational control may reduce toxicity and lower impact of wastewater discharge to receiving waters. Copyright © 2012 Elsevier B.V. All rights reserved.

  14. CURRENT TECHNOLOGIES OF AMMONIUM WITHDRAWAL FROM WASTEWATER

    O. M. Shved

    2014-10-01

    Full Text Available The results of analysis of the current technologies, as well as their trends and developments in the field of wastewater treatment in Ukraine and the world are given. The legal documents and the system of state regulation and control in the field of sanitation and wastewater treatment in Ukraine have been analyzed. The information about government programs aimed at protecting the natural water bodies is also included. The global trends concerning development of biotechnology in the field of wastewater from nitrogen compounds have been investigated. The analysis of traditional (nitrification-denitrification and the latest biotechnology wastewater from inorganic nitrogen has been done. Current status of the present key technologies of nitrogen removal from wastewater has been formulated. The main advantages and disadvantages of these biotechnologies are described. It was determined that a major problem in the field of sanitation and wastewater treatment in Ukraine is the usage of outdated technologies and regulatory documentation that is a consequence of the lack of sufficient funding for the sector and the low level of environmental awareness of the government and the population.

  15. Pharmaceuticals removal and microbial community assessment in a continuous fungal treatment of non-sterile real hospital wastewater after a coagulation-flocculation pretreatment.

    Mir-Tutusaus, J A; Parladé, E; Llorca, M; Villagrasa, M; Barceló, D; Rodriguez-Mozaz, S; Martinez-Alonso, M; Gaju, N; Caminal, G; Sarrà, M

    2017-06-01

    Hospital wastewaters are a main source of pharmaceutical active compounds, which are usually highly recalcitrant and can accumulate in surface and groundwater bodies. Fungal treatments can remove these contaminants prior to discharge, but real wastewater poses a problem to fungal survival due to bacterial competition. This study successfully treated real non-spiked, non-sterile wastewater in a continuous fungal fluidized bed bioreactor coupled to a coagulation-flocculation pretreatment for 56 days. A control bioreactor without the fungus was also operated and the results were compared. A denaturing gradient gel electrophoresis (DGGE) and sequencing approach was used to study the microbial community arisen in both reactors and as a result some bacterial degraders are proposed. The fungal operation successfully removed analgesics and anti-inflammatories, and even the most recalcitrant pharmaceutical families such as antibiotics and psychiatric drugs. Copyright © 2017 Elsevier Ltd. All rights reserved.

  16. A wastewater game-changer

    Collins, Richard

    2014-01-01

    Full text: Anaerobic ammonium oxidation is a biotechnology that could slash energy use, chemical inputs and greenhouse emissions in wastewater treatment. The Australian water sector is slowly tuning in to one of the world's most promising wastewater and trade waste treatment technologies, anammox. SA Water, Queensland United Utilities and Veolia Water are each at different stages of trials of ''anaerobic ammonium oxidation'' to replace activated sludge in removing nitrogen. It relies on special anammox bacteria, which were first identified in 1999 and have been heavily researched ever since. The bacteria short circuit the normal nitrification/denitrification process and oxidise ammonia (NH_3) to nitrogen (N_2) under anaerobic conditions, promising deep cuts in energy demand, chemical use, fugitive greenhouse emissions and waterway impacts. Most local utilities have taken a look at it, but WME is aware of only three that have proceeded to trial stage. Veolia Water is keeping the trial it is supporting with its ANITA Mox technology under wraps for now, but municipal client manager Voon Chin said the technology has been proven for numerous applications overseas, including sludge dewatering effluent (SDE). QUU is in now stepping up from bench-scale tests to a full pilot at its Luggage Point sewage treatment plant (STP). It is currently enriching anammox cultures in 200-litre drums onsite to speed up the painstaking conditioning process when the plant gets up and running shortly in a 40-foot shipping container. But the most advanced are SA Water and Degremont through their Allwater joint venture, which runs Adelaide's water and sewerage network. It has wrapped up Australia's first pilot project, a 4m"3 plant treating SDE at the Bolivar STP. An Allwater spokesperson told WME in a statement that the pilot was a success and they are now assessing full- scale options. A paper to Enviro 2012anticipated a full-scale plant at Bolivar would create operational savings of $650

  17. The Effect of Problem Solving and Problem Posing Models and Innate Ability to Students Achievement

    Ratna Kartika Irawati

    2015-04-01

    Full Text Available Pengaruh Model Problem Solving dan Problem Posing serta Kemampuan Awal terhadap Hasil Belajar Siswa   Abstract: Chemistry concepts understanding features abstract quality and requires higher order thinking skills. Yet, the learning on chemistry has not boost the higher order thinking skills of the students. The use of the learning model of Problem Solving and Problem Posing in observing the innate ability of the student is expected to resolve the issue. This study aims to determine the learning model which is effective to improve the study of the student with different level of innate ability. This study used the quasi-experimental design. The research data used in this research is the quiz/test of the class which consist of 14 multiple choice questions and 5 essay questions. The data analysis used is ANOVA Two Ways. The results showed that Problem Posing is more effective to improve the student compared to Problem Solving, students with high level of innate ability have better outcomes in learning rather than the students with low level of innate ability after being applied with the Problem solving and Problem posing model, further, Problem Solving and Problem Posing is more suitable to be applied to the students with high level of innate ability. Key Words: problem solving, problem posing, higher order thinking skills, innate ability, learning outcomes   Abstrak: Pemahaman konsep-konsep kimia yang bersifat abstrak membutuhkan keterampilan berpikir tingkat tinggi. Pembelajaran kimia belum mendorong siswa melakukan keterampilan berpikir tingkat tinggi. Penggunaan model pembelajaran Problem Solving dan Problem Posing dengan memperhatikan kemampuan awal siswa diduga dapat mengatasi masalah tersebut. Penelitian ini bertujuan untuk mengetahui model pembelajaran yang efektif dalam meningkatkan hasil belajar dengan kemampuan awal siswa yang berbeda. Penelitian ini menggunakan rancangan eksperimen semu. Data penelitian menggunakan tes hasil belajar

  18. Wastewater garden--a system to treat wastewater with environmental benefits to community.

    Nair, Jaya

    2008-01-01

    Many communities and villages around the world face serious problems with lack of sanitation especially in disposing of the wastewater-black water and grey water from the houses, or wash outs from animal rearing sheds. Across the world diverting wastewater to the surroundings or to the public spaces are not uncommon. This is responsible for contaminating drinking water sources causing health risks and environmental degradation as they become the breeding grounds of mosquitoes and pathogens. Lack of collection and treatment facilities or broken down sewage systems noticed throughout the developing world are associated with this situation. Diverting the wastewater to trees and vegetable gardens was historically a common practice. However the modern world has an array of problems associated with such disposal such as generation of large quantity of wastewater, unavailability of space for onsite disposal or treatment and increase in population. This paper considers the wastewater garden as a means for wastewater treatment and to improve the vegetation and biodiversity of rural areas. This can also be implemented in urban areas in association with parks and open spaces. This also highlights environmental safety in relation to the nutrient, pathogen and heavy metal content of the wastewater. The possibilities of different types of integration and technology that can be adopted for wastewater gardens are also discussed. IWA Publishing 2008.

  19. A California Winery Wastewater Survey: Assessing the Salinity Challenge for Wastewater Reuse

    The increasing scarcity of water and tighter regulations for discharge make onsite wastewater reuse an attractive prospect for the California wine industry. This study reports winery wastewater (WW) data from eighteen Northern California (Northern CA) wineries. The current study provides a baseline ...

  20. Spatial and temporal variation in de facto wastewater reuse in drinking water systems across the U.S.A.

    Rice, Jacelyn; Westerhoff, Paul

    2015-01-20

    De facto potable reuse occurs when treated wastewater is discharged into surface waters upstream of potable drinking water treatment plant (DWTP) intakes. Wastewater treatment plant (WWTP) discharges may pose water quality risks at the downstream DWTP, but additional flow aids in providing a reliable water supply source. In this work de facto reuse is analyzed for 2056 surface water intakes serving 1210 DWTPs across the U.S.A. that serve greater than 10,000 people, covering approximately 82% of the nation’s population. An ArcGIS model is developed to assess spatial relationships between DWTPs and WWTPs, with a python script designed to perform a network analysis by hydrologic region. A high frequency of de facto reuse occurrence was observed; 50% of the DWTP intakes are potentially impacted by upstream WWTP discharges. However, the magnitude of de facto reuse was seen to be relatively low, where 50% of the impacted intakes contained less than 1% treated municipal wastewater under average streamflow conditions. De facto reuse increased greatly under low streamflow conditions (modeled by Q95), with 32 of the 80 sites yielding at least 50% treated wastewater, this portion of the analysis is limited to sites where stream gauge data was readily available.

  1. Pose measurement method with six parameters for microassembly based on an optical micrometer

    Ye, Xin; Wang, Qiang; Zhang, Zhi-jing; Sun, Yuan; Zhang, Xiao-feng

    2009-07-01

    This paper presents a new pose measurement method of microminiature parts that is capable of transforming one dimension (1D) contour size obtained by optical micrometer to three dimension (3D) data with six parameters for microassembly. Pose measurement is one of the most important processes for microminiature parts' alignment and insertion in microassembly. During the past few years, researchers have developed their microassembly systems focusing on visual identification to obtain two or three dimension data with no more than three parameters. Scanning electronic microscope (SEM), optical microscope, and stereomicroscope are applied in their systems. However, as structures of microminiature parts become increasingly complex, six parameters to represent their position and orientation are specifically needed. Firstly, The pose measurement model is established based on the introduction of measuring objects and measuring principle of optical micrometer. The measuring objects are microminiature parts with complex 3D structure. Two groups of two dimension (2D) data are gathered at two different measurement positions. Then part pose with 6 parameters is calculated, including 3 position parameters of feature point of the part and 3 orientation parameters of the part axis. Secondly, pose measurement process for a small shaft, vertical orientation determination, and position parameters obtaining are presented. 2D data is gathered by scanning the generatrix of the part, and valid data is extracted and saved in arrays. A vertical orientation criterion is proposed to determine whether the part is parallel to the Z-axis of the coordinate. If not, 2D data will be fixed into a linear equation using least square algorithm. Then orientation parameters are calculated. Center of Part End (CPE) is selected as feature point of the part, and its position parameters are extracted form two group of 2D data. Finally, a fast pose measurement device is developed and representative

  2. Generalized Hough transform based time invariant action recognition with 3D pose information

    Muench, David; Huebner, Wolfgang; Arens, Michael

    2014-10-01

    Human action recognition has emerged as an important field in the computer vision community due to its large number of applications such as automatic video surveillance, content based video-search and human robot interaction. In order to cope with the challenges that this large variety of applications present, recent research has focused more on developing classifiers able to detect several actions in more natural and unconstrained video sequences. The invariance discrimination tradeoff in action recognition has been addressed by utilizing a Generalized Hough Transform. As a basis for action representation we transform 3D poses into a robust feature space, referred to as pose descriptors. For each action class a one-dimensional temporal voting space is constructed. Votes are generated from associating pose descriptors with their position in time relative to the end of an action sequence. Training data consists of manually segmented action sequences. In the detection phase valid human 3D poses are assumed as input, e.g. originating from 3D sensors or monocular pose reconstruction methods. The human 3D poses are normalized to gain view-independence and transformed into (i) relative limb-angle space to ensure independence of non-adjacent joints or (ii) geometric features. In (i) an action descriptor consists of the relative angles between limbs and their temporal derivatives. In (ii) the action descriptor consists of different geometric features. In order to circumvent the problem of time-warping we propose to use a codebook of prototypical 3D poses which is generated from sample sequences of 3D motion capture data. This idea is in accordance with the concept of equivalence classes in action space. Results of the codebook method are presented using the Kinect sensor and the CMU Motion Capture Database.

  3. Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

    Yu Peng

    2012-09-01

    Full Text Available Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.

  4. Influence of wastewater characteristics on methane potential in food-processing industry wastewaters

    Maya Altamira, Larisa; Baun, Anders; Angelidaki, Irini

    2008-01-01

    ) were compared to the theoretical methane yields (Bo,th) in order to evaluate the biodegradability of the tested wastewaters and the influence of their physico-chemical characteristics. The analytical method applied to quantify the wastewaters’ organic content proved to influence the estimation...... of their theoretical yields. The substrate:inoculum ratio as well as the dilution factor of the wastewaters influenced the ultimate practical methane yields differently in each of the wastewaters assessed. Substrate chemical oxygen demand (COD) concentrations did not present any influence on ultimate practical methane...... yields; on the other hand, it was found that they were affected positively by concentrations of total inorganic carbon when wastewaters were 25% and 50% diluted and affected negatively by concentrations of total acetate when wastewaters were undiluted. Carbohydrate and protein concentrations affected...

  5. Microbial contamination along the main open wastewater and storm water channel of Hanoi, Vietnam, and potential health risks for urban farmers

    Fuhrimann, Samuel; Pham-Duc, Phuc; Cissé, Guéladio; Tram, Nguyen Thuy; Thu Ha, Hoang; Dung, Do Trung; Ngoc, Pham; Nguyen-Viet, Hung; Anh Vuong, Tuan; Utzinger, Jürg; Schindler, Christian; Winkler, Mirko S.

    2016-01-01

    The use of wastewater in agriculture and aquaculture has a long tradition throughout Asia. For example, in Hanoi, it creates important livelihood opportunities for > 500,000 farmers in peri-urban communities. Discharge of domestic effluents pollute the water streams with potential pathogenic organisms posing a public health threat to farmers and consumers of wastewater-fed foodstuff. We determined the effectiveness of Hanoi's wastewater conveyance system, placing particular emphasis on the quality of wastewater used in agriculture and aquaculture. Between April and June 2014, a total of 216 water samples were obtained from 24 sampling points and the concentrations of total coliforms (TC), Escherichia coli, Salmonella spp. and helminth eggs determined. Despite applied wastewater treatment, agricultural field irrigation water was heavily contaminated with TC (1.3 × 10"7 colony forming unit (CFU)/100 mL), E. coli (1.1 × 10"6 CFU/100 mL) and Salmonella spp. (108 most probable number (MPN)/100 mL). These values are 110-fold above Vietnamese discharge limits for restricted agriculture and 260-fold above the World Health Organization (WHO)'s tolerable safety limits for unrestricted agriculture. Mean helminth egg concentrations were below WHO tolerable levels in all study systems (< 1 egg/L). Hence, elevated levels of bacterial contamination, but not helminth infections, pose a major health risk for farmers and consumers of wastewater fed-products. We propose a set of control measures that might protect the health of exposed population groups without compromising current urban farming activities. This study presents an important example for sanitation safety planning in a rapidly expanding Asian city and can guide public and private entities working towards Sustainable Development Goal target 6.3, that is to improve water quality by reducing pollution, halving the proportion of untreated wastewater and increasing recycling and safe reuse globally. - Highlights: • We

  6. Microbial contamination along the main open wastewater and storm water channel of Hanoi, Vietnam, and potential health risks for urban farmers

    Fuhrimann, Samuel, E-mail: samuel.fuhrimann@unibas.ch [Department of Epidemiology and Public Health, Swiss Tropical and Public Health Institute, Basel (Switzerland); University of Basel, Basel (Switzerland); Pham-Duc, Phuc [Center for Public Health and Ecosystem Research, Hanoi School of Public Health, Hanoi (Viet Nam); Cissé, Guéladio [Department of Epidemiology and Public Health, Swiss Tropical and Public Health Institute, Basel (Switzerland); University of Basel, Basel (Switzerland); Tram, Nguyen Thuy; Thu Ha, Hoang [Department of Microbiology, National Institute of Hygiene and Epidemiology, Hanoi (Viet Nam); Dung, Do Trung [Department of Parasitology, National Institute of Malaria, Parasitology, and Entomology, Hanoi (Viet Nam); Ngoc, Pham [Department of Animal Hygiene, National Institute for Veterinary Research, Hanoi (Viet Nam); Nguyen-Viet, Hung [Center for Public Health and Ecosystem Research, Hanoi School of Public Health, Hanoi (Viet Nam); International Livestock Research Institute, Hanoi (Viet Nam); Anh Vuong, Tuan [Department of Microbiology, National Institute of Hygiene and Epidemiology, Hanoi (Viet Nam); Utzinger, Jürg; Schindler, Christian; Winkler, Mirko S. [Department of Epidemiology and Public Health, Swiss Tropical and Public Health Institute, Basel (Switzerland); University of Basel, Basel (Switzerland)

    2016-10-01

    The use of wastewater in agriculture and aquaculture has a long tradition throughout Asia. For example, in Hanoi, it creates important livelihood opportunities for > 500,000 farmers in peri-urban communities. Discharge of domestic effluents pollute the water streams with potential pathogenic organisms posing a public health threat to farmers and consumers of wastewater-fed foodstuff. We determined the effectiveness of Hanoi's wastewater conveyance system, placing particular emphasis on the quality of wastewater used in agriculture and aquaculture. Between April and June 2014, a total of 216 water samples were obtained from 24 sampling points and the concentrations of total coliforms (TC), Escherichia coli, Salmonella spp. and helminth eggs determined. Despite applied wastewater treatment, agricultural field irrigation water was heavily contaminated with TC (1.3 × 10{sup 7} colony forming unit (CFU)/100 mL), E. coli (1.1 × 10{sup 6} CFU/100 mL) and Salmonella spp. (108 most probable number (MPN)/100 mL). These values are 110-fold above Vietnamese discharge limits for restricted agriculture and 260-fold above the World Health Organization (WHO)'s tolerable safety limits for unrestricted agriculture. Mean helminth egg concentrations were below WHO tolerable levels in all study systems (< 1 egg/L). Hence, elevated levels of bacterial contamination, but not helminth infections, pose a major health risk for farmers and consumers of wastewater fed-products. We propose a set of control measures that might protect the health of exposed population groups without compromising current urban farming activities. This study presents an important example for sanitation safety planning in a rapidly expanding Asian city and can guide public and private entities working towards Sustainable Development Goal target 6.3, that is to improve water quality by reducing pollution, halving the proportion of untreated wastewater and increasing recycling and safe reuse globally

  7. Adsorption of Reactive Red Dye from Wastewater Using Modified Citrulluscolosynthis Ash

    Mohammadreza Rezaei Kahkha

    2016-07-01

    Full Text Available Dye-bearing wastes pose serious risks to and leave harmful effects on the environment. Increasing wastewater color intensity leads to reduced light reaching the aquatic environment, which adversely affects the life and growth of aquatic plants and invertebrates. Among the many methods available for dye removal from wastewater, membrane separation, oxidation, coagulation, and anaerobic treatment are more common but they are all costly and involve complex processes. Biosorption, in contrast, enjoys both ease of application and simple design so that it is widely used for removing dyes, heavy metals, and phenolic compounds from both water and wastewater. In this paper, the ability of citrulluscolosynthis ash as a bioadsorbent for the removal of reactive red dye is investigated for the first time. Sodium hydroxide is also used to modify the plant ash surface which expectedly enhances its dye removal efficiency. Measurements and removal levels are determined using a UV-vis spectrophotometer. Finally, the effects of pH, adsorbent dosage, dye concentration, and reaction time on dye removal efficiency are also explored. Results show that the optimum conditions to achieve maximum dye removal are as follows: A pH level of 2, an adsorbant dosage of 1.75 g l-1, an initial concentration equal to 90 mg L-1, and A reaction time of 70 min. Adsorption isotherm is found to obey the Ferundlich isotherm. Also, an adsorption capacity of 36 mg g‒1 is achieved under the best conditions. It may thus be concluded that modified citrulluscolosynthis ash can be used as an effective adsorbent to treat colored wastewaters.

