An Inverse Kinematics Algorithm With Smooth Task Switching for Redundant Robots

This letter presents an inverse kinematics approach that combines two well-known Jacobian based methods, the task-priority framework and an optimization-based approach, such that tracking and optimization tasks can be executed simultaneously. The novelty of the proposed algorithm lies in the ability to smoothly switch between different tasks...

Transport and removal of stormwater vehicle-related mobile organic contaminants in geomedia-amended sand columns

Green infrastructure drainage systems are innovative treatment units that capture and treat stormwater. Unfortunately, highly polar contaminants remain challenging to remove in conventional biofilters. To overcome treatment limitations, we assessed the transport and removal of stormwater vehicle-related organic contaminants with persistent,...

Dynamic short- and large-coherence interferometry to characterize the induced vibrations and topology change of the cryogenic mirror of the Einstein Telescope prototype

The E-TEST project builds a prototype for the Einstein Telescope (ET). ET is a proposed gravitational-wave observatory. E-TEST includes a silicon mirror of 30 cm up to 40 cm diameter, suspended and cooled down at cryogenic temperatures from 20 K to 30 K. During the cooling down, the mirror will be affected by surface topology changes, wavefront...

Short and long term continuous hydroxylamine feeding in a granular sludge partial nitritation reactor

Hydroxylamine is a nitrogen intermediate of ammonium oxidizing bacteria (AOB) that can transiently accumulate during nitrification. The impact of hydroxylamine on aerobic ammonium oxidations is still obscure. In the present study the short and long term impact of hydroxylamine on partial nitritation granular sludge was investigated. Dissolved...

Hydroxylamine and the nitrogen cycle: A review

Aerobic ammonium oxidizing bacteria were first isolated more than 100 years ago and hydroxylamine is known to be an intermediate. The enzymatic steps involving hydroxylamine conversion to nitrite are still under discussion. For a long time it was assumed that hydroxylamine was directly converted to nitrite by a hydroxylamine oxidoreductase....

A pipeline for multiparty volumetric video conferencing: Transmission of point clouds over low latency DASH

The advent of affordable 3D capture and display hardware is making volumetric videoconferencing feasible. This technology increases the immersion of the participants, breaking the flat restriction of 2D screens, by allowing them to collaborate and interact in shared virtual reality spaces. In this paper we introduce the design and development...

Hydroxylamine metabolism of Ca. Kuenenia stuttgartiensis

Hydroxylamine is a key intermediate in several biological reactions of the global nitrogen cycle. However, the role of hydroxylamine in anammox is still not fully understood. In this work, the impact of hydroxylamine (also in combination with other substrates) on the metabolism of a planktonic enrichment culture of the anammox species Ca....

Stratification of nitrifier guilds in granular sludge in relation to nitritation

A lab-scale partial nitritation granular sludge air-lift reactor was operated in continuous mode treating low strength synthetic medium (influent ca. 50 mg-N-NH₄ ⁺/L). Granules were initially stratified with AOB in the external shell and NOB in the inner core at 20 °C. Once temperature was decreased progressively from 20...

Large-scale exploratory analysis of the spatiotemporal distribution of climate projections: applying the STRIVIng toolbox

Extreme hydrological events (EHEs), such as droughts and floods, vary spatially and temporally in nature. The increase in the number of events in the last few decades has motivated the research of the spatiotemporal variability of the future extreme precipitation and temperature. To study the consequences on the EHEs due to the uncertainty of...

Glycosylated amyloid-like proteins in the structural extracellular polymers of aerobic granular sludge enriched with ammonium-oxidizing bacteria

A new type of structural extracellular polymers (EPS) was extracted from aerobic granular sludge dominated by ammonium-oxidizing bacteria. It was analyzed by Raman and FTIR spectroscopy to characterize specific amino acids and protein secondary structure, and by SDS-PAGE with different stains to identify different glycoconjugates. Its...

Franckeite as a naturally occurring van der Waals heterostructure

The fabrication of van der Waals heterostructures, artificial materials assembled by individual stacking of 2D layers, is among the most promising directions in 2D materials research. Until now, the most widespread approach to stack 2D layers relies on deterministic placement methods, which are cumbersome and tend to suffer from poor control...

Effects of the residual ammonium concentration on NOB repression during partial nitritation with granular sludge

Partial nitritation was stably achieved in a bench-scale airlift reactor (1.5L) containing granular sludge. Continuous operation at 20 °C treating low-strength synthetic wastewater (50 mg N-NH₄ ⁺/L and no COD) achieved nitrogen loading rates of 0.8 g N-NH₄ ⁺/(L·d) during partial nitritation. The...

Circumventing refactoring masking using fine-grained change recording

Today, refactoring reconstruction techniques are snapshot-based: they compare two revisions from a source code man-agement system and calculate the shortest path of edit op-erations to go from the one to the other. An inherent risk with snapshot-based approaches is that a refactoring may be concealed by later edit operations acting on the...

Air Transport and Operations. Proceedings of the Third International Air Transport and Operations Symposium 2012

Air transport must evolve if it is to optimize its value in the 21st century. The mood in the aerospace industry is positive with regard to economic recovery, but the focus in this transitional time must be on sustaining value, without losing sight of environmental and safety priorities

Ga-induced atom wire formation and passivation of stepped Si(112)

Formation of Atom Wires on Vicinal Silicon