Accurate estimation of environment parameters from ultrasonic data

This paper describes a robust and accurate ultrasonic sensing system for a mobile robot. The system continuously updates a local map of the environment in which obstacles are represented by straight lines or points in a robot centered coordinate frame. The presented algorithms use a Kalman filter for the reduction of the noise in the ultrasonic data and use a systematical error correction (‘bundle correction’) to reduce the uncertainty in obstacle direction. Experiments are carried out in simulation and with a real mobile robot system. Results show that the accuracy with which line parameters can be estimated is in the order of 1 degree for the orientation and about 2 cm for the position. The effect of the bundle correction is significant and maximal when the robot approaches walls under a small angle.     

Gildes model studies of aqueous chemistry. III. Initial SO2-induced atmospheric corrosion of copper

The GILDES computer model, incorporating Stumm's concept of proton- and ligand-promoted dissolution, has been used to simulate the exposure of copper at room temperature to 210 ppb sulfur dioxide and 80% relative humidity. The agreement is good between the calculations and laboratory exposures performed under these exposure conditions. Surface reactions are relatively more important at lower relative humidities and the dominant corrosion products formed are solid state Cu₂SO₃, CuSO₃ and Cu₂U. Free-radical redox processes are important participants and control the relative distribution of Cu(I)- and Cu(H)-containing corrosion products.     

储层石蜡沉积预测技术研究与应用

在油田开发过程中 ,由于油藏温度、压力等条件的变化 ,高含蜡原油在近井带容易产生石蜡沉积 ,堵塞地层孔隙或裂缝 ,严重影响油田开采 ,尤其对于低渗油田 ,伤害特别严重。文中应用理想溶液理论、质量守恒和能量守恒等基本原理 ,建立更符合油田实际情况的油藏中石蜡沉积预测数学模型 ,开发一套方便实用的油藏中石蜡沉积预测软件系统FPOS1 0。在此基础上 ,应用室内实验数据和现场数据对吉林新民油田油井石蜡沉积情况进行预测和现场拟合 ,确定新民油田临界石蜡沉积半径为 2 5m ,快速、准确地为现场清防蜡措施提供理论依据。     

Simulation of water and nitrogen dynamics in soils during wastewater applications by using a finite-element model

A mathematical model was developed to simulate water movement, mass transport, and nitrogen transformations in soils during wastewater applications. The model is one-dimensional and based on the Galerkin finite-element method. The submodel of mass transport of nitrogen incorporates the convection-dispersion processes of ammonium and nitrate nitrogen, nitrification, denitrification, ammonium exchange and uptake of ammonium and nitrate ions. The accuracy and validity of the proposed model was examined by comparison with an explicit-implicit finite-difference model results. The model was used for simulation of water and nitrogen dynamics during wastewater application in homogeneous and multi-layered soils under different N concentration, rate, duration and scheduling of application.     

Effects of temperature, ammonium and glucose concentrations on yeast growth in a model wine system

In enology, alcoholic fermentation is a complex process involving several mechanisms. Slow and incomplete alcoholic fermentation is a chronic problem for the wine industry and factors leading to sluggish and stuck fermentations have been extensively studied and reviewed. The most studied cause of sluggish and stuck fermentation is the nitrogen content limitation. Nevertheless, other factors, such as temperature of fermentation and sugar concentration can affect the growth of yeasts. In this study we modelled the yeast growth‐cycle in wine model system as a function of temperature, sugar and ammonium concentrations; the individual effects and the interaction of these factors were analysed by means of a quadratic response surface methodology. Cell concentrations and weight loss were monitored in the whole wine fermentation process. The results of central composite design show that lower is the availability of nitrogen, higher is the cell growth rate; moreover, initial nitrogen concentration also influences survival time of Saccharomyces cerevisiae.     

Modelling of the extraction equilibrium of zinc from chloride solutions with tri-n-octylphosphine oxide

The extraction of zinc from chloride solutions with tri-n-octylphosphine oxide (TOPO) dissolved in benzene has been thermodynamically studied based on the law of mass action. A model employing the simplified Pitzer equations for stoichiometric activity coefficient estimations is found to be effective for the explanation and prediction of the distribution data, and the thermodynamic extraction constant is determined as log K_et = 5.16 ± 0.11 at 20°C.     

Reactor modelling for electrochemical processes

This paper presents a relatively straightforward approach to the modelling of electrochemical reactors operated in batch or continuous modes. The models are based on ideal flow assumptions of either well-mixed or plug flow and incorporate reaction rate models based on electrochemical kinetics and mass transport at one electrode. General characteristics of the reactor models are described, particularly with regard to the need for good mass transport in metal recovery applications. An example is given on the use of the model in the recovery of a heavy metal (Cd²⁺) from an acidified solution containing Cd(II) and Fe(III) ions. The reaction rate model is based on experimental data.     

Immobilized α-amylase from Bacillus licheniformis: a potential enzymic time—temperature integrator for thermal processing

Biphasic and nth-order models were tested as to their usefulness to fit experimental inactivation data of Bacillus licheniformis α-amylase, immobilized on glass beads, and were discussed with respect to their suitability to characterize the considered enzymic system as a time—temperature integrator (TTI) to evaluate heat processes. Both isothermal and non-isothermal inactivation experiments were carried out. Model (kinetic) parameters (rate constant k, activation energy E_A and reaction order n) were estimated using a non-linear regression procedure. The results obtained, especially the activation energy of about 293 kJ mole^–1, indicated a potential use of this system as a TTI for heating processes in the temperature range of 96–108°C.     

Applications of the 4×4 determinant method and the POLYGON ENGINE

In the first half of the paper, various types of processing pertaining to a polygon, using the 4×4 determinant theories are explained along with a new containment test algorithm of a point in a polygon. In the latter half of the paper, a general-purpose geometric processor, the POLYGON ENGINE, is presented which can deal with various types of interference problems, such as Boolean operations in solid modelling, hidden line and surface eliminations, ray tracing and so on. It is, a successor of the TRIANGLE PROCESSOR and is also based upon the 4×4 determinant theories [4–6]. While the TRIANGLE PROCESSOR processes a triangulated polygon on a triangle-by-triangle basis, the POLYGON ENGINE can treat a polygon without triangulation. The latter is expected to be more functional, more efficient and easier to use.