  8. An anti-disturbing real time pose estimation method and system

    Zhou, Jian; Zhang, Xiao-hu

    2011-08-01

    Pose estimation relating two-dimensional (2D) images to three-dimensional (3D) rigid object need some known features to track. In practice, there are many algorithms which perform this task in high accuracy, but all of these algorithms suffer from features lost. This paper investigated the pose estimation when numbers of known features or even all of them were invisible. Firstly, known features were tracked to calculate pose in the current and the next image. Secondly, some unknown but good features to track were automatically detected in the current and the next image. Thirdly, those unknown features which were on the rigid and could match each other in the two images were retained. Because of the motion characteristic of the rigid object, the 3D information of those unknown features on the rigid could be solved by the rigid object's pose at the two moment and their 2D information in the two images except only two case: the first one was that both camera and object have no relative motion and camera parameter such as focus length, principle point, and etc. have no change at the two moment; the second one was that there was no shared scene or no matched feature in the two image. Finally, because those unknown features at the first time were known now, pose estimation could go on in the followed images in spite of the missing of known features in the beginning by repeating the process mentioned above. The robustness of pose estimation by different features detection algorithms such as Kanade-Lucas-Tomasi (KLT) feature, Scale Invariant Feature Transform (SIFT) and Speed Up Robust Feature (SURF) were compared and the compact of the different relative motion between camera and the rigid object were discussed in this paper. Graphic Processing Unit (GPU) parallel computing was also used to extract and to match hundreds of features for real time pose estimation which was hard to work on Central Processing Unit (CPU). Compared with other pose estimation methods, this new

  9. Phycoremediation of municipal wastewater by microalgae to produce biofuel.

    Singh, Amit Kumar; Sharma, Nikunj; Farooqi, Humaira; Abdin, Malik Zainul; Mock, Thomas; Kumar, Shashi

    2017-09-02

    Municipal wastewater (WW), if not properly remediated, poses a threat to the environment and human health by carrying significant loads of nutrients and pathogens. These contaminants pollute rivers, lakes, and natural reservoirs where they cause eutrophication and pathogen-mediated diseases. However, the high nutrient content of WW makes it an ideal environment for remediation with microalgae that require high nutrient concentrations for growth and are not susceptible to toxins and pathogens. Given that an appropriate algal strain is used for remediation, the incurred biomass can be refined for the production of biofuel. Four microalgal species (Chlamydomonas reinhardtii, Chlorella sp., Parachlorella kessleri-I, and Nannochloropsis gaditana) were screened for efficient phycoremediation of municipal WW and potential use for biodiesel production. Among the four strains tested, P. kessleri-I showed the highest growth rate and biomass production in 100% WW. It efficiently removed all major nutrients with a removal rate of up to 98% for phosphate after 10 days of growth in 100% municipal WW collected from Delhi. The growth of P. kessleri-I in WW resulted in a 50% increase of biomass and a 115% increase of lipid yield in comparison to growth in control media. The Fatty acid methyl ester (FAME), and fuel properties of lipids isolated from cells grown in WW complied with international standards. The present study provides evidence that the green alga P. kessleri-I effectively remediates municipal WW and can be used to produce biodiesel.

  10. Assessment of airborne bacteria and noroviruses in air emission from a new highly-advanced hospital wastewater treatment plant

    Uhrbrand, Katrine; Schultz, Anna Charlotte; Koivisto, A. J.

    2017-01-01

    Exposure to bioaerosols can pose a health risk to workers at wastewater treatment plants (WWTPs) and to habitants of their surroundings. The main objective of this study was to examine the presence of harmful microorganisms in the air emission from a new type of hospital WWTP employing advanced...... wastewater treatment technologies. Air particle measurements and sampling of inhalable bacteria, endotoxin and noroviruses (NoVs) were performed indoor at the WWTP and outside at the WWTP ventilation air exhaust, downwind of the air exhaust, and upwind of the WWTP. No significant differences were seen...... in particle and endotoxin concentrations between locations. Bacterial concentrations were comparable or significantly lower in the exhaust air than inside the WWTP and in the upwind reference. Bacterial isolates were identified using matrix-assisted laser desorption-ionization time-of-flight mass spectrometry...

  11. A pose estimation method for unmanned ground vehicles in GPS denied environments

    Tamjidi, Amirhossein; Ye, Cang

    2012-06-01

    This paper presents a pose estimation method based on the 1-Point RANSAC EKF (Extended Kalman Filter) framework. The method fuses the depth data from a LIDAR and the visual data from a monocular camera to estimate the pose of a Unmanned Ground Vehicle (UGV) in a GPS denied environment. Its estimation framework continuy updates the vehicle's 6D pose state and temporary estimates of the extracted visual features' 3D positions. In contrast to the conventional EKF-SLAM (Simultaneous Localization And Mapping) frameworks, the proposed method discards feature estimates from the extended state vector once they are no longer observed for several steps. As a result, the extended state vector always maintains a reasonable size that is suitable for online calculation. The fusion of laser and visual data is performed both in the feature initialization part of the EKF-SLAM process and in the motion prediction stage. A RANSAC pose calculation procedure is devised to produce pose estimate for the motion model. The proposed method has been successfully tested on the Ford campus's LIDAR-Vision dataset. The results are compared with the ground truth data of the dataset and the estimation error is ~1.9% of the path length.

  12. Did Buddha turn the other cheek too? A comparison of posing biases between Jesus and Buddha.

    Duerksen, Kari N; Friedrich, Trista E; Elias, Lorin J

    2015-10-02

    People tend to exhibit a leftward bias in posing. Various studies suggest that posing to the left portrays a stronger emotion, whereas posing to the right portrays a more neutral emotion. Religions such as Christianity emphasize the role of strong emotions in religious experience, whereas religions such as Buddhism emphasize the calming of emotions as being important. In the present study, we investigated if the emphasis on emotionality of a religion influences the depiction of their religious figures. Specifically, we coded 484 paintings of Jesus and Buddha from online art databases for whether the deity exhibited a left bias, right bias, or central face presentation. The posing biases were analysed to discover whether paintings of Jesus would more frequently depict a leftward bias than paintings of Buddha. Jesus is more commonly depicted with a leftward bias than Buddha, and Buddha is more commonly depicted with a central face presentation than Jesus. These findings support the idea that the amount of emotionality that is to be conveyed in artwork influences the whether the subject is posed with a leftward bias.

  13. Recovering the 3d Pose and Shape of Vehicles from Stereo Images

    Coenen, M.; Rottensteiner, F.; Heipke, C.

    2018-05-01

    The precise reconstruction and pose estimation of vehicles plays an important role, e.g. for autonomous driving. We tackle this problem on the basis of street level stereo images obtained from a moving vehicle. Starting from initial vehicle detections, we use a deformable vehicle shape prior learned from CAD vehicle data to fully reconstruct the vehicles in 3D and to recover their 3D pose and shape. To fit a deformable vehicle model to each detection by inferring the optimal parameters for pose and shape, we define an energy function leveraging reconstructed 3D data, image information, the vehicle model and derived scene knowledge. To minimise the energy function, we apply a robust model fitting procedure based on iterative Monte Carlo model particle sampling. We evaluate our approach using the object detection and orientation estimation benchmark of the KITTI dataset (Geiger et al., 2012). Our approach can deal with very coarse pose initialisations and we achieve encouraging results with up to 82 % correct pose estimations. Moreover, we are able to deliver very precise orientation estimation results with an average absolute error smaller than 4°.

  14. Enhancing students’ mathematical problem posing skill through writing in performance tasks strategy

    Kadir; Adelina, R.; Fatma, M.

    2018-01-01

    Many researchers have studied the Writing in Performance Task (WiPT) strategy in learning, but only a few paid attention on its relation to the problem-posing skill in mathematics. The problem-posing skill in mathematics covers problem reformulation, reconstruction, and imitation. The purpose of the present study was to examine the effect of WiPT strategy on students’ mathematical problem-posing skill. The research was conducted at a Public Junior Secondary School in Tangerang Selatan. It used a quasi-experimental method with randomized control group post-test. The samples were 64 students consists of 32 students of the experiment group and 32 students of the control. A cluster random sampling technique was used for sampling. The research data were obtained by testing. The research shows that the problem-posing skill of students taught by WiPT strategy is higher than students taught by a conventional strategy. The research concludes that the WiPT strategy is more effective in enhancing the students’ mathematical problem-posing skill compared to the conventional strategy.

  15. Improving attitudes toward mathematics learning with problem posing in class VIII

    Vionita, Alfha; Purboningsih, Dyah

    2017-08-01

    This research is classroom action research which is collaborated to improve student's behavior toward math and mathematics learning at class VIII by using problem posing approach. The subject of research is all of students grade VIIIA which consist of 32 students. This research has been held on two period, first period is about 3 times meeting, and second period is about 4 times meeting. The instrument of this research is implementation of learning observation's guidance by using problem posing approach. Cycle test has been used to measure cognitive competence, and questionnaire to measure the students' behavior in mathematics learning process. The result of research shows the students' behavior has been improving after using problem posing approach. It is showed by the behavior's criteria of students that has increasing result from the average in first period to high in second period. Furthermore, the percentage of test result is also improve from 68,75% in first period to 78,13% in second period. On the other hand, the implementation of learning observation by using problem posing approach has also improving and it is showed by the average percentage of teacher's achievement in first period is 89,2% and student's achievement 85,8%. These results get increase in second period for both teacher and students' achievement which are 94,4% and 91,11%. As a result, students' behavior toward math learning process in class VIII has been improving by using problem posing approach.

  16. Single leg balancing in ballet: effects of shoe conditions and poses.

    Lobo da Costa, Paula H; Azevedo Nora, Fernanda G S; Vieira, Marcus Fraga; Bosch, Kerstin; Rosenbaum, Dieter

    2013-03-01

    The purpose of this study was to describe the effects of lower limb positioning and shoe conditions on stability levels of selected single leg ballet poses performed in demi-pointe position. Fourteen female non-professional ballet dancers (mean age of 18.4±2.8 years and mean body mass index of 21.5±2.8kg/m(2)) who had practiced ballet for at least seven years, without any musculoskeletal impairment volunteered to participate in this study. A capacitive pressure platform allowed for the assessment of center of pressure variables related to the execution of three single leg ballet poses in demi pointé position: attitude devant, attitude derriére, and attitude a la second. Peak pressures, contact areas, COP oscillation areas, anterior-posterior and medio-lateral COP oscillations and velocities were compared between two shoe conditions (barefoot versus slippers) and among the different poses. Barefoot performances produced more stable poses with significantly higher plantar contact areas, smaller COP oscillation areas and smaller anterior-posterior COP oscillations. COP oscillation areas, anterior-posterior COP oscillations and medio-lateral COP velocities indicated that attitude a la second is the least challenging and attitude derriére the most challenging pose. Copyright © 2012 Elsevier B.V. All rights reserved.

  17. Inertial measurement unit–based iterative pose compensation algorithm for low-cost modular manipulator

    Yunhan Lin

    2016-01-01

    Full Text Available It is a necessary mean to realize the accurate motion control of the manipulator which uses end-effector pose correction method and compensation method. In this article, first, we established the kinematic model and error model of the modular manipulator (WUST-ARM, and then we discussed the measurement methods and precision of the inertial measurement unit sensor. The inertial measurement unit sensor is mounted on the end-effector of modular manipulator, to get the real-time pose of the end-effector. At last, a new inertial measurement unit–based iterative pose compensation algorithm is proposed. By applying this algorithm in the pose compensation experiment of modular manipulator which is composed of low-cost rotation joints, the results show that the inertial measurement unit can obtain a higher precision when in static state; it will accurately feedback to the control system with an accurate error compensation angle after a brief delay when the end-effector moves to the target point, and after compensation, the precision errors of roll angle, pitch angle, and yaw angle are reached at 0.05°, 0.01°, and 0.27° respectively. It proves that this low-cost method provides a new solution to improve the end-effector pose of low-cost modular manipulator.

  18. Application of radiation for wastewater treatment

    Han Bumsoo; Kim Jinkyu; Kim Yuri

    2006-01-01

    Electron beam processing of wastewater is non-chemical, and uses fast formation of short-lived reactive radicals that can interact with a wide range of pollutants. Such reactive radicals are strong oxidizing or reducing agents that can transform the pollutants in the liquids wastes. The first studies on the radiation treatment of wastes were carried out in the 1950s principally for disinfection. In the 1960s, these studies were extended to the purification of water and wastewater. After some laboratory research on industrial wastewaters and polluted groundwater in 1970s and 1980s, several pilot plants were built for extended research in the 1990s. The first full-scale application was reported for the purification of wastewater at the Voronezh synthetic rubber plant in Russia. Two accelerators (50 kW each) were used to convert the non-biodegradable emulsifier, 'nekal', present in the wastewater to a biodegradable form . The installation treats up to 2000 m3 of effluent per day. A pilot plant of 1000 m 3 /d for treating textile-dyeing wastewater has been constructed in Daegu, Korea with 1 MeV, 40 kW electron accelerator. High-energy irradiation produces instantaneous radiolytical transformations by energy transfer from accelerated electrons to orbital electrons of water molecules. Absorbed energy disturbs the electron system of the molecule and results in breakage of inter-atomic bonds. Hydrated electron eaq, H atom, . OH and HO 2 . radicals and hydrogen peroxide H 2 O 2 and H 2 are the most important products of the primary interactions (radiolysis products). Generally, radiation processing of wastewater has maximum efficiency at pollutant concentration less than 10 -3 mol/L (∼100 ppm). The treatment of such wastewater is simple, requires low dose (about 1 kGy or less) and gives almost complete elimination of odor, color, taste and turbidity. The radiation processing of polluted water containing specific contaminants may require creation of special conditions to

  19. Feasibility study on recovering hydrogen energy from industrial wastewater

    Ming Der Bai; Chia-Jung Hsiao

    2006-01-01

    Three wastewater obtained from different industries were evaluated for the feasibility of hydrogen fermentation. Because of the various components of the wastewater, the characteristics of the hydrogen accumulation were different. Several stages with different hydrogen producing rate were observed during the batch hydrogen fermentation of each wastewater. The obvious hydrogen consumption was observed in the last phase of hydrogen fermentation of the wastewater from the winery. It is similar to the reported hydrogen fermentation characteristic of starch. The wastewater coming from the fructose manufactory has the greatest hydrogen potential nearly 150 L-H 2 /kg-COD. The wastewater from food industry has the lower hydrogen potential of 65 L-H 2 /kg-COD. Some of its compounds were not suitable for hydrogen production. The lowest hydrogen potential was observed in the fermentation of the wastewater from the winery, because hydrogen consumption affects the hydrogen recovery from the wastewater from winery. (authors)

  20. Pollutant removal in subsurface wastewater infiltration systems with ...

    Pollutant removal in subsurface wastewater infiltration systems with/without intermittent ... Water SA. Journal Home · ABOUT THIS JOURNAL · Advanced Search ... wastewater infiltration systems (SWISs) with and without intermittent aeration, ...

  1. The Role of Anaerobic Digestion in Wastewater Management

    Wastewater systems potentially contribute significant negative impacts not only on regional water bodies, but also on global energy, climate, and sustainability. Energy recovery from wastewater is one way to reduce the negative impacts and achieve greater resource recovery. The ...

  2. Heavy metal pollution of vegetable crops irrigated with wastewater ...

    144) and edible parts of both exotic and traditional vegetables (samples = 240) irrigated with wastewater from some parts of Accra were studied. The concentrations of heavy metals in mg/l were quantified in wastewater from Accra and ...

  3. Quality Evaluation of Household Wastewater for Irrigation MUSA, J J ...

    Michael Horsfall

    waste-water discharge and disposal practices that may ... impacts from sewage contamination in urban areas are well documented ... tanks, aerated wastewater treatment systems (AWTS) ..... water sources in selected rural communities of the.

  4. Upgrading of technology of absorptive cleaning of oily wastewaters

    Pavluh, L. I .

    2013-01-01

    Oily wastewater treatment technology is improved through the improvement of the absorptive properties of sorbents based on plant waste. The cost of flowsheets for treatment of wastewaters contaminated with oil products is presented.

  5. Emerging energy-efficient technologies for the Californian wastewater industry

    Slaa, Jan Willem

    2011-01-01

    SUMMARY Wastewater treatment is of vital importance for protecting human health and minimizing the environmental impact of polluted water. Since the beginning of the 20th century public facilities have been installed globally which treat wastewater at a

  6. Feasibility study on recovering hydrogen energy from industrial wastewater

    Ming Der Bai; Chia-Jung Hsiao [Energy and Resource Laboratories, Industrial Technology Research Institute, 195, sec. 4 Chung Hsing Rd., Chutung, Hsinchu, Taiwan, 301 R.O.C. (China)

    2006-07-01

    Three wastewater obtained from different industries were evaluated for the feasibility of hydrogen fermentation. Because of the various components of the wastewater, the characteristics of the hydrogen accumulation were different. Several stages with different hydrogen producing rate were observed during the batch hydrogen fermentation of each wastewater. The obvious hydrogen consumption was observed in the last phase of hydrogen fermentation of the wastewater from the winery. It is similar to the reported hydrogen fermentation characteristic of starch. The wastewater coming from the fructose manufactory has the greatest hydrogen potential nearly 150 L-H{sub 2}/kg-COD. The wastewater from food industry has the lower hydrogen potential of 65 L-H{sub 2}/kg-COD. Some of its compounds were not suitable for hydrogen production. The lowest hydrogen potential was observed in the fermentation of the wastewater from the winery, because hydrogen consumption affects the hydrogen recovery from the wastewater from winery. (authors)

  7. Assessment of Cryptosporidium in wastewater reuse for drinking ...

    Assessment of Cryptosporidium in wastewater reuse for drinking water ... water supply needs and/or to reduce costs in many communities around the world. ... in a treatment plant geared for the production of drinking water from wastewater ...

  8. Current Status of On-Site Wastewater Management

    Senn, Charles L.

    1978-01-01

    Wastewater management is becoming an important environmental issue nationally. This article reports the history and current status of wastewater management. Regulatory programs are discussed with specific state examples. Needs assessment is also included. (MA)

  9. Improved Electrocoagulation Reactor for Rapid Removal of Phosphate from Wastewater

    Tian, Yushi; He, Weihua; Zhu, Xiuping; Yang, Wulin; Ren, Nanqi; Logan, Bruce E.

    2016-01-01

    by electrocoagulation. The performance of this process, called a reverse-electric field, air cathode electrocoagulation (REAEC) reactor, was tested using domestic wastewater as a function of charging time and electrocoagulation time. REAEC wastewater treatment removed

  10. Textile wastewater biocoagulation by Caesalpinia spinosa extracts

    Andrés Revelo

    2015-03-01

    Full Text Available (Received: 2014/12/06 - Accepted: 2015/03/24The textile industry in Ecuador is still a matter of concern because of the inappropriate disposal of their effluents into the local water supply. The present research was carried out in Pelileo (Tungurahua-Ecuador where textile wastewaters are discharged into waterways. An environmentally friendly solution to treat highly contaminated organic textile wastewaters is herein evaluated: a remediation process of biocoagulation was performed using extracts from the Caesalpinia spinosa plant also known as guarango or tara. It was determined that using C. spinosa extracts to treat wastewater has the same statistical effect as when applying a chemical coagulant (polyaluminum chloride 15%. Activated zeolite adsorbed color residuals from treated water to obtain turbidity removal more than 90%. A mathematical model showed that turbidity removal between 50-90% can be obtained by applying 25-45 g/L of guarango extracts and zeolite per 700 mL of textile wastewater. The natural coagulation using C. spinosa extracts produced 85% less sludge than polyaluminum chloride, and removed high organic matter content in the wastewater (1050 mg/L by 52%.

  11. Municipal Treated Wastewater Irrigation: Microbiological Risk Evaluation

    Antonio Lonigro

    2008-06-01

    Full Text Available Municipal wastewater for irrigation, though treated, can contain substances and pathogens toxic for humans and animals. Pathogens, although not harmful from an agronomical aspect, undoubtedly represent a major concern with regards to sanitary and hygienic profile. In fact, vegetable crops irrigated with treated wastewater exalt the risk of infection since these products can also be eaten raw, as well as transformed or cooked. Practically, the evaluation of the microbiological risk is important to verify if the microbial limits imposed by law for treated municipal wastewater for irrigation, are valid, thus justifying the treatments costs, or if they are too low and, therefore, they don’ t justify them. Different probabilistic models have been studied to assess the microbiological risk; among these, the Beta-Poisson model resulted the most reliable. Thus, the Dipartimento di Scienze delle Produzioni Vegetali of the University of Bari, which has been carrying out researches on irrigation with municipal filtered wastewater for several years, considered interesting to verify if the microbial limits imposed by the italian law n.185/03 are too severe, estimating the biological risk by the probabilistic Beta-Poisson model. Results of field trials on vegetable crops irrigated by municipal filtered wastewater, processed by the Beta-Poisson model, show that the probability to get infection and/or illness is extremely low, and that the actual italian microbial limits are excessively restrictive.

