Effect of sampling density on the measurement of stream condition indicators in two lowland Australian streams

There is widespread application of indicators to the assessment of environmental condition of streams. These indicators are intended for use by managers in making various comparative and absolute assessments and often have a role in resource allocation and performance assessment. Therefore, the problem of formally defining confidence in the results is important but difficult because the sampling strategies used are commonly based on a compromise between the requirements of statistical rigour and the pragmatic issues of access and resources. It is rare to see this compromise explicitly considered and consequently there is seldom quantification of the uncertainty that could affect the confidence a manager has in an indicator. In this paper, we present a method for quantitatively assessing the tradeoffs between sampling density and uncertainty in meeting various monitoring objectives. Assessments using judgement‐based representative reaches are shown to be unreliable; instead a sampling approach is recommended based on the random selection of measuring sites. A detailed dataset was collected along two streams in Victoria, Australia, and the effect of sampling density was assessed by subsampling from this dataset with precision related to the number of sites assessed per reach length and the intensity of the sampling at each site. The sampling scheme to achieve a given precision is shown to depend on the monitoring objective. In particular, three objectives were considered: (1) making a baseline assessment of current condition; (2) change detection; and (3) detection of a critical threshold in condition. Change detection is shown to be more demanding than assessing baseline condition with additional sampling effort required to achieve the same precision. Sampling to detect a critical threshold depends on nominating acceptable values of Type I and II error and the size of the effect to be detected. Copyright © 2006 John Wiley & Sons, Ltd.     

Minimal forbidden subwords

Motivated by a study of similar problems stated for factors of words, we study forbidden subwords of a language or a word. A procedure for obtaining the set of all words avoiding a given set of subwords is presented. On the other hand, an algorithm for computing the set of minimal forbidden subwords for a word is given. The case of a two-letter alphabet appears to be particularly interesting and it is considered separately.     

Mathematical model of an industrial robot with articulated configuration and six degrees of freedom

This paper analyses the load influence on a d.c. drive motor servo system for all six degrees of freedom of industrial robots with an articulated configuration. Through the analyses, the analytical equations of total inertia and gravitation moments of an industrial robot servo system for external coordinate function were obtained. A mathematical model of an electro-mechanical industrial robot system was also developed.     

Disc filtration for separation of flocs from a moving bed bio-film reactor.

A Discfilter with 10 and 18 microm filter openings, respectively, was placed in parallel to a flotation plant for separation of biological flocs from a post-denitrifying Kaldnes Moving Bed Process, the last treatment step at the municipal wastewater treatment plant at Sj?unda, Malm?, Sweden. The effluent concentrations from the 10 and 18 microm filter were 2-5 and 2-8 mg SS L(-1), respectively, which is comparable to, or better than, the flotation plant. Comparison with experiences from activated sludge plants shows that the Discfilter works especially well after the Kaldnes process. Particle size distribution (PSD) studies show that particles larger than the filter openings of 10 and 18 microm are separated with approximately 90% efficiency, whereas most of the smaller particles pass the filter. This fact indicates that the major particle separation mechanism is physical blocking. These findings point to the possibility of improving the prediction of the separation efficiency by combining measurements of turbidity and suspended solids with particle size analysis.     

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Challenges in the Application of Stochastic Modal Identification Methods to a Cable-Stayed Bridge

This paper presents an analysis of the data collected in the ambient vibration test of the International Guadiana cable-stayed Bridge, which links Portugal and Spain, based on different output-only identification techniques: peak-picking, frequency domain decomposition, covariance-driven stochastic subspace identification, and data-driven stochastic subspace identification. The purpose of the analysis is to compare the performance of the four techniques and evaluate their efficiency in dealing with specific challenges involved in the modal identification of the tested cable-stayed bridge, namely the existence of closely spaced modes, the perturbation produced by the local vibration of stay-cables, and the variation of modal damping coefficients with wind velocity. The identified natural frequencies and mode shapes are compared with the corresponding modal parameters provided by a previously developed numerical model. Additionally, the variability of some modal damping coefficients is related with the variation of the wind characteristics and associated with a component of aerodynamic damping.     

Pretreatment of Highly Polluted Pharmaceutical Waste Broth by Wet Air Oxidation

The preoxidation of a highly polluted waste pharmaceutical fermentation broth using wet air oxidation (WAO) has been studied as a possible method for the effective removal of organics. The applied (pre)treatment method should enhance the biotreatability of the pharmaceutical fermentation broth in terms of reduced initial toxicity and higher biodegradability. Preliminary experiments in the pilot biological treatment plant were successful only at low organic loads, whereas the system collapses at higher ones. The characterization of the fermentation broth was started by common physicochemical analysis, whereas several bioassays were used to determine its impact on biological treatment plants and the environment. Toxicity prior to and after WAO was determined using the acute Vibrio fischeri test, measurement of inhibition of O2 consumption, and the Daphnia magna acute test. Ready biodegradability of the treated and untreated broth has also been assessed. WAO experiments were accomplished in the 2?L batch reactor at different temperatures (240/280°C) and operating pressures. WAO experiments confirmed reduction of the toxicity toward microorganisms, whereas oxidized wastewater was more toxic to daphnids. Biodegradability of the oxidized broth has also been enhanced. Further work has been focused on designing appropriate combination of WAO and biological processes.     

Stochastic nonlinear stabilization — II: Inverse optimality

After considering the stabilization of a specific class of stochastic nonlinear systems in a companion paper, in this second part, we address the classical question of when is a stabilizing (in probability) controller optimal and show that for every system with a stochastic control Lyapunov function it is possible to construct a controller which is optimal with respect to a meaningful cost functional. Then we return to the problem from Part I and design an optimal backstepping controller whose cost functional includes penalty on control effort and which has an infinite gain margin.