Influence of monovalent cations and CuO nanoparticles on X-nanozeolite in uranium anionic species separation from contaminated drinking water

The main purpose of this work was the modification of NaX nanozeolite using copper oxide nanoparticles and various monovalent cations such as K~+, Cs~+, and Ag~+in order to make the negatively charged zeolite surface accessible for anionic forms of uranium which are the most dominant species of uranium in the contaminated radioactive waters at natural p H. Various methods such as the X-ray fluorescence(XRF), X-ray powder diffraction(XRD), field emission scanning electron microscopy(FE-SEM), transmission electron microscopy(TEM), Fourier transform infrared spectroscopy(FT-IR), and atomic absorption spectroscopy(AAS) were used to characterize the final synthesized absorbents. Batch technique was used to study the adsorption behavior of uranium ions from polluted drinking water by Na X nanozeolite and its modified forms. In order to better understand the performance of them, the results were compared with those that were obtained for synthesizing bulk NaX zeolite and Na-form of clinoptilolite natural zeolite. Preliminary results indicated that uranium sorption increased as the loading level of CuO nanoparticles on NaX nanozeolite increased from 2.1 wt% to 11.2 wt%. In addition,from the obtained data, an increase in uranium removal efficiency resulted as charge/ionic radius ratio of exchanged cation decreased. Also, the effect of contact time, solid–liquid ratio, initial concentration and temperature on the adsorption process was studied. It is worth mentioning that, in this study, the sorption of uranium was performed under natural conditions of pH and the presence of competing cations and anions which are available in drinking waters.     

Fabrication of self-ordered nanoporous alumina with 500–750 nm interpore distances using hard anodization in phosphoric/oxalic acid mixtures

A hard anodization (HA) technique is employed using different mixtures of phosphoric/oxalic acid for fast fabrication of alumina nanopore arrays in voltages higher than 200 V. The mixtures enable to avoid the breakdown of porous anodic alumina (PAA) in the high voltages. It is revealed for the first time that continuously tunable pore intervals (D_int) from 500 to 750 nm can be controlled by varying the concentrations of oxalic acid at anodization voltages (U_anod) from 230 to 360 V, far beyond the U_anod in the single electrolyte of phosphoric acid or oxalic acid. The ratios of interpore distance, pore diameter and barrier layer thickness to anodization voltage are in the range of conventional HA process for each acid mixture. In this approach, the PAA film growth rate is 26 µm/h, being 7 times larger than that in typical mild anodization.     

CFD Modeling of Micromixing and Velocity Distribution in a 1.7‐MHz Tubular Sonoreactor

The effect of high‐frequency (1.7 MHz) ultrasound waves on the mixing rate in a new continuous tubular sonoreactor was investigated by CFD modeling. Modeling of piezoelectric transducer (PZT) vibrations was done based on the dynamic mesh model. Results indicate that the acoustic streams were in the direction of wave propagation and their maximum velocity near the PZT surface agreed well with experimental measurements. The micromixing efficiency of the sonoreactor was studied by adopting the Villermaux/Dushman reaction in the modeling. Comparison of the calculated relative segregation index from modeling results with experimental data revealed reasonable accordance.     

Digital communication signals identification using an efficient recognizer

Automatic recognition of the communication signals plays an important role for various applications. Most of the existing techniques require high levels of signal to noise ratio (SNR). In this paper, we propose a high efficient technique for classification of the digital modulations that requires a low level of SNRs. This technique includes two main modules: feature extraction module and the classifier module. In the feature extraction module we use the auto-regressive modeling together other useful features. These features are a combination set of the entropy and energy of the signal, variance of the coefficients wavelet packet transform, fourth order of moment and zero-crossing rate. In the classifier module we have used the two structures of the neural networks: multi-layer perceptron (MLP) neural network and radial basis neural networks. Simulation results show the proposed technique has very high recognition accuracy for identification of the considered digital modulations even at very low SNRs.     

Numerical calculation of effective permittivity of losslessdielectric mixtures using boundary integral method

The electrostatic environment in a lossless composite structure made of three dielectrics and two dividing closed and disjoined surfaces has been determined, using appropriate surface integrals on these interfaces. These integral equations are transformed to approximate matrix equations and then are solved numerically. The electrostatic potential distribution, dipole moment and the effective permittivity of different composite structures are calculated     

Guest Editorial: Flexible-Joint and Flexible-Link Robots

Editorial Introduction

Guest Editorial: Flexible-Joint and Flexible-Link Robots     

Robust Linear Control of Flexible Joint Robot Systems

This paper presents the development and design of a robust linear controller for a flexible joint robot. First, a realistic model is developed taking into account the effects of stick-slip friction, nonlinear spring force characteristic, the rotors' Coriolis and centrifugal acceleration due to the velocities of the precedent links and rotors, and measurement noise. Second, a robust controller is designed using LQG/LTR techniques. Extensive simulation was performed on an experimental robot system using several trajectories. The results demonstrate that the proposed model/controller provides excellent tracking and regulation performance.     

Compact High Gain CMOS Op Amp Design using Comparators

This paper discusses the design of high gain, general purpose op amps. The op amp is based on a novel cascaded design using comparators and with structural simplicity approaching that of digital circuits. Ideally, the design tool presented here can be used to optimize gain and CMRR independent of the other op amp performance parameters. The designed op amp has 140 dB open-loop gain and 43 MHz unity gain frequency (GBW) in Berkeley Spice3f Level-2 simulation. The circuit is implemented using a 2.0 m nwell CMOS process through MOSIS. The op amp is self-biased and requires only power supplies of ±2.5 V. It occupies an area of 113 m×474 m.     

Studies on removal of metribuzin, bromacil, 2,4-D and atrazine from water by adsorption on high area carbon cloth

The removal of pesticides such as metribuzin, bromacil, 2,4-d and atrazine from aqueous solutions was studied by adsorption on high area carbon cloth. The adsorption process was followed by in situ UV-spectrophotometric technique in a specially designed adsorption cell. Spectroscopic data of the pesticides were determined in separate experiments. The extent of adsorption was quantified by calculating the amount of adsorbate adsorbed per unit area of the carbon cloth and the percentage coverage at the carbon-cloth surface. The order of extent of adsorption of the pesticides studied was found as metribuzin < 2,4-D < bromacil < atrazine. The adsorption process was found to follow a first-order kinetics and the rate constants were determined. The competitive adsorption of pesticides was also examined by carrying out the adsorption process from a solution of equimolar mixture of bromacil and metribuzin.     

Reconfigurable Control Structure for Robots in Assembly

The increased use of changeable characteristics in modern manufacturing and robotic systems and applications call for improved system control design that offers some degree of reconfigurability. The need for control reconfiguration of robotic systems arises due to some inherent characteristics of the robotic system, variations of robot parameters due to environmental changes, major task changes typical in production changeover or manufacturing system reconfiguration, or geometry changes due to the reconfiguration of modular manipulators. In this paper, a reconfigurable controller, the Supervisory Control Switching System (SCSS), is proposed to meet the new on-line demands for changeability in robotic systems. The SCSS is capable of selecting the most suitable controller for a particular task or situation, from separate controllers designed a priori. The applicability and effectiveness of the developed switching control scheme have been illustrated through computer simulations of an AdeptOne SCARA manipulators carrying out assembly tasks.