  12. Wilsonville wastewater sampling program. Final report

    None

    1983-10-01

    As part of its contrast to design, build and operate the SRC-1 Demonstration Plant in cooperation with the US Department of Energy (DOE), International Coal Refining Company (ICRC) was required to collect and evaluate data related to wastewater streams and wastewater treatment procedures at the SRC-1 Pilot Plant facility. The pilot plant is located at Wilsonville, Alabama and is operated by Catalytic, Inc. under the direction of Southern Company Services. The plant is funded in part by the Electric Power Research Institute and the DOE. ICRC contracted with Catalytic, Inc. to conduct wastewater sampling. Tasks 1 through 5 included sampling and analysis of various wastewater sources and points of different steps in the biological treatment facility at the plant. The sampling program ran from May 1 to July 31, 1982. Also included in the sampling program was the generation and analysis of leachate from SRC product using standard laboratory leaching procedures. For Task 6, available plant wastewater data covering the period from February 1978 to December 1981 was analyzed to gain information that might be useful for a demonstration plant design basis. This report contains a tabulation of the analytical data, a summary tabulation of the historical operating data that was evaluated and comments concerning the data. The procedures used during the sampling program are also documented.

  13. Treatment of Biodiesel Wastewater by Electrocoagulation Process

    Anchalee Srirangsan

    2009-07-01

    Full Text Available The objective of this research was to determine the optimum conditions for biodiesel wastewater treatment using an electrocoagulation process. Wastewater samples were obtained from a small-scale, commercial biodiesel production plant that employs an alkali-catalyzed tranesterification process. The wastewater was characterized by the high contents of alkali and high oil content of 6,020 mg/L. Tested operational conditions included types of electrode, current density, retention time and initial pH. The tested electrode materials for electrocoagulation were aluminum (Al, iron (Fe and graphite (C. Five tested pairs of anode and cathode materials included Fe-Fe, Fe-C, Al-Al, Al-C, C-C. Results show that the optimum conditions were achieved by using the electrodes of Al-C, applying the current density of 8.32 mA/cm2 to the wastewater with an initial pH value of 6 for 25 min. The removal efficiency was found to be 97.8 % for grease & oil (G&O, 96.9 % for SS and 55.4 % for COD. Moreover, the small amount of produced sludge was readily to remove from the treated wastewater.

  14. High power accelerators and wastewater treatment

    Han, B.; Kim, J.K.; Kim, Y.R.; Kim, S.M.; Makaov, I.E.; Ponomarev, A.V.

    2006-01-01

    The problems of environmental damage and degradation of natural resources are receiving increasing attention throughout the world. The increased population, higher living standards, increased urbanization and enhanced industrial activities of humankind are all leading to degradation of the environment. Increasing urbanization has been accompanied by significant water pollution. Given the seriousness of the situation and future risk of crises, there is an urgent need to develop the water-efficient technologies including economical treatment methods of wastewater and polluted water. Therefore, cost-effective treatment of the municipal and industrial wastewater containing refractory pollutant with electron beam is actively studied in EB TECH Co.. Electron beam treatment of wastewater is caused by the decomposition of pollutants as a result of their reactions with highly reactive species formed from water radiolysis (hydrated electron, OH free radical and H atom). However, to have advantages over existing processes, the electron beam process should have cost-effective and reliable in operation. Therefore high power accelerators (400kW∼1MW) are developed for environmental application and they show the decrease in the cost of construction and operation of electron beam plant. In other way to reduce the cost for wastewater treatment, radical reactions accompanied by the other processes are introduced, and the synergistic effect upon the use of combined methods such as electron beam treatment with ozonation, biological treatment and physico-chemical adsorption and others also show the improvement of the effect of electron beam treatment for the wastewater purification. (author)

  15. Cloud computing approaches for prediction of ligand binding poses and pathways.

    Lawrenz, Morgan; Shukla, Diwakar; Pande, Vijay S

    2015-01-22

    We describe an innovative protocol for ab initio prediction of ligand crystallographic binding poses and highly effective analysis of large datasets generated for protein-ligand dynamics. We include a procedure for setup and performance of distributed molecular dynamics simulations on cloud computing architectures, a model for efficient analysis of simulation data, and a metric for evaluation of model convergence. We give accurate binding pose predictions for five ligands ranging in affinity from 7 nM to > 200 μM for the immunophilin protein FKBP12, for expedited results in cases where experimental structures are difficult to produce. Our approach goes beyond single, low energy ligand poses to give quantitative kinetic information that can inform protein engineering and ligand design.

  16. Categorization of questions posed before and after inquiry-based learning

    Sandra Milena García González

    2014-07-01

    Full Text Available Posing research questions is the central ability of the scientific thought. This article examines the ability of sixth grade children to pose researchable questions before and after a three months’ work on a didactic sequence based on the inquiry school model. According to their purpose, the questions asked by children, after reading a text, were classified into researchable questions -susceptible to be empirically explored-, questions about a cause, and questions on a piece of data. The results show that the amount and the type of questions the students were able to pose during the intervention changed, from most of questions on data or information, to most of researchable questions, subsequently, the importance of designing teaching approaches to foster this ability was proved.

  17. Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

    Zhu, Aichun; Wang, Tian; Snoussi, Hichem

    2018-03-01

    This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN). Firstly, a Relative Mixture Deformable Model (RMDM) is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN) is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

  18. Hierarchical graphical-based human pose estimation via local multi-resolution convolutional neural network

    Aichun Zhu

    2018-03-01

    Full Text Available This paper addresses the problems of the graphical-based human pose estimation in still images, including the diversity of appearances and confounding background clutter. We present a new architecture for estimating human pose using a Convolutional Neural Network (CNN. Firstly, a Relative Mixture Deformable Model (RMDM is defined by each pair of connected parts to compute the relative spatial information in the graphical model. Secondly, a Local Multi-Resolution Convolutional Neural Network (LMR-CNN is proposed to train and learn the multi-scale representation of each body parts by combining different levels of part context. Thirdly, a LMR-CNN based hierarchical model is defined to explore the context information of limb parts. Finally, the experimental results demonstrate the effectiveness of the proposed deep learning approach for human pose estimation.

  19. Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

    Vollmann, Benjamin; Müller, Samuel; Kundrat, Dennis; Ortmaier, Tobias; Kahrs, Lüder A.

    2015-03-01

    This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load.

  20. Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles

    Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry

    2011-01-01

    A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

  1. Automatic generation of statistical pose and shape models for articulated joints.

    Xin Chen; Graham, Jim; Hutchinson, Charles; Muir, Lindsay

    2014-02-01

    Statistical analysis of motion patterns of body joints is potentially useful for detecting and quantifying pathologies. However, building a statistical motion model across different subjects remains a challenging task, especially for a complex joint like the wrist. We present a novel framework for simultaneous registration and segmentation of multiple 3-D (CT or MR) volumes of different subjects at various articulated positions. The framework starts with a pose model generated from 3-D volumes captured at different articulated positions of a single subject (template). This initial pose model is used to register the template volume to image volumes from new subjects. During this process, the Grow-Cut algorithm is used in an iterative refinement of the segmentation of the bone along with the pose parameters. As each new subject is registered and segmented, the pose model is updated, improving the accuracy of successive registrations. We applied the algorithm to CT images of the wrist from 25 subjects, each at five different wrist positions and demonstrated that it performed robustly and accurately. More importantly, the resulting segmentations allowed a statistical pose model of the carpal bones to be generated automatically without interaction. The evaluation results show that our proposed framework achieved accurate registration with an average mean target registration error of 0.34 ±0.27 mm. The automatic segmentation results also show high consistency with the ground truth obtained semi-automatically. Furthermore, we demonstrated the capability of the resulting statistical pose and shape models by using them to generate a measurement tool for scaphoid-lunate dissociation diagnosis, which achieved 90% sensitivity and specificity.

  2. Structural interface parameters are discriminatory in recognising near-native poses of protein-protein interactions.

    Sony Malhotra

    Full Text Available Interactions at the molecular level in the cellular environment play a very crucial role in maintaining the physiological functioning of the cell. These molecular interactions exist at varied levels viz. protein-protein interactions, protein-nucleic acid interactions or protein-small molecules interactions. Presently in the field, these interactions and their mechanisms mark intensively studied areas. Molecular interactions can also be studied computationally using the approach named as Molecular Docking. Molecular docking employs search algorithms to predict the possible conformations for interacting partners and then calculates interaction energies. However, docking proposes number of solutions as different docked poses and hence offers a serious challenge to identify the native (or near native structures from the pool of these docked poses. Here, we propose a rigorous scoring scheme called DockScore which can be used to rank the docked poses and identify the best docked pose out of many as proposed by docking algorithm employed. The scoring identifies the optimal interactions between the two protein partners utilising various features of the putative interface like area, short contacts, conservation, spatial clustering and the presence of positively charged and hydrophobic residues. DockScore was first trained on a set of 30 protein-protein complexes to determine the weights for different parameters. Subsequently, we tested the scoring scheme on 30 different protein-protein complexes and native or near-native structure were assigned the top rank from a pool of docked poses in 26 of the tested cases. We tested the ability of DockScore to discriminate likely dimer interactions that differ substantially within a homologous family and also demonstrate that DOCKSCORE can distinguish correct pose for all 10 recent CAPRI targets.

  3. A deep learning approach for pose estimation from volumetric OCT data.

    Gessert, Nils; Schlüter, Matthias; Schlaefer, Alexander

    2018-05-01

    Tracking the pose of instruments is a central problem in image-guided surgery. For microscopic scenarios, optical coherence tomography (OCT) is increasingly used as an imaging modality. OCT is suitable for accurate pose estimation due to its micrometer range resolution and volumetric field of view. However, OCT image processing is challenging due to speckle noise and reflection artifacts in addition to the images' 3D nature. We address pose estimation from OCT volume data with a new deep learning-based tracking framework. For this purpose, we design a new 3D convolutional neural network (CNN) architecture to directly predict the 6D pose of a small marker geometry from OCT volumes. We use a hexapod robot to automatically acquire labeled data points which we use to train 3D CNN architectures for multi-output regression. We use this setup to provide an in-depth analysis on deep learning-based pose estimation from volumes. Specifically, we demonstrate that exploiting volume information for pose estimation yields higher accuracy than relying on 2D representations with depth information. Supporting this observation, we provide quantitative and qualitative results that 3D CNNs effectively exploit the depth structure of marker objects. Regarding the deep learning aspect, we present efficient design principles for 3D CNNs, making use of insights from the 2D deep learning community. In particular, we present Inception3D as a new architecture which performs best for our application. We show that our deep learning approach reaches errors at our ground-truth label's resolution. We achieve a mean average error of 14.89 ± 9.3 µm and 0.096 ± 0.072° for position and orientation learning, respectively. Copyright © 2018 Elsevier B.V. All rights reserved.

  4. Fluidized bed anaerobic biodegration of food industry wastewaters

    Toldra, F.; Flors, A.; Lequerica, J.L.; Valles, S.

    1987-01-01

    Anaerobic fluidized bed reactors were used to reduce the COD of low-strength food industry wastewaters. Soluble organic removal efficiencies of 75%, 80% and 50% were obtained for hog slaughterhouse, dairy and brewery wastewaters, respectively, at 35 degrees C and 8 hours hydraulic retention time. Removal efficiencies decreased with decreasing temperature (35 degrees C to 20 degrees C); no detrimental effect of temperature was observed when treating the slaughterhouse wastewater. Methane production rate was only relevant on brewery wastewater treatment. (Refs. 17).

  5. Sediment microbial fuel cells for wastewater treatment: challenges and opportunities

    Xu, Bojun; Ge, Zheng; He, Zhen

    2015-01-01

    Sediment microbial fuel cells (SMFCs) have been intensively investigated for the harvest of energy from natural sediment, but studies of their application for wastewater treatment mainly occurred in the past 2-3 years. SMFCs with simple structures can generate electrical energy while decontaminating wastewater. Most SMFCs used for wastewater treatment contain plants to mimic constructed wetlands. Both synthetic and real wastewaters have been used as substrates in SMFCs that achieved satisfact...

  6. Wastewater screening method for evaluating applicability of zero-valent iron to industrial wastewater

    Lee, J.W.; Cha, D.K.; Oh, Y.K.; Ko, K.B.; Jin, S.H.

    2010-01-01

    This study presents a screening protocol to evaluate the applicability of the ZVI pretreatment to various industrial wastewaters of which major constituents are not identified. The screening protocol consisted of a sequential analysis of UV-vis spectrophotometry, high-performance liquid chromatograph (HPLC), and bioassay. The UV-vis and HPLC analyses represented the potential reductive transformation of unknown constituents in wastewater by the ZVI. The UV-vis and HPLC results were quantified using principal component analysis (PCA) and Euclidian distance (ED). The short-term bioassay was used to assess the increased biodegradability of wastewater constituents after ZVI treatment. The screening protocol was applied to seven different types of real industrial wastewaters. After identifying one wastewater as the best candidate for the ZVI treatment, the benefit of ZVI pretreatment was verified through continuous operation of an integrated iron-sequencing batch reactor (SBR) resulting in the increased organic removal efficiency compared to the control. The iron pretreatment was suggested as an economical option to modify some costly physico-chemical processes in the existing wastewater treatment facility. The screening protocol could be used as a robust strategy to estimate the applicability of ZVI pretreatment to a certain wastewater with unknown composition.

  7. Microbial Community Profiles in Wastewaters from Onsite Wastewater Treatment Systems Technology.

    Łukasz Jałowiecki

    Full Text Available The aim of the study was to determine the potential of community-level physiological profiles (CLPPs methodology as an assay for characterization of the metabolic diversity of wastewater samples and to link the metabolic diversity patterns to efficiency of select onsite biological wastewater facilities. Metabolic fingerprints obtained from the selected samples were used to understand functional diversity implied by the carbon substrate shifts. Three different biological facilities of onsite wastewater treatment were evaluated: fixed bed reactor (technology A, trickling filter/biofilter system (technology B, and aerated filter system (the fluidized bed reactor, technology C. High similarities of the microbial community functional structures were found among the samples from the three onsite wastewater treatment plants (WWTPs, as shown by the diversity indices. Principal components analysis (PCA showed that the diversity and CLPPs of microbial communities depended on the working efficiency of the wastewater treatment technologies. This study provided an overall picture of microbial community functional structures of investigated samples in WWTPs and discerned the linkages between microbial communities and technologies of onsite WWTPs used. The results obtained confirmed that metabolic profiles could be used to monitor treatment processes as valuable biological indicators of onsite wastewater treatment technologies efficiency. This is the first step toward understanding relations of technology types with microbial community patterns in raw and treated wastewaters.

  8. Adaptive relative pose control of spacecraft with model couplings and uncertainties

    Sun, Liang; Zheng, Zewei

    2018-02-01

    The spacecraft pose tracking control problem for an uncertain pursuer approaching to a space target is researched in this paper. After modeling the nonlinearly coupled dynamics for relative translational and rotational motions between two spacecraft, position tracking and attitude synchronization controllers are developed independently by using a robust adaptive control approach. The unknown kinematic couplings, parametric uncertainties, and bounded external disturbances are handled with adaptive updating laws. It is proved via Lyapunov method that the pose tracking errors converge to zero asymptotically. Spacecraft close-range rendezvous and proximity operations are introduced as an example to validate the effectiveness of the proposed control approach.

  9. A new benchmark for pose estimation with ground truth from virtual reality

    Schlette, Christian; Buch, Anders Glent; Aksoy, Eren Erdal

    2014-01-01

    The development of programming paradigms for industrial assembly currently gets fresh impetus from approaches in human demonstration and programming-by-demonstration. Major low- and mid-level prerequisites for machine vision and learning in these intelligent robotic applications are pose estimation......, stereo reconstruction and action recognition. As a basis for the machine vision and learning involved, pose estimation is used for deriving object positions and orientations and thus target frames for robot execution. Our contribution introduces and applies a novel benchmark for typical multi...

  10. Robust Pose Estimation using the SwissRanger SR-3000 Camera

    Gudmundsson, Sigurjon Arni; Larsen, Rasmus; Ersbøll, Bjarne Kjær

    2007-01-01

    In this paper a robust method is presented to classify and estimate an objects pose from a real time range image and a low dimensional model. The model is made from a range image training set which is reduced dimensionally by a nonlinear manifold learning method named Local Linear Embedding (LLE)......). New range images are then projected to this model giving the low dimensional coordinates of the object pose in an efficient manner. The range images are acquired by a state of the art SwissRanger SR-3000 camera making the projection process work in real-time....

  11. Investigating dynamic sources of pharmaceuticals: Demographic and seasonal use are more important than down-the-drain disposal in wastewater effluent in a University City setting

    Vatovec, Christine; Phillips, Patrick J.; Van Wagoner, Emily; Scott, Tia-Marie; Furlong, Edward T.

    2016-01-01

    Pharmaceutical pollution in surface waters poses risks to human and ecosystem health. Wastewater treatment facilities are primary sources of pharmaceutical pollutants, but little is known about the factors that affect drugs entering the wastewater stream. This paper investigates the effects of student pharmaceutical use and disposal behaviors and an annual demographic shift on pharmaceutical pollution in a university town. We sampled wastewater effluent during a ten-day annual spring student move-out period at the University of Vermont. We then interpreted these data in light of survey results that investigated pharmaceutical purchasing, use, and disposal practices among the university student population. Surveys indicated that the majority of student respondents purchased pharmaceuticals in the previous year. Many students reported having leftover drugs, though only a small portion disposed of them, mainly in the trash.We detected 51 pharmaceuticals in 80% or more of the wastewater effluent samples collected over the ten-day sampling period. Several increased in concentration after students left the area. Concentrations of caffeine and nicotine decreased weakly. Drug disposal among this university student population does not appear to be a major source of pharmaceuticals in wastewater. Increases in pharmaceutical concentration after the students left campus can be tied to an increase in the seasonal use of allergy medications directly related to pollen, as well as a demographic shift to a year-round older population, which supports national data that older people use larger volumes and different types of pharmaceuticals than the younger student population.

  12. New Combined Electron-Beam Methods of Wastewater Purification

    Pikaev, A.K.; Makarov, I.E.; Ponomarev, A.V.; Kartasheva, L.I.; Podzorova, E.A.; Chulkov, V.N.; Han, B.; Kim, D.K.

    1999-01-01

    The paper is a brief review of the results obtained with the participation of the authors from the study on combined electron-beam methods for purification of some wastewaters. The data on purification of wastewaters containing dyes or hydrogen peroxide and municipal wastewater in the aerosol flow are considered

  13. Sustainable Approach to Wastewater Management in the Federal ...

    As population grows and urbanization increases, more wastewater is generated and there is great awareness on the health and environmental implication of poorly disposed wastewater. This research work develops a sustainable approach to wastewater disposal in the Federal University of Technology, Akure. The existing ...

  14. Performance of wastewater treatment plants in Jordan and suitability ...

    There is an increasing trend to require more efficient use of water resources, both in urban and rural environments. In Jordan, the increase in water demand, in addition to water shortage has led to growing interest in wastewater reuse. In this work, characteristics of wastewater for four wastewater treatment plants were ...

  15. Tracking antibiotic resistance genes in soil irrigated with dairy wastewater

    In southern Idaho, the application of dairy wastewater to agricultural soils is a widely used practice to irrigate crops and recycle nutrients. In this study, small-scale field plots were irrigated monthly (6 times) with dairy wastewater (100%), wastewater diluted to 50% with irrigation (canal) wate...

  16. Recycling and reuse of wastewater from uranium mining and milling

    Xu Lechang; Gao Jie; Zhang Xueli; Wei Guangzhi; Zhang Guopu

    2010-01-01

    Uranium mining/milling process, and the sources, recycling/reuse approach and treatment methods of process wastewater are introduced. The wastewater sources of uranium mining and milling include effluent, raffinate, tailings water, mine discharge, resin form converted solution, and precipitation mother liquor. Wastewater can be recycled/reused for leachant, eluent, stripping solution,washing solution and tailings slurry. (authors)

  17. Treatment of coffee wastewater by gamma radiation

    Aguilera, Y.; Consuegra, R.; Rapado, M.

