Soft robot shape estimation with IMUs leveraging PCC kinematics for drift filtering

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter proposes a method to eliminate this limitation by leveraging the Piecewise Constant...

Hybrid Tunable Magnet Actuator: Design of a Linearized Force-Flux Tunable Magnet Actuator

Recent studies have shown that tunable magnets (soft permanent magnets) can significantly reduce Joule heating in electromagnetic actuators. To achieve high motion accuracy and repeatability, this article proposes a novel actuator design with a linearized force-flux relation. In prior designs of variable reluctance tunable magnet actuators,...

Afgedankte elektronische componenten scheiden

Elektronica is een snel groeiende stroom van complex afval in Nederland. De huidige technieken zijn echter niet in staat om dit type afval, bekend als afgedankte elektrische en elektronische apparatuur (AEEA), te behandelen tot het niveau van ruwe materialen dat onze duurzaamheidsdoelen vereisen. Als stap op weg naar dit doel bespreken we hier...

Pilot-scale magnetic recovery of vivianite from digested sewage sludge

Phosphorus (P) is an essential resource for food production and chemical industry. Phosphorus use has to become more sustainable and should include phosphorus recycling from secondary sources. About 20% of P ends up in sewage sludge, making this a substantial secondary P source. There is currently a technological gap to recover P from sludge...

Magnetic separation and characterization of vivianite from digested sewage sludge

To prevent eutrophication of surface water, phosphate needs to be removed from sewage. Iron (Fe) dosing is commonly used to achieve this goal either as the main strategy or in support of biological removal. Vivianite (Fe(II) ₃ (PO ₄ ) ₂ * 8H ₂ O) plays a crucial role in capturing the phosphate, and...