    1998-01-01

    Radiation energy can be an important resource in the treatment of wastewaters from different industries both directly and in combination with other processes to improve economics. The aim of this study was to evaluate the effect of an ionizing radiation on coffee wastewater in order to decompose chemical organic refractory substances which cannot be degradated by biological treatment. One of the approaches employed in the survey was the chemical treatment followed by the irradiation of the samples since no nuclear changes of the coagulant solution or wastewater samples were expected. Irradiation is a high cost treatment although it has increased its applications nowadays. The method is safe, fast and effective and it does not generate any pollution

  18. Development of chemical flocculant for wastewater treatment

    Park, Jang Jin; Shin, J. M.; Lee, H. H.; Kim, M. J.; Yang, M. S.; Park, H. S.

    2000-12-01

    Reagents 'KAERI-I and KAERI-II' which were developed as coagulants for industrial wastewater treatment in the study showed far superior performance to the existing inorganic coagulants such as Alum and Iron salt(FeSO4) when compared to their wastewater treatment performance in color and COD removal. Besides, it was not frozen at -25 deg C ∼ -30 deg C. When reagents 'KAERI-I and KAERI-II' were used as coagulant for wastewater treatment, the proper dosage was ranged from 0.1% to 0.5%(v/v) and proper pH range was 10.5 ∼ 11.5 in the area of alkaline pH.Reagents 'KAERI-I and KAERI-II' showed good performance with 95% or more removal of color-causing material and 60% or more removal of COD

  19. Ion Chromatography Applications in Wastewater Analysis

    Rajmund Michalski

    2018-02-01

    Full Text Available Wastewater analysis is an important area in analytical and environmental chemistry. It can be performed with both the classic wet methods and instrumental techniques. The development of new methods, and modification of the existing ones, constitute a major task for researchers. Ion chromatography plays a predominant role in ion determinations with the instrumental methods. It offers several advantages over the conventional methods, such as simultaneous determinations of alkali and alkaline earth cations and ammonia. Ammonium ions cannot be determined by spectroscopic methods. Ion chromatography has been accepted world-wide as a reference method for analyzing anions and cations in water and wastewater due to the fact that it enables the replacement of several individual wet chemistry methods for common ions with one instrumental technique. The following article describes the principles of ion chromatography, such as stationary phases, eluents, detectors, and sample preparation methods. Moreover, the applications of ion chromatography in wastewater analyses and international standards are presented.

  20. Treated Wastewater Reuse on Potato (Solanum Tuberosum)

    Battilani, A; Plauborg, Finn; Andersen, Mathias Neumann

    2014-01-01

    A field experiment was carried out in Northern Italy (Po Valley), within the frame of the EU project SAFIR, to asses the impact of treated wastewater reuse on potato yield, quality and hygiene. The potato crop was drip irrigated and fertigated. Wastewater produced by small communities (≤2000 EI......) was treated by Membrane Bio Reactor (MBR) technology and gravel filter (FTS) during three cropping seasons. Treated wastewater, soil and tubers were analysed for the faecal indicator bacterium E. coli and heavy metals contents. Potato total yield was similar for tap and reused water, while the marketable...... production has been found higher with the latter. The tuber dry matter content as well as reducing sugars were not affected by reused water. Total sugars content was higher with MBR and FTS water. Water use efficiency (WUE) was significantly higher with reused water. Compared to tap water, crop gross margin...

  1. Effect of time on dyeing wastewater treatment

    Ye, Tingjin; Chen, Xin; Xu, Zizhen; Chen, Xiaogang; Shi, Liang; He, Lingfeng; Zhang, Yongli

    2018-03-01

    The preparation of carboxymethylchitosan wrapping fly-ash adsorbent using high temperature activated fly ash and sodium carboxymethyl chitosan (CWF), as with the iron-carbon micro-electrolysis process simulation and actual printing and dyeing wastewater. The effects of mixing time and static time on decolorization ratio, COD removing rate and turbidness removing rate were investigated. The experimental results show that the wastewater stirring times on the decolorization rate and COD removal rate and turbidity removal rate influence, with increasing of the stirring time, three showed a downward trend, and reached the peak at 10 min time; wastewater time on the decolorization ratio and COD removing efficiency and turbidness removing rate influence, along with standing time increase, three who declined and reached the maximum in 30min time.

  2. Development of chemical flocculant for wastewater treatment

    Park, Jang Jin; Shin, J. M.; Lee, H. H.; Kim, M. J.; Yang, M. S.; Park, H. S

    2000-12-01

    Reagents 'KAERI-I and KAERI-II' which were developed as coagulants for industrial wastewater treatment in the study showed far superior performance to the existing inorganic coagulants such as Alum and Iron salt(FeSO4) when compared to their wastewater treatment performance in color and COD removal. Besides, it was not frozen at -25 deg C {approx} -30 deg C. When reagents 'KAERI-I and KAERI-II' were used as coagulant for wastewater treatment, the proper dosage was ranged from 0.1% to 0.5%(v/v) and proper pH range was 10.5 {approx} 11.5 in the area of alkaline pH.Reagents 'KAERI-I and KAERI-II' showed good performance with 95% or more removal of color-causing material and 60% or more removal of COD.

  3. Review of the wastewater situation in Morocco.

    Mandi, L

    2000-01-01

    Recent estimations of the wastewater production of Morocco amounted to 370 million m3 per year, and this is expected to increase to 900 million m3 by the year 2020. In most cases wastewater is discharged directly into the environment, either to the sea via short outfalls or onto farmland for irrigation or infiltration. Major improvements in the quality of wastewater are needed urgently because of the strong migration of the rural population towards the towns and the very rapid demographic expansion. Studies for Sanitation Master Plans for the main towns are currently in progress and are a first step towards meeting these requirements. Development of a national master plan for liquid sewage is a way of extending this procedure over the whole territory.

  4. Frontiers International Conference on Wastewater Treatment

    2017-01-01

    This book describes the latest research advances, innovations, and applications in the field of water management and environmental engineering as presented by leading researchers, engineers, life scientists and practitioners from around the world at the Frontiers International Conference on Wastewater Treatment (FICWTM), held in Palermo, Italy in May 2017. The topics covered are highly diverse and include the physical processes of mixing and dispersion, biological developments and mathematical modeling, such as computational fluid dynamics in wastewater, MBBR and hybrid systems, membrane bioreactors, anaerobic digestion, reduction of greenhouse gases from wastewater treatment plants, and energy optimization. The contributions amply demonstrate that the application of cost-effective technologies for waste treatment and control is urgently needed so as to implement appropriate regulatory measures that ensure pollution prevention and remediation, safeguard public health, and preserve the environment. The contrib...

  5. Perceptions of farmers on health risks and risk reduction measures in wastewater-irrigated urban vegetable farming in Ghana

    Keraita, Bernard; Drechsel, Pay; Konradsen, Flemming

    2008-01-01

    , authorities and the general public, especially if they had some incentives. These findings demonstrate the need to involve farmers as early as possible in intervention projects especially in informal farming practices, like urban agriculture, where restrictions are difficult to implement. This will ensure......Most irrigation water used in urban vegetable farming in Ghana is contaminated with untreated wastewater. This poses health risks to farmers and consumers. As part of a study to explore options for health risk reduction, this paper summarizes farmers' perceptions on health risks and possible risk...

  6. Advances in HTGR Wastewater Treatment System Design

    Li Junfeng; Qiu Yu; Wang Jianlong; Jia Fei

    2014-01-01

    The source terms of radioactive wastewater from HTR-PM were introduced. Concentration process should be used to reduce volume. A radioactive wastewater treatment system was designed by using Disc tubular reverse osmosis (DTRO) membrane system. The pretreatment system was simplify by using a cartridge filter. A three-stage membrane system was built. The operated characters to treat low and intermediate radioactive waste water were studied. A concentration rates of 25-50 is reached. The decontamination factor of the membrane system can reach 30-100. (author)

  7. Catalytic Wastewater Treatment Using Pillared Clays

    Perathoner, Siglinda; Centi, Gabriele

    After introduction on the use of solid catalysts in wastewater treatment technologies, particularly advanced oxidation processes (AOPs), this review discussed the use of pillared clay (PILC) materials in three applications: (i) wet air catalytic oxidation (WACO), (ii) wet hydrogen peroxide catalytic oxidation (WHPCO) on Cu-PILC and Fe-PILC, and (iii) behavior of Ti-PILC and Fe-PILC in the photocatalytic or photo-Fenton conversion of pollutants. Literature data are critically analyzed to evidence the main direction to further investigate, in particularly with reference to the possible practical application of these technologies to treat industrial, municipal, or agro-food production wastewater.

  8. Forward Osmosis in Wastewater Treatment Processes

    Korenak, Jasmina; Basu, Subhankar; Balakrishnan, Malini

    2017-01-01

    In recent years, membrane technology has been widely used in wastewater treatment and water purification. Membrane technology is simple to operate and produces very high quality water for human consumption and industrial purposes. One of the promising technologies for water and wastewater treatment...... is the application of forward osmosis. Essentially, forward osmosis is a process in which water is driven through a semipermeable membrane from a feed solution to a draw solution due to the osmotic pressure gradient across the membrane. The immediate advantage over existing pressure driven membrane technologies...... briefly review some of the applications within water purification and new developments in forward osmosis membrane fabrication....

  9. Analyzing water/wastewater infrastructure interdependencies

    Gillette, J. L.; Fisher, R. E.; Peerenboom, J. P.; Whitfield, R. G.

    2002-01-01

    This paper describes four general categories of infrastructure interdependencies (physical, cyber, geographic, and logical) as they apply to the water/wastewater infrastructure, and provides an overview of one of the analytic approaches and tools used by Argonne National Laboratory to evaluate interdependencies. Also discussed are the dimensions of infrastructure interdependency that create spatial, temporal, and system representation complexities that make analyzing the water/wastewater infrastructure particularly challenging. An analytical model developed to incorporate the impacts of interdependencies on infrastructure repair times is briefly addressed

  10. Determination of total solutes in synfuel wastewaters

    Wallace, J.R.; Bonomo, F.S.

    1984-03-01

    Efforts to investigate both lyophilization and the measurement of colligative properties as an indication of total solute content are described. The objective of the work described is to develop a method for measuring total dissolved material in retort wastewaters which is simple and rugged enough to be performed in a field laboratory in support of pollution control tests. The analysis should also be rapid enough to provide timely and pertinent data to the pollution control plant operator. To be of most value, the technique developed also should be applicable to other synfuel wastewaters, most of which contain similar major components as oil shale retort waters. 4 references, 1 table.

  11. Electrocatalysis in wastewater treatment: recent mechanism advances

    Carlos A. Martínez-Huitle

    2011-01-01

    Full Text Available Over 50 years, several scientists and industries have developed new alternatives for wastewater treatment and remediation. Recently, electrochemical technology has been largely developed mainly because of its versatility and environmental compatibility. Scientific contributions about role of the electrode material have allowed determining that the influence of material in the selectivity is an important parameter. However, to interpret this behavior, comprehensive physical chemistry models for organics destruction, related to electrochemical phenomena and material surfaces, were proposed in the last decades. So, this paper presents a critical and comprehensive review about the principles and recent mechanism advances in electrocatalysis for wastewater treatment.

  12. Collaborative Random Faces-Guided Encoders for Pose-Invariant Face Representation Learning.

    Shao, Ming; Zhang, Yizhe; Fu, Yun

    2018-04-01

    Learning discriminant face representation for pose-invariant face recognition has been identified as a critical issue in visual learning systems. The challenge lies in the drastic changes of facial appearances between the test face and the registered face. To that end, we propose a high-level feature learning framework called "collaborative random faces (RFs)-guided encoders" toward this problem. The contributions of this paper are three fold. First, we propose a novel supervised autoencoder that is able to capture the high-level identity feature despite of pose variations. Second, we enrich the identity features by replacing the target values of conventional autoencoders with random signals (RFs in this paper), which are unique for each subject under different poses. Third, we further improve the performance of the framework by incorporating deep convolutional neural network facial descriptors and linking discriminative identity features from different RFs for the augmented identity features. Finally, we conduct face identification experiments on Multi-PIE database, and face verification experiments on labeled faces in the wild and YouTube Face databases, where face recognition rate and verification accuracy with Receiver Operating Characteristic curves are rendered. In addition, discussions of model parameters and connections with the existing methods are provided. These experiments demonstrate that our learning system works fairly well on handling pose variations.

  13. A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

    Pengfei Sun

    Full Text Available Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI, an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.

  14. Morozov-type discrepancy principle for nonlinear ill-posed problems ...

    [3] Engl H W, Kunisch K and Neubauer A, Convergence rates for Tikhonov regularization of nonliner problems, Inverse Problems 5 (1989) 523–540. [4] Hanke M, Neubauer A and Scherzer O, A convergence analysis of Landweber iteration for nonlinear ill-posed problems, Numer. Math. 72 (1995) 21–37. [5] Hofmann B and ...

  15. Perturbation-Based Regularization for Signal Estimation in Linear Discrete Ill-posed Problems

    Suliman, Mohamed Abdalla Elhag; Ballal, Tarig; Al-Naffouri, Tareq Y.

    2016-01-01

    Estimating the values of unknown parameters from corrupted measured data faces a lot of challenges in ill-posed problems. In such problems, many fundamental estimation methods fail to provide a meaningful stabilized solution. In this work, we propose a new regularization approach and a new regularization parameter selection approach for linear least-squares discrete ill-posed problems. The proposed approach is based on enhancing the singular-value structure of the ill-posed model matrix to acquire a better solution. Unlike many other regularization algorithms that seek to minimize the estimated data error, the proposed approach is developed to minimize the mean-squared error of the estimator which is the objective in many typical estimation scenarios. The performance of the proposed approach is demonstrated by applying it to a large set of real-world discrete ill-posed problems. Simulation results demonstrate that the proposed approach outperforms a set of benchmark regularization methods in most cases. In addition, the approach also enjoys the lowest runtime and offers the highest level of robustness amongst all the tested benchmark regularization methods.

  16. Multispectral embedding-based deep neural network for three-dimensional human pose recovery

    Yu, Jialin; Sun, Jifeng

    2018-01-01

    Monocular image-based three-dimensional (3-D) human pose recovery aims to retrieve 3-D poses using the corresponding two-dimensional image features. Therefore, the pose recovery performance highly depends on the image representations. We propose a multispectral embedding-based deep neural network (MSEDNN) to automatically obtain the most discriminative features from multiple deep convolutional neural networks and then embed their penultimate fully connected layers into a low-dimensional manifold. This compact manifold can explore not only the optimum output from multiple deep networks but also the complementary properties of them. Furthermore, the distribution of each hierarchy discriminative manifold is sufficiently smooth so that the training process of our MSEDNN can be effectively implemented only using few labeled data. Our proposed network contains a body joint detector and a human pose regressor that are jointly trained. Extensive experiments conducted on four databases show that our proposed MSEDNN can achieve the best recovery performance compared with the state-of-the-art methods.

  17. A problem-posing approach to teaching the topic of radioactivity

    Klaassen, C.W.J.M.

    1995-01-01

    This thesis highlights a problem-posing approach to science education. By this is meant an approach that explicitly aims at providing students with content-related motives for extending their existing conceptual resources, experiential base and belief system in a certain direction, such that a

  18. Improving head and body pose estimation through semi-supervised manifold alignment

    Heili, Alexandre; Varadarajan, Jagannadan; Ghanem, Bernard; Ahuja, Narendra; Odobez, Jean-Marc

    2014-01-01

    structure of the features in the train and target data and the need to align them were not explored despite the fact that the pose features between two datasets may vary according to the scene, e.g. due to different camera point of view or perspective

  19. Locating binding poses in protein-ligand systems using reconnaissance metadynamics

    Söderhjelm, Pär; Tribello, Gareth A.; Parrinello, Michele

    2012-01-01

    A molecular dynamics-based protocol is proposed for finding and scoring protein-ligand binding poses. This protocol uses the recently developed reconnaissance metadynamics method, which employs a self-learning algorithm to construct a bias that pushes the system away from the kinetic traps where it would otherwise remain. The exploration of phase space with this algorithm is shown to be roughly six to eight times faster than unbiased molecular dynamics and is only limited by the time taken to diffuse about the surface of the protein. We apply this method to the well-studied trypsin–benzamidine system and show that we are able to refind all the poses obtained from a reference EADock blind docking calculation. These poses can be scored based on the length of time the system remains trapped in the pose. Alternatively, one can perform dimensionality reduction on the output trajectory and obtain a map of phase space that can be used in more expensive free-energy calculations. PMID:22440749

  20. Exploiting residual information in the parameter choice for discrete ill-posed problems

    Hansen, Per Christian; Kilmer, Misha E.; Kjeldsen, Rikke Høj

    2006-01-01

    Most algorithms for choosing the regularization parameter in a discrete ill-posed problem are based on the norm of the residual vector. In this work we propose a different approach, where we seek to use all the information available in the residual vector. We present important relations between...

  1. Pose Self-Measurement of Noncooperative Spacecraft Based on Solar Panel Triangle Structure

    Jingzhou Song

    2015-01-01

    Full Text Available Aiming at the recognition and location of noncooperative spacecraft, this paper presents a monocular vision pose measurement method based on solar triangle structure. First of all, an autonomous recognition algorithm of feature structure based on sliding window Hough transformation (SWHT and inscribed circle of a triangle is proposed, and the image coordinates of feature points on the triangle can be obtained relying on this algorithm, combined with the P4P algorithm and the structure of spacecraft, calculating the relative pose of target expressed by rotation and translation matrix. The whole algorithm can be loaded into the prewritten onboard program, which will get the autocomplete feature structure extraction and relative pose measurement without human intervention, and this method does not need to mount any markers on the target. Then compare the measured values with the accurate value of the laser tracker, so that a conclusion can be drawn that the maximum position error is lower than 5% and the rotation error is lower than 4%, which meets the requirements of noncooperative spacecraft’s pose measurement for observations, tracking, and docking in the final rendezvous phase.

  2. Morozov-type discrepancy principle for nonlinear ill-posed problems ...

    For proving the existence of a regularization parameter under a Morozov-type discrepancy principle for Tikhonov regularization of nonlinear ill-posed problems, it is required to impose additional nonlinearity assumptions on the forward operator. Lipschitz continuity of the Freéchet derivative and requirement of the Lipschitz ...

  3. Control and System Theory, Optimization, Inverse and Ill-Posed Problems

    1988-09-14

    Justlfleatlen Distribut ion/ Availability Codes # AFOSR-87-0350 Avat’ and/or1987-1988 Dist Special *CONTROL AND SYSTEM THEORY , ~ * OPTIMIZATION, * INVERSE...considerable va- riety of research investigations within the grant areas (Control and system theory , Optimization, and Ill-posed problems]. The

  4. Unintended allergens in precautionary labelled and unlabelled products pose significant risks to UK allergic consumers

    Remington, B.C.; Baumert, J.L.; Blom, W.M.; Houben, G.F.; Taylor, S.L.; Kruizinga, A.G.

    2015-01-01

    Background Allergens in food may pose a risk to allergic consumers. While there is EU regulation for allergens present as an ingredient, this is not the case for unintended allergen presence (UAP). Food companies use precautionary allergen labels to inform allergic individuals of a potential risk

  5. Simulation-Based Optimization of Camera Placement in the Context of Industrial Pose Estimation

    Jørgensen, Troels Bo; Iversen, Thorbjørn Mosekjær; Lindvig, Anders Prier

    2018-01-01

    In this paper, we optimize the placement of a camera in simulation in order to achieve a high success rate for a pose estimation problem. This is achieved by simulating 2D images from a stereo camera in a virtual scene. The stereo images are then used to generate 3D point clouds based on two diff...

  6. A multi-camera system for real-time pose estimation

    Savakis, Andreas; Erhard, Matthew; Schimmel, James; Hnatow, Justin

    2007-04-01

    This paper presents a multi-camera system that performs face detection and pose estimation in real-time and may be used for intelligent computing within a visual sensor network for surveillance or human-computer interaction. The system consists of a Scene View Camera (SVC), which operates at a fixed zoom level, and an Object View Camera (OVC), which continuously adjusts its zoom level to match objects of interest. The SVC is set to survey the whole filed of view. Once a region has been identified by the SVC as a potential object of interest, e.g. a face, the OVC zooms in to locate specific features. In this system, face candidate regions are selected based on skin color and face detection is accomplished using a Support Vector Machine classifier. The locations of the eyes and mouth are detected inside the face region using neural network feature detectors. Pose estimation is performed based on a geometrical model, where the head is modeled as a spherical object that rotates upon the vertical axis. The triangle formed by the mouth and eyes defines a vertical plane that intersects the head sphere. By projecting the eyes-mouth triangle onto a two dimensional viewing plane, equations were obtained that describe the change in its angles as the yaw pose angle increases. These equations are then combined and used for efficient pose estimation. The system achieves real-time performance for live video input. Testing results assessing system performance are presented for both still images and video.

  7. Surgical fiducial segmentation and tracking for pose estimation based on ultrasound B-mode images.

    Lei Chen; Kuo, Nathanael; Aalamifar, Fereshteh; Narrow, David; Coon, Devin; Prince, Jerry; Boctor, Emad M

    2016-08-01

    Doppler ultrasound is a non-invasive diagnostic tool for the quantitative measurement of blood flow. However, given that it provides velocity data that is dependent on the location and angle of measurement, repeat measurements to detect problems over time may require an expert to return to the same location. We therefore developed an image-guidance system based on ultrasound B-mode images that enables an inexperienced user to position the ultrasound probe at the same site repeatedly in order to acquire a comparable time series of Doppler readings. The system utilizes a bioresorbable fiducial and complementing software composed of the fiducial detection, key points tracking, probe pose estimation, and graphical user interface (GUI) modules. The fiducial is an echogenic marker that is implanted at the surgical site and can be detected and tracked during ultrasound B-mode screening. The key points on the marker can next be used to determine the pose of the ultrasound probe with respect to the marker. The 3D representation of the probe with its position and orientation are then displayed in the GUI for the user guidance. The fiducial detection has been tested on the data sets collected from three animal studies. The pose estimation algorithm was validated by five data sets collected by a UR5 robot. We tested the system on a plastisol phantom and showed that it can detect and track the fiducial marker while displaying the probe pose in real-time.

  8. Comparison On Matching Methods Used In Pose Tracking For 3D Shape Representation

    Khin Kyu Kyu Win

    2017-01-01

    Full Text Available In this work three different algorithms such as Brute Force Delaunay Triangulation and k-d Tree are analyzed on matching comparison for 3D shape representation. It is intended for developing the pose tracking of moving objects in video surveillance. To determine 3D pose of moving objects some tracking system may require full 3D pose estimation of arbitrarily shaped objects in real time. In order to perform 3D pose estimation in real time each step in the tracking algorithm must be computationally efficient. This paper presents method comparison for the computationally efficient registration of 3D shapes including free-form surfaces. Matching of free-form surfaces are carried out by using geometric point matching algorithm ICP. Several aspects of the ICP algorithm are investigated and analyzed by using specified surface setup. The surface setup processed in this system is represented by simple geometric primitive dealing with objects of free-from shape. Considered representations are a cloud of points.

  9. Towards real-time body pose estimation for presenters in meeting environments

    Poppe, Ronald Walter; Heylen, Dirk K.J.; Nijholt, Antinus; Poel, Mannes

    2005-01-01

    This paper describes a computer vision-based approach to body pose estimation. The algorithm can be executed in real-time and processes low resolution, monocular image sequences. A silhouette is extracted and matched against a projection of a 16 DOF human body model. In addition, skin color is used

  10. Hierarchical online appearance-based tracking for 3D head pose, eyebrows, lips, eyelids, and irises

    Orozco, Javier; Rudovic, Ognjen; Gonzalez Garcia, Jordi; Pantic, Maja

    In this paper, we propose an On-line Appearance-Based Tracker (OABT) for simultaneous tracking of 3D head pose, lips, eyebrows, eyelids and irises in monocular video sequences. In contrast to previously proposed tracking approaches, which deal with face and gaze tracking separately, our OABT can

  11. Marker detection evaluation by phantom and cadaver experiments for C-arm pose estimation pattern

    Steger, Teena; Hoßbach, Martin; Wesarg, Stefan

    2013-03-01

    C-arm fluoroscopy is used for guidance during several clinical exams, e.g. in bronchoscopy to locate the bronchoscope inside the airways. Unfortunately, these images provide only 2D information. However, if the C-arm pose is known, it can be used to overlay the intrainterventional fluoroscopy images with 3D visualizations of airways, acquired from preinterventional CT images. Thus, the physician's view is enhanced and localization of the instrument at the correct position inside the bronchial tree is facilitated. We present a novel method for C-arm pose estimation introducing a marker-based pattern, which is placed on the patient table. The steel markers form a pattern, allowing to deduce the C-arm pose by use of the projective invariant cross-ratio. Simulations show that the C-arm pose estimation is reliable and accurate for translations inside an imaging area of 30 cm x 50 cm and rotations up to 30°. Mean error values are 0.33 mm in 3D space and 0.48 px in the 2D imaging plane. First tests on C-arm images resulted in similarly compelling accuracy values and high reliability in an imaging area of 30 cm x 42.5 cm. Even in the presence of interfering structures, tested both with anatomy phantoms and a turkey cadaver, high success rates over 90% and fully satisfying execution times below 4 sec for 1024 px × 1024 px images could be achieved.

  12. Investigating Mathematics Teachers Candidates' Knowledge about Problem Solving Strategies through Problem Posing

    Ünlü, Melihan

    2017-01-01

    The aim of the study was to determine mathematics teacher candidates' knowledge about problem solving strategies through problem posing. This qualitative research was conducted with 95 mathematics teacher candidates studying at education faculty of a public university during the first term of the 2015-2016 academic year in Turkey. Problem Posing…

  13. Foreign-funded M&A Poses No Threatto China’s Economic Security

    王志乐

    2007-01-01

    Foreign funded M■A(Mergers ■ Acquisitions) activity is becoming increasingly common in China.In this article Wang Zhile assesses the effects and risks associated with M■A,finding that foreign funded M■A activity is immensely beneficial to China and poses no threat to economic security.

  14. Development of a Mobile Learning System Based on a Collaborative Problem-Posing Strategy

    Sung, Han-Yu; Hwang, Gwo-Jen; Chang, Ya-Chi

    2016-01-01

    In this study, a problem-posing strategy is proposed for supporting collaborative mobile learning activities. Accordingly, a mobile learning environment has been developed, and an experiment on a local culture course has been conducted to evaluate the effectiveness of the proposed approach. Three classes of an elementary school in southern Taiwan…

  15. An Improved Method of Pose Estimation for Lighthouse Base Station Extension.

    Yang, Yi; Weng, Dongdong; Li, Dong; Xun, Hang

    2017-10-22

    In 2015, HTC and Valve launched a virtual reality headset empowered with Lighthouse, the cutting-edge space positioning technology. Although Lighthouse is superior in terms of accuracy, latency and refresh rate, its algorithms do not support base station expansion, and is flawed concerning occlusion in moving targets, that is, it is unable to calculate their poses with a small set of sensors, resulting in the loss of optical tracking data. In view of these problems, this paper proposes an improved pose estimation algorithm for cases where occlusion is involved. Our algorithm calculates the pose of a given object with a unified dataset comprising of inputs from sensors recognized by all base stations, as long as three or more sensors detect a signal in total, no matter from which base station. To verify our algorithm, HTC official base stations and autonomous developed receivers are used for prototyping. The experiment result shows that our pose calculation algorithm can achieve precise positioning when a few sensors detect the signal.

  16. Using Online Modelled Spatial Constraints for Pose Estimation in an Industrial Setting

    Meyer, Kenneth Korsgaard; Wolniakowski, Adam; Hagelskjær, Frederik

    2017-01-01

    We introduce a vision system that is able to on-line learn spatial constraints to improve pose estimation in terms of correct recognition as well as computational speed. By making use of a simulated industrial robot system performing various pick and place tasks, we show the effect of model...

  17. Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces

    Buch, Anders Glent; Kraft, Dirk; Kämäräinen, Joni-Kristian

    2013-01-01

    We present a system for detecting the pose of rigid objects using texture and contour information. From a stereo image view of a scene, a sparse hierarchical scene representation is reconstructed using an early cognitive vision system. We define an object model in terms of a simple context...

  18. A Comparison of Iterative 2D-3D Pose Estimation Methods for Real-Time Applications

    Grest, Daniel; Krüger, Volker; Petersen, Thomas

    2009-01-01

    This work compares iterative 2D-3D Pose Estimation methods for use in real-time applications. The compared methods are available for public as C++ code. One method is part of the openCV library, namely POSIT. Because POSIT is not applicable for planar 3Dpoint congurations, we include the planar P...

  19. Utilizing Semantic Interpretation of Junctions for 3D-2D Pose Estimation

    Pilz, Florian; Yan, Shi; Grest, Daniel

    2007-01-01

    In this paper we investigate the quality of 3D-2D pose estimates using hand labeled line and point correspondences. We select point correspondences from junctions in the image, allowing to construct a meaningful interpretation about how the junction is formed, as proposed in e.g. [1], [2], [3]. W...

  20. Morozov-type discrepancy principle for nonlinear ill-posed problems ...

    2016-08-26

    Aug 26, 2016 ... For proving the existence of a regularization parameter under a Morozov-type discrepancy principle for Tikhonov regularization of nonlinear ill-posed problems, it is required to impose additional nonlinearity assumptions on the forward operator. Lipschitz continuity of the Freéchet derivative and requirement ...

  1. Tooth display and lip position during spontaneous and posed smiling in adults.

    Geld, P.A.A.M. van der; Oosterveld, P.; Berge, S.J.; Kuijpers-Jagtman, A.M.

    2008-01-01

    OBJECTIVE: To analyze differences in tooth display, lip-line height, and smile width between the posed smiling record, traditionally produced for orthodontic diagnosis, and the spontaneous (Duchenne) smile of joy. MATERIAL AND METHODS: The faces of 122 male participants were each filmed during

  2. Perturbation-Based Regularization for Signal Estimation in Linear Discrete Ill-posed Problems

    Suliman, Mohamed Abdalla Elhag

    2016-11-29

    Estimating the values of unknown parameters from corrupted measured data faces a lot of challenges in ill-posed problems. In such problems, many fundamental estimation methods fail to provide a meaningful stabilized solution. In this work, we propose a new regularization approach and a new regularization parameter selection approach for linear least-squares discrete ill-posed problems. The proposed approach is based on enhancing the singular-value structure of the ill-posed model matrix to acquire a better solution. Unlike many other regularization algorithms that seek to minimize the estimated data error, the proposed approach is developed to minimize the mean-squared error of the estimator which is the objective in many typical estimation scenarios. The performance of the proposed approach is demonstrated by applying it to a large set of real-world discrete ill-posed problems. Simulation results demonstrate that the proposed approach outperforms a set of benchmark regularization methods in most cases. In addition, the approach also enjoys the lowest runtime and offers the highest level of robustness amongst all the tested benchmark regularization methods.

  3. Pose Measurement Method and Experiments for High-Speed Rolling Targets in a Wind Tunnel

    Zhenyuan Jia

    2014-12-01

    Full Text Available High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

  4. Pose measurement method and experiments for high-speed rolling targets in a wind tunnel.

    Jia, Zhenyuan; Ma, Xin; Liu, Wei; Lu, Wenbo; Li, Xiao; Chen, Ling; Wang, Zhengqu; Cui, Xiaochun

    2014-12-12

    High-precision wind tunnel simulation tests play an important role in aircraft design and manufacture. In this study, a high-speed pose vision measurement method is proposed for high-speed and rolling targets in a supersonic wind tunnel. To obtain images with high signal-to-noise ratio and avoid impacts on the aerodynamic shape of the rolling targets, a high-speed image acquisition method based on ultrathin retro-reflection markers is presented. Since markers are small-sized and some of them may be lost when the target is rolling, a novel markers layout with which markers are distributed evenly on the surface is proposed based on a spatial coding method to achieve highly accurate pose information. Additionally, a pose acquisition is carried out according to the mentioned markers layout after removing mismatching points by Case Deletion Diagnostics. Finally, experiments on measuring the pose parameters of high-speed targets in the laboratory and in a supersonic wind tunnel are conducted to verify the feasibility and effectiveness of the proposed method. Experimental results indicate that the position measurement precision is less than 0.16 mm, the pitching and yaw angle precision less than 0.132° and the roll angle precision 0.712°.

  5. Metals and metalloids in PM10 in Nandan County, Guangxi, China, and the health risks posed.

    Guo, Guanghui; Song, Bo; Xia, Deshang; Yang, Zijie; Wang, Fopeng

    2018-03-16

    Intense mining, smelting, and tailing activities of polymetallic ore deposits have affected the environment in Nandan County, Guangxi, China. Samples of particulates with aerodynamic diameters low or equal 10 μm (PM 10 ) were collected in Nandan County to investigate the concentrations of and health risks posed by 17 metals and metalloids in the PM 10 . The metal and metalloid concentrations were lower than those found in other industrial cities. The mean Cr concentration was 7.48 ng/m 3 . Significant higher metal and metalloid concentrations were found in PM 10 from mining areas (Dachang and Chehe) than from the control area (Liuzhai) (p metalloids in PM 10 at all the sites were low, but the non-carcinogenic risks posed to children by all the metals and metalloids together exceeded the safe level (i.e., risk value > 1). The carcinogenic risks posed by Cd, Ni, and Pb were negligible at all sites, while As, Co, and Cr posed potential carcinogenic risks to the residents.

  6. 21 CFR 740.18 - Coal tar hair dyes posing a risk of cancer.

    2010-04-01

    ... 21 Food and Drugs 7 2010-04-01 2010-04-01 false Coal tar hair dyes posing a risk of cancer. 740.18... (CONTINUED) COSMETICS COSMETIC PRODUCT WARNING STATEMENTS Warning Statements § 740.18 Coal tar hair dyes... coal tar hair dye containing any ingredient listed in paragraph (b) of this section shall bear, in...

  7. Assessment of the effectiveness of orange (Citrus reticulata) peel in the recovery of nickel from electroplating wastewater.

    Hussein, Rim A

    2014-12-01

    Wastewater discharged from electroplating industry contains different concentrations of heavy metals, which when released into the environment pose a health hazard to human beings. The aim of this study was to assess the effectiveness of orange peel as an adsorbent in the recovery of Nickel (Ni) from electroplating wastewater. The effectiveness of orange peel as an adsorbent was assessed by determining the optimum conditions of adsorption (adsorbent dose, pH, and contact time), calculating the recovery percentage, and characterizing the orange peel sludge resulting from adsorption/desorption process as being hazardous or not. Under optimum conditions for adsorption, orange peel was found to be an effective adsorbent of Ni from electroplating wastewater. It achieved 59.28% removal of the metal from a solution containing 528 mg/l, at a dose of 60 g/l, at pH 7, and for 1-h contact time. The nickel uptake capacity of orange peel was calculated to be 5.2 mg/g. Using HCl for desorption of adsorbed Ni, a recovery of 44.46% of Ni discharged in the wastewater could be reached. Orange peel resulting from the adsorption/desorption process was characterized as being nonhazardous. Orange peel was found to be effective in the recovery of nearly half of the amount of Ni discharged in electroplating wastewater. Further studies are required to determine (a) the impact of the recovered NiCl2 solution on the quality of the plated product, (b) the effect of activation of orange peel on the adsorption process, and (c) the number of cycles during which orange peel can be reused as an effective adsorbent.

  8. Antibiotic Susceptibilities of Enterococcus Species Isolated from Hospital and Domestic Wastewater Effluents in Alice, Eastern Cape Province of South Africa

    Benson Chuks Iweriebor

    2015-04-01

    Full Text Available Background: Antimicrobial resistance in microorganisms are on the increase worldwide and are responsible for substantial cases of therapeutic failures. Resistance of species of Enterococcus to antibiotics is linked to their ability to acquire and disseminate antimicrobial resistance determinants in nature, and wastewater treatment plants (WWTPs are considered to be one of the main reservoirs of such antibiotic resistant bacteria. We therefore determined the antimicrobial resistance and virulence profiles of some common Enterococcus spp that are known to be associated with human infections that were recovered from hospital wastewater and final effluent of the receiving wastewater treatment plant in Alice, Eastern Cape. Methods: Wastewater samples were simultaneously collected from two sites (Victoria hospital and final effluents of a municipal WWTP in Alice at about one to two weeks interval during the months of July and August 2014. Samples were screened for the isolation of enterococci using standard microbiological methods. The isolates were profiled molecularly after targeted generic identification and speciation for the presence of virulence and antibiotic resistance genes. Results: Out of 66 presumptive isolates, 62 were confirmed to belong to the Enterococcus genusof which 30 were identified to be E. faecalis and 15 E. durans. The remaining isolates were not identified by the primers used in the screening procedure. Out of the six virulence genes that were targeted only three of them; ace, efaA, and gelE were detected. There was a very high phenotypic multiple resistance among the isolates and these were confirmed by genetic analyses. Conclusions: Analyses of the results obtained indicated that hospital wastewater may be one of the sources of antibiotic resistant bacteria to the receiving WWTP. Also, findings revealed that the final effluent discharged into the environment was contaminated with multi-resistant enterococci species thus

  9. Multifactor Analysis of Roadheader’s Body Pose Responses during the Horizontal Cutting Process

    Kai Zong

    2018-01-01

    Full Text Available Based on the Lagrange equation in system dynamics, aiming at the horizontal cutting process, the dynamical coupling model of boom-type roadheader’s body pose was established. According to input problem of solving the model, a calculation method of the cutting head load was proposed, and the relationship between the cutting head load and pressure of the driving cylinders and swing angle of the cutting arm was obtained through simulating analysis. The simulation model was established to solve the dynamical coupling model. The cutting head load, horizontal swing angle of the cutting arm, and dip angle of coal seam were regarded as independent variables to perform changing parameter analysis in variations of the body pose. The field experiment was carried out, and the measured data is basically consistent with the simulation values. The results show that lateral displacement of the body can reach up to 6.5 cm, backward displacement can reach up to 5.2 cm, floor-based quantity can reach up to 11 cm, pitch angle of the body can reach up to 7.8°, and roll angle can reach up to 2.1°. Variations of the body pose parameters are influenced greatly by the cutting head load, while the influence from horizontal swing angle of the cutting arm and dip angle of coal seam is slighter. Among the pose parameters, floor-based quantity and pitch angle of the body vary relatively greatly, which tend to seriously influence forming quality of the roadway and should be mainly considered in deviation rectification of the roadheader’s body pose.

  10. "Preparatory power posing affects nonverbal presence and job interview performance": Correction to Cuddy et al. (2015).

    2018-05-01

    Reports an error in "Preparatory power posing affects nonverbal presence and job interview performance" by Amy J. C. Cuddy, Caroline A. Wilmuth, Andy J. Yap and Dana R. Carney ( Journal of Applied Psychology , 2015[Jul], Vol 100[4], 1286-1295). In the article, the degrees of freedom associated with the three F-tests noted on pages 1289 and 1290 should be 1 and 59 (and not 1 and 60, as previously reported). Also, on p. 1290, in the first sentence under the "Mediation" heading, it should be noted that the dependent variables were regressed onto the mediators, and not the other way around. Finally, in Figures 2 and 3 (on p.interview-preparatory power posing-would enhance performance during the interview. Participants adopted high-power (i.e., expansive, open) poses or low-power (i.e., contractive, closed) poses, and then prepared and delivered a speech to 2 evaluators as part of a mock job interview. All interview speeches were videotaped and coded for overall performance and hireability and for 2 potential mediators: verbal content (e.g., structure, content) and nonverbal presence (e.g., captivating, enthusiastic). As predicted, those who prepared for the job interview with high- (vs. low-) power poses performed better and were more likely to be chosen for hire; this relation was mediated by nonverbal presence, but not by verbal content. Although previous research has focused on how a nonverbal behavior that is enacted during interactions and observed by perceivers affects how those perceivers evaluate and respond to the actor, this experiment focused on how a nonverbal behavior that is enacted before the interaction and unobserved by perceivers affects the actor's performance, which, in turn, affects how perceivers evaluate and respond to the actor. This experiment reveals a theoretically novel and practically informative result that demonstrates the causal relation between preparatory nonverbal behavior and subsequent performance and outcomes. (PsycINFO Database

  11. The rarity of "unusual" [corrected] dispositions of victim bodies: staging and posing.

    Keppel, Robert D; Weis, Joseph G

    2004-11-01

    The act of leaving a victim's body in an unusual position is a conscious criminal action by an offender to thwart an investigation, shock the finder and investigators of the crime scene, or give perverted pleasure to the killer. The unusual position concepts of posing and staging a murder victim have been documented thoroughly and have been accepted by the courts as a definable phenomenon. One staging case and one posing case are outlined and reveal characteristics of those homicides. From the Washington State Attorney General's Homicide Investigation and Tracking System's database on murder covering the years 1981-2000 (a total of 5,224 cases), the relative frequency of unusual body dispositions is revealed as a very rare occurrence. Only 1.3% of victims are left in an unusual position, with 0.3% being posed and 0.1% being staged. The characteristics of these types of murders also set them apart: compared to all other murders, in staged murders the victims and killers are, on average, older. All victims and offenders in the staged murders are white, with victims being disproportionately white in murders with any kind of unusual body disposition. Likewise, females stand out as victims when the body is posed, staged, or left in other unusual positions. Whereas posed bodies are more likely to include sexual assault, often in serial murders, there is no evidence of either in the staged cases. Lastly, when a body is left in an unusual position, binding is more likely, as well as the use of more "hands on" means of killing the victim, such as stabbing or cutting weapons, bludgeons, ligatures, or hands and feet.

  12. About the use and treatment of reclaimed wastewater

    Marin Galvin, R.

    2009-01-01

    Demand of water in our actual society is increasing each day. Taking into account the irregular climatic situation experienced in a lot of zones of Spain, it is necessary to use all the available resources. Among the conventional resources of sweet waters (surface and underground), we must pay attention to the desalted waters and to the reclaimed wastewater. In this way, the practical use of reclaimed wastewater must be supported in three basic items: normative about reusing of reclaimed wastewater, that of treated wastewater and effluents discarded to natural environment and finally, treatment processes to reclaim wastewater. (Author) 11 refs

  13. Selective recovery of pure copper nanopowder from indium-tin-oxide etching wastewater by various wet chemical reduction process: Understanding their chemistry and comparisons of sustainable valorization processes

    Swain, Basudev, E-mail: swain@iae.re.kr [Institute for Advanced Engineering, Advanced Materials & Processing Center, Yongin, 449-863 (Korea, Republic of); Mishra, Chinmayee [Institute for Advanced Engineering, Advanced Materials & Processing Center, Yongin, 449-863 (Korea, Republic of); Hong, Hyun Seon [Sungshin University, Dept. of Interdisciplinary ECO Science, Seoul, 142-732 (Korea, Republic of); Cho, Sung-Soo [Institute for Advanced Engineering, Advanced Materials & Processing Center, Yongin, 449-863 (Korea, Republic of)

    2016-05-15

    Sustainable valorization processes for selective recovery of pure copper nanopowder from Indium-Tin-Oxide (ITO) etching wastewater by various wet chemical reduction processes, their chemistry has been investigated and compared. After the indium recovery by solvent extraction from ITO etching wastewater, the same is also an environmental challenge, needs to be treated before disposal. After the indium recovery, ITO etching wastewater contains 6.11 kg/m{sup 3} of copper and 1.35 kg/m{sup 3} of aluminum, pH of the solution is very low converging to 0 and contain a significant amount of chlorine in the media. In this study, pure copper nanopowder was recovered using various reducing reagents by wet chemical reduction and characterized. Different reducing agents like a metallic, an inorganic acid and an organic acid were used to understand reduction behavior of copper in the presence of aluminum in a strong chloride medium of the ITO etching wastewater. The effect of a polymer surfactant Polyvinylpyrrolidone (PVP), which was included to prevent aggregation, to provide dispersion stability and control the size of copper nanopowder was investigated and compared. The developed copper nanopowder recovery techniques are techno-economical feasible processes for commercial production of copper nanopowder in the range of 100–500 nm size from the reported facilities through a one-pot synthesis. By all the process reported pure copper nanopowder can be recovered with>99% efficiency. After the copper recovery, copper concentration in the wastewater reduced to acceptable limit recommended by WHO for wastewater disposal. The process is not only beneficial for recycling of copper, but also helps to address environment challenged posed by ITO etching wastewater. From a complex wastewater, synthesis of pure copper nanopowder using various wet chemical reduction route and their comparison is the novelty of this recovery process. - Highlights: • From the Indium-Tin-Oxide etching

  14. Selective recovery of pure copper nanopowder from indium-tin-oxide etching wastewater by various wet chemical reduction process: Understanding their chemistry and comparisons of sustainable valorization processes

    Swain, Basudev; Mishra, Chinmayee; Hong, Hyun Seon; Cho, Sung-Soo

    2016-01-01

    Sustainable valorization processes for selective recovery of pure copper nanopowder from Indium-Tin-Oxide (ITO) etching wastewater by various wet chemical reduction processes, their chemistry has been investigated and compared. After the indium recovery by solvent extraction from ITO etching wastewater, the same is also an environmental challenge, needs to be treated before disposal. After the indium recovery, ITO etching wastewater contains 6.11 kg/m 3 of copper and 1.35 kg/m 3 of aluminum, pH of the solution is very low converging to 0 and contain a significant amount of chlorine in the media. In this study, pure copper nanopowder was recovered using various reducing reagents by wet chemical reduction and characterized. Different reducing agents like a metallic, an inorganic acid and an organic acid were used to understand reduction behavior of copper in the presence of aluminum in a strong chloride medium of the ITO etching wastewater. The effect of a polymer surfactant Polyvinylpyrrolidone (PVP), which was included to prevent aggregation, to provide dispersion stability and control the size of copper nanopowder was investigated and compared. The developed copper nanopowder recovery techniques are techno-economical feasible processes for commercial production of copper nanopowder in the range of 100–500 nm size from the reported facilities through a one-pot synthesis. By all the process reported pure copper nanopowder can be recovered with>99% efficiency. After the copper recovery, copper concentration in the wastewater reduced to acceptable limit recommended by WHO for wastewater disposal. The process is not only beneficial for recycling of copper, but also helps to address environment challenged posed by ITO etching wastewater. From a complex wastewater, synthesis of pure copper nanopowder using various wet chemical reduction route and their comparison is the novelty of this recovery process. - Highlights: • From the Indium-Tin-Oxide etching wastewater

  15. A study on the treatment process of industrial wastewater related to heavy metal wastewater

    Park, J. J.; Shin, J. M.; Kim, J. H.; Yang, M. S.; Kim, M. J.; Son, J. S.; Park, H. S.

    1999-08-01

    The supernatant from metal wastewater by using magnesium hydroxide and dolomite was used to treat dyeing wastewater. In the case of magnesium hydroxide. In the case of magnesium hydroxide, the optimum dosage was 10 % (v/v) for supernatant A and 3 % (v/v) for separation B. Color turbidity and COD removal was 99 to 100 % , 85 to 97 % and 43 to 53 %, respectively. In the case of dolomite, the optimum dosage was 30 % (v/v) for supernatant A and 3% for supernatant B. Color, turbidity and COD removal was 96 to 99 %, 62 to 91 % and 52 to 53 %, respectively. In dyeing wastewater treatment by using supernatant from metal wastewater, the cost of chemicals was reduced by about 80 %

  16. Wastewater management in Khartoum Region Soba wastewater treatment plant (stabilization ponds)

    Maki, A. M. E.

    2010-03-01

    Soba wastewater treatment plant will be replaced shortly by new plant based on activate sludge. This study was carried in order to evaluate: the design, physical, chemical and biological characteristics and the capacity of the plant. Outlet Effluents quality was compared with Sudan wastewater treatment standards. Samples analyses were carried by UNESCO CHAIR 2006 (Khartoum State). It was found that the result is not as: The designed and standard level especially for BOD, COD, TBC and TC. It was also found that BOD and COD of the effluents were not complying with adopted standards for treated wastewater to be discharged to the environment. The study reached the conclusions that plant is overloaded and the characteristics of the wastewater received is not as the design which affects the efficiency of the treatment process. (Author)

  17. Analysis of Treated Wastewater Produced from Al-Lajoun Wastewater Treatment Plant, Jordan

    Waleed Manasreh

    2009-01-01

    Full Text Available Assessment of treated wastewater produced from Al-Lajoun collection tanks of the wastewater treatment plant in Karak province was carried out in term of physical properties, its major ionic composition, heavy metals and general organic content, for both wastewater influent and effluent. Sampling was done in two periods during (2005-2006 summer season and during winter season to detect the impact of climate on treated wastewater quality. Soil samples were collected from Al-Lajoun valley where the treated wastewater drained, to determine the heavy metal and total organic carbon concentrations at same time. The study showed that the treated wastewater was low in its heavy metals contents during both winter and summer seasons, which was attributed to high pH value enhancing their precipitations. Some of the major ions such as Cl-, Na+, HCO33-, Mg2+ in addition to biological oxygen demand and chemical oxygen demand were higher than the recommended Jordanian guidelines for drained water in valleys. The treated wastewater contained some organic compounds of toxic type such as polycyclic aromatic hydrocarbons. Results showed that the soil was low in its heavy metal contents and total organic carbon with distance from the discharging pond, which attributed to the adsorption of heavy metals, total organic carbon and sedimentation of suspended particulates. From this study it was concluded that the treated wastewater must be used in situ for production of animal fodder and prohibit its contact with the surface and groundwater resources of the area specially Al-Mujeb dam where it is collected.

  18. Occurrence and environmental implications of the presence of drugs of abuse in wastewater treatment plants of Valencia (Spain)

    Picó, Yolanda; Andres-Costa, M. Jesus; Andreu, Vicente

    2014-05-01

    of monitoring period, with the exception of 6-ACMOR. Regarding the determination of drugs of abuse in the effluent, the compounds with the highest removals (100%) were AMP, MAMP, THC-COOH and COC. BECG values of removal efficiency ranged from 93.4% in Quart-Benàger to 98.5% in Pinedo II. MDMA removal efficiency is variable depending on the WWTPs while ketamine removal efficiency was negligible. Ecotoxicological risk were calculated for drugs of abuse founded in the effluents of the WWTPs. MDMA could pose a medium risk, KET could pose low risk to the aquatic organisms while BECG couldn't pose environmental risk. Acknowledgements This work has been supported by the Spanish Ministry of Economy and Competitiveness trough the project SCARCE-CDS 2009-0065, CGL 2011-29703-C02-01 and GCL CGL 2011-29703-C02-02. MJ Andrés Costa also acknowledges to this Ministry the FPI grant to perform her PhD. References Boles TH., Wells MJM. Analysis of amphetamine and methamphetamine as emerging pollutants in wastewater and wastewater-impacted streams. Journal of Chromatography A 2010; 1217: 2561-2568. Daughton CG In: Daughton CG., Jones-Lepp TL., editors Pharmaceuticals and personal care products in the environment. Scientific and regulatory issues. Washington: Americal Chemical Society (2001) , 348-164.

  19. Analysis of Wastewater Treatment Efficiency in a Soft Drinks Industry

    Boguniewicz-Zabłocka, Joanna; Capodaglio, Andrea G.; Vogel, Daniel

    2017-10-01

    During manufacturing processes, most industrial plants generate wastewater which could become harmful to the environment. Discharge of untreated or improperly treated industrial wastewaters into surface water could, in fact, lead to deterioration of the receiving water body's quality. This paper concerns wastewater treatment solutions used in the soft drink production industry: wastewater treatment plant effectiveness analysis was determined in terms of basic pollution indicators, such as BOD, COD, TSS and variable pH. Initially, the performance of mechanic-biological systems for the treatment of wastewater from a specific beverages production process was studied in different periods, due to wastewater flow fluctuation. The study then showed the positive effects on treatment of wastewater augmentation by methanol, nitrogen and phosphorus salts dosed into it during the treatment process. Results confirm that after implemented modification (methanol, nitrogen and phosphorus additions) pollution removal occurs mostly with higher efficiency.

  20. Disinfection of septic tank and cesspool wastewater with peracetic acid.

    Heinonen-Tanski, Helvi; Savolainen, Ritva

    2003-08-01

    Wastewaters of private household septic tanks and cesspools have been treated with peracetic acid (1-2 g L(-1)). Adding 1 g L(-1) peracetic acid to wastewaters was easy and has been found to be effective in destroying enteric indicator microorganisms. The careful mixing of peracetic acid and wastewater was found to be important. Winter periods with frozen soil, ice and snow did not constitute extra problems. The bad smell of these wastewaters almost totally disappeared during the treatment. When wastewaters treated with peracetic acid were emptied into animal slurry tanks, hygienization still continued in the mixture of animal slurry and the wastewaters. These wastewaters could thus be released into agricultural soil without risk of microbiological pollution to groundwaters.

  1. MEMBRANE BIOREACTOR FOR TREATMENT OF RECALCITRANT WASTEWATERS

    Suprihatin Suprihatin

    2012-02-01

    Full Text Available The low biodegradable wastewaters remain a challenge in wastewater treatment technology. The performance of membrane bioreactor systems with submerged hollow fiber micro- and ultrafiltration membrane modules were examined for purifying recalcitrant wastewaters of leachate of a municipal solid waste open dumping site and effluent of pulp and paper mill. The use of MF and UF membrane bioreactor systems showed an efficient treatment for both types wastewaters with COD reduction of 80-90%. The membrane process achieved the desirable effects of maintaining reasonably high biomass concentration and long sludge retention time, while producing a colloid or particle free effluent. For pulp and paper mill effluent a specific sludge production of 0.11 kg MLSS/kg COD removed was achieved. A permeate flux of about 5 L/m²h could be achieved with the submerged microfiltration membrane. Experiments using ultrafiltration membrane produced relatively low permeate fluxes of 2 L/m²h. By applying periodical backwash, the flux could be improved significantly. It was indicated that the particle or colloid deposition on membrane surface was suppressed by backwash, but reformation of deposit was not effectively be prevented by shear-rate effect of aeration. Particle and colloid started to accumulate soon after backwash. Construction of membrane module and operation mode played a critical role in achieving the effectiveness of aeration in minimizing deposit formation on the membrane surface.

  2. Reclaiming Water from Wastewater using Forward Osmosis

    Lutchmiah, K.

    2014-01-01

    Water scarcity is a global issue and waste accumulation is a steadily growing one. The innovative Sewer Mining concept, described in this thesis, is an example of an integrated forward osmosis application which incorporates different technologies to attain one goal: water recovery from wastewater,

  3. Modeling Trihalomethane Formation Potential from Wastewater Chlorination

    1994-09-01

    Aerated Lagoon Chlor/Dechlor - - - King Salmon River Luke, AZ Tertiary Ultraviolet 1.2 MGD Agua Fria River / Irrigation MacDD, FL Activated Sludge...November 1988). Tchobanoglous, George and Burton, Franklin L. Wastewater engineering: treatment, disposal, and reuse / Metcalf & Eddy, Inc. -3rd ed

  4. Wastewater Treatment for Pollution Control | Nzabuheraheza ...

    Performance of a Dynamic Roughing Filter (DRF) coupled with a Horizontal Subsurface Flow Constructed Wetland (HSSFCW) in the treatment of a wastewater was studied in tropical conditions. The results show that in HSSFCW planted with Cyperus papyrus and Phragmites mauritianus in series, the removal rates of TDS, ...

  5. Treatment of kitchen wastewater using Eichhornia crassipes

    Parwin, Rijwana; Karar Paul, Kakoli

    2018-03-01

    The efficiency of Eichhornia crassipes for treatment of raw kitchen wastewater was studied in the present research work. An artificial wetland of 30 liter capacity was created for phytoremediation of kitchen wastewater using Eichhornia crassipes. Kitchen wastewater samples were collected from hostel of an educational institute in India. Samples were characterized based on physical and chemical parameters such as pH, turbidity, total hardness, nitrate-nitrogen, ammonium-nitrogen, sulphate, dissolved oxygen, total organic carbon and total dissolved solid. The physico-chemical parameter of kitchen wastewater samples were analysed for durations of 0 (initial day), 4 and 8 days. After 8 days of retention period, it was observed that pH value increases from 6.25 to 6.63. However, percentage reduction for turbidity, total hardness, nitrate-nitrogen, ammonium-nitrogen, sulphate, dissolved oxygen, total organic carbon and total dissolved solid were found to be 74.71%, 50%, 78.75%, 60.28%, 25.31%, 33.33%, 15.38% and 69.97%, respectively. Hence water hyacinth (Eichhornia crassipes) is found efficient and easy to handle and it can be used for low cost phytoremediation technique.

  6. Developing Anammox for mainstream municipal wastewater treatment

    Lotti, T.

    2016-01-01

    Conventional wastewater treatment plants (WWTPs), like activated sludge systems, are energy demanding requiring a large electrical energy supply (e.g. 25 kWh PE-1 year-1) which, especially during peak-load periods, may account for an important quote of the grid installed power of the surrounding

  7. Wastewater treatment modelling: dealing with uncertainties

    Belia, E.; Amerlinck, Y.; Benedetti, L.

    2009-01-01

    This paper serves as a problem statement of the issues surrounding uncertainty in wastewater treatment modelling. The paper proposes a structure for identifying the sources of uncertainty introduced during each step of an engineering project concerned with model-based design or optimisation...

  8. Advanced oxidation technologies : photocatalytic treatment of wastewater

    Chen, J.

    1997-01-01

    7.1. Summary and conclusions

    The last two decennia have shown a growing interest in the photocatalytic treatment of wastewater, and more and more research has been carried out into the various aspects of photocatalysis, varying from highly fundamental aspects to practical application.

  9. Wastewater Treatment with Ammonia Recovery System

    M. Örvös; T. Balázs; K. F. Both

    2008-01-01

    From environmental aspect purification of ammonia containing wastewater is expected. High efficiency ammonia desorption can be done from the water by air on proper temperature. After the desorption process, ammonia can be recovered and used in another technology. The calculation method described below give some methods to find either the minimum column height or ammonia rich solution of the effluent.

  10. Anaerobic prefermentation and primary sedimentation of wastewater ...

    This research was carried out with the aim of evaluating the solubilisation and acidification capacity of fermenting organisms in suspension in a sequencing batch reactor (SBR), which had a volume of 1 800 ℓ. Using 8 h cycles with 340 min of anaerobic reaction time, the wastewater fed to the SBR presented an average of ...

  11. The anaerobic treatment of sulfate containing wastewater

    Visser, A.

    1995-01-01


    In the anaerobic treatment of sulfate containing wastewater sulfate reducing bacteria (SRB) will compete with methanogenic- (MB) and acetogenic bacteria (AB) for the available substrates such as hydrogen, acetate, propionate and butyrate. The outcome of this competition will

  12. Recent practices on wastewater reuse in Turkey.

    Tanik, A; Ekdal, A; Germirli Babuna, F; Orhon, D

    2005-01-01

    Reuse of wastewater for irrigational purposes in agriculture has been a widely applied practice all around the world compared to such applications in industries. In most of the developing countries, high costs of wastewater treatment stimulate the direct reuse of raw or partly treated effluent in irrigation despite the socio-cultural objections in some countries regarding religious rituals towards consuming wastewater. In Turkey, reuse applications in agriculture have been in use by indirect application by means of withdrawing water from the downstream end of treatment plants. Such practices affected the deterioration of surface water resources due to the lack of water quality monitoring and control. However, more conscious and planned reuse activities in agriculture have recently started by the operation of urban wastewater treatment plants. Turkey does not face any severe water scarcity problems for the time being, but as the water resources show the signs of water quality deterioration it seems to be one of the priority issues in the near future. The industrial reuse activities are only at the research stage especially in industries consuming high amounts of water. In-plant control implementation is the preferred effort of minimizing water consumption in such industries. The current reuse activities are outlined in the article forming an example from a developing country.

  13. 40 CFR 63.1433 - Wastewater provisions.

    2010-07-01

    ... for Hazardous Air Pollutant Emissions for Polyether Polyols Production § 63.1433 Wastewater provisions... operation of the treatment process or control technique, the owner or operator shall instead comply with the... calibration gas for Method 25A, 40 CFR part 60, appendix A shall be the single organic HAP representing the...

  14. Towards energy positive wastewater treatment plants.

    Gikas, Petros

    2017-12-01

    Energy requirement for wastewater treatment is of major concern, lately. This is not only due to the increasing cost of electrical energy, but also due to the effects to the carbon footprint of the treatment process. Conventional activated sludge process for municipal wastewater treatment may consume up to 60% of the total plant power requirements for the aeration of the biological tank. One way to deal with high energy demand is by eliminating aeration needs, as possible. The proposed process is based on enhanced primary solids removal, based on advanced microsieving and filtration processes, by using a proprietary rotating fabric belt MicroScreen (pore size: 100-300 μm) followed by a proprietary Continuous Backwash Upflow Media Filter or cloth media filter. About 80-90% reduction in TSS and 60-70% reduction in BOD5 has been achieved by treating raw municipal wastewater with the above process. Then the partially treated wastewater is fed to a combination low height trickling filters, combined with encapsulated denitrification, for the removal of the remaining BOD and nitrogen. The biosolids produced by the microsieve and the filtration backwash concentrate are fed to an auger press and are dewatered to about 55% solids. The biosolids are then partially thermally dried (to about 80% solids) and conveyed to a gasifier, for the co-production of thermal (which is partly used for biosolids drying) and electrical energy, through syngas combustion in a co-generation engine. Alternatively, biosolids may undergo anaerobic digestion for the production of biogas and then electric energy. The energy requirements for complete wastewater treatment, per volume of inlet raw wastewater, have been calculated to 0.057 kWh/m 3 , (or 0.087 kWh/m 3 , if UV disinfection has been selected), which is about 85% below the electric energy needs of conventional activated sludge process. The potential for net electric energy production through gasification/co-generation, per volume of

  15. Environmental systems analysis of wastewater management

    Kaerrman, Erik

    2000-01-01

    The history of wastewater management tells us that efforts have been made at solving only one problem at the time; sanitation during the first half of the 20th Century followed by eutrophication of lakes and sea and, for the past ten years, recycling of nutrients. After the 'Brundtland Report', 1987, a reversal of the debate occurred where water management was discussed in a more holistic manner than before. The concept sustainable development became widely accepted and was put into practice. This thesis suggests a framework for evaluating the sustainability of wastewater systems, which contains the use of criteria and system analytical evaluation methods matching each criterion. The main categories of criteria are identified as: Health and Hygiene, Social and Cultural, Environmental, Economic and Functional and Technical. The usability of different concepts of Environmental Systems Analysis for evaluating environmental criteria of wastewater systems is also investigated. These studies show that a substance-flow model combined with evaluation methods from Life Cycle Assessment (LCA), sometimes complemented with Exergy Analysis or Analysis of Primary Energy, is a beneficial approach for evaluating environmental impacts and the usage of resources. The substance-flow model ORWARE (ORganic WAste REsearch) combined with LCA was used to compare four systems structures for the management of household wastewater and solid organic waste, namely Conventional System, Irrigation of Energy Forests, Liquid Composting and Urine Separation. This study shows a potential for further development of the three alternative systems. The comparative study also included some development of system analytical methods. This thesis shows how the contribution from oxidation of ammonia should be included in the eutrophication impact category. Furthermore, a method is given for prioritization of the most relevant impacts from wastewater management by using normalisation of these impacts in

  16. Experimental poisoning by cassava wastewater in sheep

    Valdir C. Silva

    Full Text Available ABSTRACT: The processing of Manihot esculenta (cassava tubers yield different by-products, including cassava wastewater, which is the liquid pressed out of the tuber after it has been mechanically crushed. Cyanide poisoning after ingestion of cassava wastewater has been reported in ruminants and pigs in Northeastern Brazil. With the aim of studying its toxicity, cassava wastewater was administered orally to six sheep at doses of 0.99, 0.75, 0.70, 0.63, and 0.5 mg of hydrocyanic acid kg-1 body weight, which corresponded to 14.2, 10.6, 9.8, 8.89, and 7.1 mL of wastewater kg-1. On the second day, the sheep received a volume of wastewater which corresponded to 0.46, 0.34, 0.31, 0.28, and 0.23 mg of HCN kg-1. A sheep used as control received 9.9 mL of water kg-1 BW. Sheep that received from 0.75 to 0.99 mg kg-1 of HCN on the first day exhibited severe clinical signs of poisoning, and the sheep that received 0.63 and 0.5 mg kg-1 exhibited mild clinical signs. All sheep were successfully treated with sodium thiosulfate. On the second day, only the sheep that received 0.46 mg kg-1 and 0.34 mg kg-1 exhibited mild clinical signs and recovered spontaneously. The concentration of HCN in the wastewater was 71.69±2.19 μg mL-1 immediately after production, 30.56±2.45 μg mL-1 after 24 hours, and 24.25±1.28 μg mL-1 after 48 hours. The picric acid paper test was strongly positive 5 minutes after production; moderately positive 24 hours after production, and negative 48 hours after production. We conclude that cassava wastewater is highly toxic to sheep if ingested immediately after production, but rapidly loses toxicity in 24-48 hours.

  17. 6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features.

    Ye, Cang; Hong, Soonhac; Tamjidi, Amirhossein

    2015-10-01

    This paper presents a 6-DOF Pose Estimation (PE) method for a Robotic Navigation Aid (RNA) for the visually impaired. The RNA uses a single 3D camera for PE and object detection. The proposed method processes the camera's intensity and range data to estimates the camera's egomotion that is then used by an Extended Kalman Filter (EKF) as the motion model to track a set of visual features for PE. A RANSAC process is employed in the EKF to identify inliers from the visual feature correspondences between two image frames. Only the inliers are used to update the EKF's state. The EKF integrates the egomotion into the camera's pose in the world coordinate system. To retain the EKF's consistency, the distance between the camera and the floor plane (extracted from the range data) is used by the EKF as the observation of the camera's z coordinate. Experimental results demonstrate that the proposed method results in accurate pose estimates for positioning the RNA in indoor environments. Based on the PE method, a wayfinding system is developed for localization of the RNA in a home environment. The system uses the estimated pose and the floorplan to locate the RNA user in the home environment and announces the points of interest and navigational commands to the user through a speech interface. This work was motivated by the limitations of the existing navigation technology for the visually impaired. Most of the existing methods use a point/line measurement sensor for indoor object detection. Therefore, they lack capability in detecting 3D objects and positioning a blind traveler. Stereovision has been used in recent research. However, it cannot provide reliable depth data for object detection. Also, it tends to produce a lower localization accuracy because its depth measurement error quadratically increases with the true distance. This paper suggests a new approach for navigating a blind traveler. The method uses a single 3D time-of-flight camera for both 6-DOF PE and 3D object

  18. Extraction of bioflocculants from activated sludge and their application to wastewater treatment

    Vasilieva Zh. V.

    2018-03-01

    Full Text Available Extracellular polymeric substances (EPS – biopolymers produced by the microorganisms – are effective flocculants of wastewater pollution and lack the shortcomings of traditional coagulants and flocculants, which can pose direct threat to health and human life, as well as to the sustainable existence of aquatic and terrestrial ecosystems. EPS do not form secondary contamination of their degradation intermediates, are biodegradable and eco-friendly. Industrial production of bacterial EPS is associated with high cost of growing specific microbial biomass and the functioning of technologies for the synthesis of microbial products. At the same time, there is an underused resource of excess activated sludge, which can be used as cheap substrate for producing bioflocculants and a possible measure to reduce costs. The conducted researches have shown the prospects of extracting EPS from excess activated sludge for their subsequent use as wastewater treatment bioflocculants. EPS extraction has been conducted using three methods: combination of centrifugation processes, extraction using the aqueous solution of disodium ethylenediaminetetraacetic acid, and precipitation with isopropyl alcohol (the EDTA method; combination of centrifugation, extraction with (NH22CO, precipitation and ethanol reprecipitation (the (NH22CO method; combination of activated sludge ultrasonic treatment, centrifugation, extraction with glacial acetic acid, and precipitation with acetone (the CH3COOH method. The research has shown that the extraction method affects not only the efficiency of EPS extraction, but also the possibility of EPS application for the purification of certain types of sewage. The (NH22CO method has shown the best extraction efficiency, but at the same time EPSs produced have not be able to perform fish processing wastewater treatment. The EDTA and CH3COOH methods are more preferable for producing efficient bioflocculants for fish processing wastewater

  19. Characterization of Wastewaters obtained from Hatay Tanneries

    Şana Sungur

    2017-06-01

    Full Text Available The leather tanning industry is one of the most significant pollutants in terms of both conventional and toxic parameters. On the other hand, leather industry has an important economic role both in Turkey and in the World. In this study, wastewater samples were taken from 15 different tanneries in the Hatay Region. Wastewaters obtained from liming process and chromium tanning process was analyzed. Sulfide, chromium (III, chromium (VI, oil and grease, total suspended solids (TSS, organic matters, biochemical oxygen demand (BOD, chemical oxygen demand (COD, pH and alkalinity were determined according to Turkish Standard Methods. The determined averages values belong to wastewaters obtained from liming process were as following: pH 11.71; COD 16821 mg L-1; BOD 4357 mg L-1; TSS 39023 mg L-1; oil and grease 364 mg L-1; S-2 concentration 802 mg L-1; alkalinity 2115 mg L-1. The determined averages values belong to wastewaters obtained from chromium tanning process were also as following: pH 4.23; COD 6740 mg L-1; BOD 377 mg L-1; Cr+3 concentrations 372 mg L-1; Cr+6 concentrations 127 mg L-1; TSS 14553 mg L-1; oil and grease 343 mg L-1. The results of all analyzes were higher than wastewater discharge standards. As a result, it’s necessary to use more effective treatments in order to reduce the negative impacts of leather tanning industry that affect environment, natural water resources and at last human health and welfare.

  20. Cartesian Control of a 3-DOF Electro-Pneumatic Actuated Motion Platform with Exteroceptive Pose Measurement

    Eduardo Izaguirre

    2011-09-01

    Full Text Available This paper presents a kinematic cartesian control scheme of 3 degree of freedom parallel robot driven by electro-pneumatic actuators based on exteroceptive pose measurement system. The inverse kinematics model is used to obtain the desired joint position coordinates from the time-varying trajectory given in task space. The proposal cascade control scheme in task space is based in two loops, the inner loop consisting in a decoupled joint position control and the outer loop which is designed to obtain an appropriate task space trajectory tracking. In order to avoid the on-line computation of direct kinematics an arrangement of inertial sensor and optical encoders are employed to provide the accurate pose measurement of end-effector. The experiment's results demonstrate the great performance of the proposed control scheme in industrial motion tracking application.

  1. NUI framework based on real-time head pose estimation and hand gesture recognition

    Kim Hyunduk

    2016-01-01

    Full Text Available The natural user interface (NUI is used for the natural motion interface without using device or tool such as mice, keyboards, pens and markers. In this paper, we develop natural user interface framework based on two recognition module. First module is real-time head pose estimation module using random forests and second module is hand gesture recognition module, named Hand gesture Key Emulation Toolkit (HandGKET. Using the head pose estimation module, we can know where the user is looking and what the user’s focus of attention is. Moreover, using the hand gesture recognition module, we can also control the computer using the user’s hand gesture without mouse and keyboard. In proposed framework, the user’s head direction and hand gesture are mapped into mouse and keyboard event, respectively.

  2. PRA has many faces - can the safety goal be well-posed

    Bargmann, H.

    1983-01-01

    The question is discussed whether probabilistic reliability problems can, principally, be well-posed in practical situations. The problem is reduced to the question whether an underlying probabilistic experiment which is, essentially, the set of outcomes can be precisely specified such that the solution of the problem is unique. Upon reexamination of a classical paradox due to Bertrand and consideration of a typical problem of structural reliability we conclude that the possibility of well-posing a reliability problem should be considered illusory, for fundamental reasons which are inherent in practical situations. In particular, it should not be assumed that a quantitative safety goal could be verified. Generally, a probabilistic assessment should be considered as a quantitative method for establishing rational results which should, however, not be viewed as quantitative measures but as qualitative guides

  3. Dynamic Displays Enhance the Ability to Discriminate Genuine and Posed Facial Expressions of Emotion

    Namba, Shushi; Kabir, Russell S.; Miyatani, Makoto; Nakao, Takashi

    2018-01-01

    Accurately gauging the emotional experience of another person is important for navigating interpersonal interactions. This study investigated whether perceivers are capable of distinguishing between unintentionally expressed (genuine) and intentionally manipulated (posed) facial expressions attributed to four major emotions: amusement, disgust, sadness, and surprise. Sensitivity to this discrimination was explored by comparing unstaged dynamic and static facial stimuli and analyzing the results with signal detection theory. Participants indicated whether facial stimuli presented on a screen depicted a person showing a given emotion and whether that person was feeling a given emotion. The results showed that genuine displays were evaluated more as felt expressions than posed displays for all target emotions presented. In addition, sensitivity to the perception of emotional experience, or discriminability, was enhanced in dynamic facial displays, but was less pronounced in the case of static displays. This finding indicates that dynamic information in facial displays contributes to the ability to accurately infer the emotional experiences of another person. PMID:29896135

  4. Numerical methods for the design of large-scale nonlinear discrete ill-posed inverse problems

    Haber, E; Horesh, L; Tenorio, L

    2010-01-01

    Design of experiments for discrete ill-posed problems is a relatively new area of research. While there has been some limited work concerning the linear case, little has been done to study design criteria and numerical methods for ill-posed nonlinear problems. We present an algorithmic framework for nonlinear experimental design with an efficient numerical implementation. The data are modeled as indirect, noisy observations of the model collected via a set of plausible experiments. An inversion estimate based on these data is obtained by a weighted Tikhonov regularization whose weights control the contribution of the different experiments to the data misfit term. These weights are selected by minimization of an empirical estimate of the Bayes risk that is penalized to promote sparsity. This formulation entails a bilevel optimization problem that is solved using a simple descent method. We demonstrate the viability of our design with a problem in electromagnetic imaging based on direct current resistivity and magnetotelluric data

  5. Solving ill-posed control problems by stabilized finite element methods: an alternative to Tikhonov regularization

    Burman, Erik; Hansbo, Peter; Larson, Mats G.

    2018-03-01

    Tikhonov regularization is one of the most commonly used methods for the regularization of ill-posed problems. In the setting of finite element solutions of elliptic partial differential control problems, Tikhonov regularization amounts to adding suitably weighted least squares terms of the control variable, or derivatives thereof, to the Lagrangian determining the optimality system. In this note we show that the stabilization methods for discretely ill-posed problems developed in the setting of convection-dominated convection-diffusion problems, can be highly suitable for stabilizing optimal control problems, and that Tikhonov regularization will lead to less accurate discrete solutions. We consider some inverse problems for Poisson’s equation as an illustration and derive new error estimates both for the reconstruction of the solution from the measured data and reconstruction of the source term from the measured data. These estimates include both the effect of the discretization error and error in the measurements.

  6. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    Park, Byeolteo; Myung, Hyun

    2014-01-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments. (paper)

  7. Underground localization using dual magnetic field sequence measurement and pose graph SLAM for directional drilling

    Park, Byeolteo; Myung, Hyun

    2014-12-01

    With the development of unconventional gas, the technology of directional drilling has become more advanced. Underground localization is the key technique of directional drilling for real-time path following and system control. However, there are problems such as vibration, disconnection with external infrastructure, and magnetic field distortion. Conventional methods cannot solve these problems in real time or in various environments. In this paper, a novel underground localization algorithm using a re-measurement of the sequence of the magnetic field and pose graph SLAM (simultaneous localization and mapping) is introduced. The proposed algorithm exploits the property of the drilling system that the body passes through the previous pass. By comparing the recorded measurement from one magnetic sensor and the current re-measurement from another magnetic sensor, the proposed algorithm predicts the pose of the drilling system. The performance of the algorithm is validated through simulations and experiments.

  8. A circular feature-based pose measurement method for metal part grasping

    Wu, Chenrui; He, Zaixing; Zhang, Shuyou; Zhao, Xinyue

    2017-01-01

    The grasping of circular metal parts such as bearings and flanges is a common task in industry. Limited by low texture and repeated features, the point-feature-based method is not applicable in pose measurement of these parts. In this paper, we propose a novel pose measurement method for grasping circular metal parts. This method is based on cone degradation and involves a monocular camera. To achieve higher measurement accuracy, a position-based visual servoing method is presented to continuously control an eye-in-hand, six-degrees-of-freedom robot arm to grasp the part. The uncertainty of the part’s coordinate frame during the control process is solved by defining a fixed virtual coordinate frame. Experimental results are provided to illustrate the effectiveness of the proposed method and the factors that affect measurement accuracy are analyzed. (paper)

  9. Expedition-8 Flight Members Pose Inside the Soyuz TMA-3 Vehicle

    2003-01-01

    Posed inside the Soyuz TMA-3 Vehicle in a processing facility at the Baikonur Cosmodrome in Kazakhstan during a pre-launch inspection are (left to right): Expedition-8 Crew members, Michael C. Foale, Mission Commander and NASA ISS Science Officer; Cosmonaut Alexander Y. Kaleri, Soyuz Commander and flight engineer; and European Space Agency (ESA) astronaut Pedro Duque of Spain. The three launched from the Cosmodrome on October 18, 2003 onboard a Soyuz rocket destined for the International Space Station (ISS).

  10. Investigasi Kemampuan Problem Solving dan Problem Posing Matematis Mahasiswa Via Pendekatan Realistic

    Afriansyah, Ekasatya Aldila

    2016-01-01

    Mathematical problem solving and problem posing skill are the mathematical skills that need to be owned by students. By having this skill, students can be more creative in expressing ideas by connecting the knowledge that they held previously. But in reality, there are some students who are lack of problem solving skill; therefore it is really important to improve learning through appropriate approach. Realistic approach had been chosen as the learning theory to be applied in the class. This ...

  11. STS-30 crewmembers pose for informal portrait on JSC FB-SMS middeck

    1988-01-01

    STS-30 Atlantis, Orbiter Vehicle (OV) 104, crewmembers pause briefly from their training schedule to pose for informal portrait in JSC fixed base (FB) shuttle mission simulator (SMS). On FB-SMS middeck are (left to right) Commander David M. Walker, Mission Specialist (MS) Mark C. Lee, MS Mary L. Cleave, Pilot Ronald J. Grabe, and MS Norman E. Thagard. FB-SMS is located in JSC's Mission Simulation and Training Facility Bldg 5.

  12. Robustness of Input features from Noisy Silhouettes in Human Pose Estimation

    Gong, Wenjuan; Fihl, Preben; Gonzàlez, Jordi

    2014-01-01

    . In this paper, we explore this problem. First, We compare performances of several image features widely used for human pose estimation and explore their performances against each other and select one with best performance. Second, iterative closest point algorithm is introduced for a new quantitative...... of silhouette samples of different noise levels and compare with the selected feature on a public dataset: Human Eva dataset....

  13. Right-Hand Side Dependent Bounds for GMRES Applied to Ill-Posed Problems

    Pestana, Jennifer

    2014-01-01

    © IFIP International Federation for Information Processing 2014. In this paper we apply simple GMRES bounds to the nearly singular systems that arise in ill-posed problems. Our bounds depend on the eigenvalues of the coefficient matrix, the right-hand side vector and the nonnormality of the system. The bounds show that GMRES residuals initially decrease, as residual components associated with large eigenvalues are reduced, after which semi-convergence can be expected because of the effects of small eigenvalues.

  14. Does nitrate deposition following astrophysical ionizing radiation events pose an additional threat to amphibians?

    Thomas, Brian C.; Honeyman, Michelle D.

    2008-01-01

    It is known that amphibians are especially susceptible to the combination of heightened UVB radiation and increased nitrate concentrations. Various astrophysical events have been suggested as sources of ionizing radiation that could pose a threat to life on Earth, through destruction of the ozone layer and subsequent increase in UVB, followed by deposition of nitrate. In this study, we investigate whether the nitrate deposition following an ionizing event is sufficiently large to cause an add...

  15. Binocular Vision-Based Position and Pose of Hand Detection and Tracking in Space

    Jun, Chen; Wenjun, Hou; Qing, Sheng

    After the study of image segmentation, CamShift target tracking algorithm and stereo vision model of space, an improved algorithm based of Frames Difference and a new space point positioning model were proposed, a binocular visual motion tracking system was constructed to verify the improved algorithm and the new model. The problem of the spatial location and pose of the hand detection and tracking have been solved.

  16. Dr. David Brown poses with a portrait of Ronald McNair

    1999-01-01

    In the gymnasium of Ronald McNair Magnet School in Cocoa, Fla., Dr. David Brown, a NASA astronaut, poses with a portrait of NASA astronaut Ronald McNair. The portrait was presented to the school by Walt Disney World during a tribute to McNair. The school had previously been renamed for the fallen astronaut who was one of a crew of seven who lost their lives during an accident following launch of the Space Shuttle Challenger in January 1986.

  17. Mickey Mouse poses with a portrait of Ronald McNair

    1999-01-01

    In the gymnasium of Ronald McNair Magnet School in Cocoa, Fla., Mickey Mouse poses with a portrait of NASA astronaut Ronald McNair. The portrait was presented to the school by Walt Disney World during a tribute to McNair. The school had previously been renamed for the fallen astronaut who was one of a crew of seven who lost their lives during an accident following launch of the Space Shuttle Challenger in January 1986.

  18. Simulated Lidar Images of Human Pose using a 3DS Max Virtual Laboratory

    2015-12-01

    AFRL-RH-WP-TR-2015-0089 SIMULATED LIDAR IMAGES OF HUMAN POSE USING A 3DS MAX VIRTUAL LABORATORY Jeanne Smith Isiah Davenport Infoscitex Corp...MM-YYYY) 11-12-2015 2. REPORT TYPE Interim 3. DATES COVERED (From - To) March 2013 – April 2015 4. TITLE AND SUBTITLE Simulated LIDAR ...Cleared: 88ABW-2016-0242, 25 January 2016 Report contains color 14. ABSTRACT Large sets of 3D Simulated LIDAR (Light Detection and

  19. Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization

    Baumhauer, M.; Simpfendörfer, T.; Schwarz, R.; Seitel, M.; Müller-Stich, B. P.; Gutt, C. N.; Rassweiler, J.; Meinzer, H.-P.; Wolf, I.

    2007-03-01

    We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.

  20. On Landweber–Kaczmarz methods for regularizing systems of ill-posed equations in Banach spaces

    Leitão, A; Alves, M Marques

    2012-01-01

    In this paper, iterative regularization methods of Landweber–Kaczmarz type are considered for solving systems of ill-posed equations modeled (finitely many) by operators acting between Banach spaces. Using assumptions of uniform convexity and smoothness on the parameter space, we are able to prove a monotony result for the proposed method, as well as to establish convergence (for exact data) and stability results (in the noisy data case). (paper)

  1. Inverse Free Iterative Methods for Nonlinear Ill-Posed Operator Equations

    Ioannis K. Argyros

    2014-01-01

    ill-posed operator equation F(x=y. The proposed method is a modified form of Tikhonov gradient (TIGRA method considered by Ramlau (2003. The regularization parameter is chosen according to the balancing principle considered by Pereverzev and Schock (2005. The error estimate is derived under a general source condition and is of optimal order. Some numerical examples involving integral equations are also given in this paper.

  2. Control and decision strategies in wastewater treatment plants for operation improvement

    Santín, Ignacio; Vilanova, Ramón

    2017-01-01

    This book examines the operation of biological wastewater treatment plants (WWTPs), with a focus on maintaining effluent water quality while keeping operational costs within constrained limits. It includes control operation and decision schemes and is based on the use of benchmarking scenarios that yield easily reproducible results that readers can implement for their own solutions. The final criterion is the effect of the applied control strategy on plant performance – specifically, improving effluent quality, reducing costs and avoiding violations of established effluent limits. The evaluation of the different control strategies is achieved with the help of two Benchmark Simulation Models (BSM1, BSM2). Given the complexity of the biological and biochemical processes involved and the major fluctuations in the influent flow rate, controlling WWTPs poses a serious challenge. Further, the importance of control goal formulation and control structure design in relation to WWTP process control is widely recogniz...

  3. Satellite markers: a simple method for ground truth car pose on stereo video

    Gil, Gustavo; Savino, Giovanni; Piantini, Simone; Pierini, Marco

    2018-04-01

    Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

  4. Improving head and body pose estimation through semi-supervised manifold alignment

    Heili, Alexandre

    2014-10-27

    In this paper, we explore the use of a semi-supervised manifold alignment method for domain adaptation in the context of human body and head pose estimation in videos. We build upon an existing state-of-the-art system that leverages on external labelled datasets for the body and head features, and on the unlabelled test data with weak velocity labels to do a coupled estimation of the body and head pose. While this previous approach showed promising results, the learning of the underlying manifold structure of the features in the train and target data and the need to align them were not explored despite the fact that the pose features between two datasets may vary according to the scene, e.g. due to different camera point of view or perspective. In this paper, we propose to use a semi-supervised manifold alignment method to bring the train and target samples closer within the resulting embedded space. To this end, we consider an adaptation set from the target data and rely on (weak) labels, given for example by the velocity direction whenever they are reliable. These labels, along with the training labels are used to bias the manifold distance within each manifold and to establish correspondences for alignment.

  5. Pose control of the chain composed of magnetic particles using external uniform and gradient magnetic fields

    Zhou, J. F.; Shao, C. L.; Gu, B. Q.

    2016-01-01

    Magnetic particles (MPs) are known to respond to a magnetic field and can be moved by magnetic force, which make them good carriers in bioengineering and pharmaceutical engineering. In this paper, a pose control method for the straight chain composed of MPs is proposed, and the chain with one pose can be moved to another position with another pose using alternately employed uniform and gradient magnetic fields. Based on computer simulations, it is revealed that in the uniform magnetic field, the MPs form a straight chain with the same separation space along the field lines, and once the uniform magnetic field rotates, the chain also rotates with the field. In the gradient magnetic field, the MPs move toward the higher field so that the translation of the chain can be realized. The simulation results indicate that while the uniform magnetic field is rotating, there exists certain hysteresis between the chain and the field, and the chain is not straight anymore. So the uniform magnetic field should rest at the target angle for a period to make the chain fully relax to be straight. For nanoMP, its magnetic moment directly determines the gradient magnetic force which is much smaller than the dipole–dipole force among MPs. Therefore, the translation of the chain is much more time-consuming than rotation. To enlarge the translational velocity, it is suggested to increase the size of MPs or the magnetic field gradient

  6. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications.

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-09-14

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  7. Drogue pose estimation for unmanned aerial vehicle autonomous aerial refueling system based on infrared vision sensor

    Chen, Shanjun; Duan, Haibin; Deng, Yimin; Li, Cong; Zhao, Guozhi; Xu, Yan

    2017-12-01

    Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.

  8. ULTOR(Registered TradeMark) Passive Pose and Position Engine For Spacecraft Relative Navigation

    Hannah, S. Joel

    2008-01-01

    The ULTOR(Registered TradeMark) Passive Pose and Position Engine (P3E) technology, developed by Advanced Optical Systems, Inc (AOS), uses real-time image correlation to provide relative position and pose data for spacecraft guidance, navigation, and control. Potential data sources include a wide variety of sensors, including visible and infrared cameras. ULTOR(Registered TradeMark) P3E has been demonstrated on a number of host processing platforms. NASA is integrating ULTOR(Registerd TradeMark) P3E into its Relative Navigation System (RNS), which is being developed for the upcoming Hubble Space Telescope (HST) Servicing Mission 4 (SM4). During SM4 ULTOR(Registered TradeMark) P3E will perform realtime pose and position measurements during both the approach and departure phases of the mission. This paper describes the RNS implementation of ULTOR(Registered TradeMark) P3E, and presents results from NASA's hardware-in-the-loop simulation testing against the HST mockup.

  9. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    Musleh, Basam; Martín, David; Armingol, José María; de la Escalera, Arturo

    2016-01-01

    Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels) and the vehicle environment (meters) depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments. PMID:27649178

  10. A combined vision-inertial fusion approach for 6-DoF object pose estimation

    Li, Juan; Bernardos, Ana M.; Tarrío, Paula; Casar, José R.

    2015-02-01

    The estimation of the 3D position and orientation of moving objects (`pose' estimation) is a critical process for many applications in robotics, computer vision or mobile services. Although major research efforts have been carried out to design accurate, fast and robust indoor pose estimation systems, it remains as an open challenge to provide a low-cost, easy to deploy and reliable solution. Addressing this issue, this paper describes a hybrid approach for 6 degrees of freedom (6-DoF) pose estimation that fuses acceleration data and stereo vision to overcome the respective weaknesses of single technology approaches. The system relies on COTS technologies (standard webcams, accelerometers) and printable colored markers. It uses a set of infrastructure cameras, located to have the object to be tracked visible most of the operation time; the target object has to include an embedded accelerometer and be tagged with a fiducial marker. This simple marker has been designed for easy detection and segmentation and it may be adapted to different service scenarios (in shape and colors). Experimental results show that the proposed system provides high accuracy, while satisfactorily dealing with the real-time constraints.

  11. Pose Self-Calibration of Stereo Vision Systems for Autonomous Vehicle Applications

    Basam Musleh

    2016-09-01

    Full Text Available Nowadays, intelligent systems applied to vehicles have grown very rapidly; their goal is not only the improvement of safety, but also making autonomous driving possible. Many of these intelligent systems are based on making use of computer vision in order to know the environment and act accordingly. It is of great importance to be able to estimate the pose of the vision system because the measurement matching between the perception system (pixels and the vehicle environment (meters depends on the relative position between the perception system and the environment. A new method of camera pose estimation for stereo systems is presented in this paper, whose main contribution regarding the state of the art on the subject is the estimation of the pitch angle without being affected by the roll angle. The validation of the self-calibration method is accomplished by comparing it with relevant methods of camera pose estimation, where a synthetic sequence is used in order to measure the continuous error with a ground truth. This validation is enriched by the experimental results of the method in real traffic environments.

  12. The Pose Estimation of Mobile Robot Based on Improved Point Cloud Registration

    Yanzi Miao

    2016-03-01

    Full Text Available Due to GPS restrictions, an inertial sensor is usually used to estimate the location of indoor mobile robots. However, it is difficult to achieve high-accuracy localization and control by inertial sensors alone. In this paper, a new method is proposed to estimate an indoor mobile robot pose with six degrees of freedom based on an improved 3D-Normal Distributions Transform algorithm (3D-NDT. First, point cloud data are captured by a Kinect sensor and segmented according to the distance to the robot. After the segmentation, the input point cloud data are processed by the Approximate Voxel Grid Filter algorithm in different sized voxel grids. Second, the initial registration and precise registration are performed respectively according to the distance to the sensor. The most distant point cloud data use the 3D-Normal Distributions Transform algorithm (3D-NDT with large-sized voxel grids for initial registration, based on the transformation matrix from the odometry method. The closest point cloud data use the 3D-NDT algorithm with small-sized voxel grids for precise registration. After the registrations above, a final transformation matrix is obtained and coordinated. Based on this transformation matrix, the pose estimation problem of the indoor mobile robot is solved. Test results show that this method can obtain accurate robot pose estimation and has better robustness.

  13. Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination.

    Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

    2017-09-24

    In this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective- n -Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal.

  14. A New 3D Object Pose Detection Method Using LIDAR Shape Set.

    Kim, Jung-Un; Kang, Hang-Bong

    2018-03-16

    In object detection systems for autonomous driving, LIDAR sensors provide very useful information. However, problems occur because the object representation is greatly distorted by changes in distance. To solve this problem, we propose a LIDAR shape set that reconstructs the shape surrounding the object more clearly by using the LIDAR point information projected on the object. The LIDAR shape set restores object shape edges from a bird's eye view by filtering LIDAR points projected on a 2D pixel-based front view. In this study, we use this shape set for two purposes. The first is to supplement the shape set with a LIDAR Feature map, and the second is to divide the entire shape set according to the gradient of the depth and density to create a 2D and 3D bounding box proposal for each object. We present a multimodal fusion framework that classifies objects and restores the 3D pose of each object using enhanced feature maps and shape-based proposals. The network structure consists of a VGG -based object classifier that receives multiple inputs and a LIDAR-based Region Proposal Networks (RPN) that identifies object poses. It works in a very intuitive and efficient manner and can be extended to other classes other than vehicles. Our research has outperformed object classification accuracy (Average Precision, AP) and 3D pose restoration accuracy (3D bounding box recall rate) based on the latest studies conducted with KITTI data sets.

  15. Camera pose estimation for augmented reality in a small indoor dynamic scene

    Frikha, Rawia; Ejbali, Ridha; Zaied, Mourad

    2017-09-01

    Camera pose estimation remains a challenging task for augmented reality (AR) applications. Simultaneous localization and mapping (SLAM)-based methods are able to estimate the six degrees of freedom camera motion while constructing a map of an unknown environment. However, these methods do not provide any reference for where to insert virtual objects since they do not have any information about scene structure and may fail in cases of occlusion of three-dimensional (3-D) map points or dynamic objects. This paper presents a real-time monocular piece wise planar SLAM method using the planar scene assumption. Using planar structures in the mapping process allows rendering virtual objects in a meaningful way on the one hand and improving the precision of the camera pose and the quality of 3-D reconstruction of the environment by adding constraints on 3-D points and poses in the optimization process on the other hand. We proposed to benefit from the 3-D planes rigidity motion in the tracking process to enhance the system robustness in the case of dynamic scenes. Experimental results show that using a constrained planar scene improves our system accuracy and robustness compared with the classical SLAM systems.

  16. Personal privacy, information assurance, and the threat posed by malware techology

    Stytz, Martin R.; Banks, Sheila B.

    2006-04-01

    In spite of our best efforts to secure the cyber world, the threats posed to personal privacy by attacks upon networks and software continue unabated. While there are many reasons for this state of affairs, clearly one of the reasons for continued vulnerabilities in software is the inability to assess their security properties and test their security systems while they are in development. A second reason for this growing threat to personal privacy is the growing sophistication and maliciousness of malware coupled with the increasing difficulty of detecting malware. The pervasive threat posed by malware coupled with the difficulties faced when trying to detect its presence or an attempted intrusion make addressing the malware threat one of the most pressing issues that must be solved in order to insure personal privacy to users of the internet. In this paper, we will discuss the threat posed by malware, the types of malware found in the wild (outside of computer laboratories), and current techniques that are available for from a successful malware penetration. The paper includes a discussion of anti-malware tools and suggestions for future anti-malware efforts.

  17. [Source identification of toxic wastewaters in a petrochemical industrial park].

    Yang, Qian; Yu, Yin; Zhou, Yue-Xi; Chen, Xue-Min; Fu, Xiao-Yong; Wang, Miao

    2014-12-01

    Petrochemical wastewaters have toxic impacts on the microorganisms in biotreatment processes, which are prone to cause deterioration of effluent quality of the wastewater treatment plants. In this study, the inhibition effects of activated sludge's oxygen consumption were tested to evaluate the toxicity of production wastewaters in a petrochemical industrial park. The evaluation covered the wastewaters from not only different production units in the park, but also different production nodes in each unit. No direct correlation was observed between the toxicity effects and the organic contents, suggesting that the toxic properties of the effluents could not be predicted by the organic contents. In view of the variation of activated sludge sensitivity among different tests, the toxicity data were standardized according to the concentration-effect relationships of the standard toxic substance 3, 5-dichlorophenol on each day, in order to improve the comparability among the toxicity data. Furthermore, the Quality Emission Load (QEL) of corresponding standard toxic substance was calculated by multiplying the corresponding 3, 5-dichlorophenol concentration and the wastewater flow quantity, to indicate the toxicity emission contribution of each wastewater to the wastewater treatment plant. According to the rank list of the toxicity contribution of wastewater from different units and nodes, the sources of toxic wastewater in the petrochemical industrial park were clearly identified. This study provides effective guidance for source control of wastewater toxicity in the large industrial park.

  18. The application of ionising radiation in industrial wastewater treatment technology

    Kos, L. [Inst. of Knitting Technology and Techniques, Lodz (Poland); Perkowski, J. [Inst. of Applied Radiation Chemistry, Technical Univ. of Lodz, Lodz (Poland); Ledakowicz, S. [Dept. of Bioprocess Engineering, Technical Univ. of Lodz, Lodz (Poland)

    2003-07-01

    An attempt was made to apply radiation techniques in the treatment of industrial wastewater from a dairy, brewery and sugar factory. For degradation of pollutants present in the wastewater, the following methods were used: irradiation, irradiation combined with aeration, ozonation, and combined irradiation and ozonation. For all three types of wastewater, the best method among these listed above appeared to be the method of irradiation combined with ozonation. Most degradable was the wastewater produced in sugar factories, and the least biodegradable appeared to be dairy wastewater. Depending on the dose of ozone and radiation, a maximum 60% reduction of COD was obtained. No effect of the wastewater aeration on its degradation by radiation was found. Changes in the content of mineral compounds were observed in none of the cases. The process of biological treatment of wastewater was carried out in a low-loaded, wetted bed. Pretreatment of the wastewater had no significant effect on the improvement of the biological step operation. Some effect was observed only in the case of the wastewater coming from a sugar factory. For medium concentrated wastewater from food industry, it is not economically justified to apply the pretreatment with the use of ionising radiation. (orig.)

  19. The investigation and implementation of real-time face pose and direction estimation on mobile computing devices

    Fu, Deqian; Gao, Lisheng; Jhang, Seong Tae

    2012-04-01

    The mobile computing device has many limitations, such as relative small user interface and slow computing speed. Usually, augmented reality requires face pose estimation can be used as a HCI and entertainment tool. As far as the realtime implementation of head pose estimation on relatively resource limited mobile platforms is concerned, it is required to face different constraints while leaving enough face pose estimation accuracy. The proposed face pose estimation method met this objective. Experimental results running on a testing Android mobile device delivered satisfactory performing results in the real-time and accurately.

  20. Land Application-Based Olive Mill Wastewater Μanagement

    Iosif Kapellakis

    2015-01-01

    Full Text Available Land application of olive mill wastewater (OMW is considered a promising low-cost practice for olive-oil producing countries. The objectives of this work were to investigate: (i OMW treatment potential of a land treatment system (LTS, planted with a E. camaldulensis species, regarding N, P, C, and phenols; (ii the effects of OMW on chemical properties of soil and soil solution characteristics; and (iii the performance of E. camaldulensis in terms of biomass production and N and P recovery. E. camaldulensis received OMW for two growing seasons at rates based on maximum organic loading. These rates were almost equivalent to the reference evapotranspiration of the area. Soil solution and soil samples were collected from three different depths (15, 30 and 60 cm at specified time intervals. -Also, samples of plant tissues were collected at the end of application periods. OMW land application resulted in significant reduction in inorganic and organic constituents of OMW. At 15 cm of soil profile, the average removal of COD, TKN, NH4+-N, TP, In-P, and total phenols approached 93%, 86%, 70%, 86%, 82%, and 85%, respectively, while an increase in soil depth (30 and 60 cm did not improve significantly treatment efficiency. Furthermore, OMW increased soil organic matter (SOM, total kjeldahl nitrogen (TKN, and available P, particularly in the upper soil layer. In contrast, low inorganic N content was observed in the soil throughout the study period caused probably by increased competition among soil microorganisms induced by the organic substrate supply and high C/N ratio. Also, electrical conductivity (EC and SAR increased by OMW addition, but at levels that may do not pose severe risk for soil texture. Enhancement of soil fertility due to OMW application sustained eucalyptus trees and provided remarkable biomass yield. In conclusion, land application of OMW has a great potential for organic matter and phenol assimilation and can be effectively used for OMW