Heavy metal bioaccumulation and macroinvertebrate community changes in a Mediterranean stream affected by acid mine drainage and an accidental spill (Guadiamar River, SW Spain)

In the 1998 Aznalcóllar mining accident, 5 million cubic meters of toxic waste were spilled into the Guadiamar River (SW Spain). This paper describes the likely effects of metal pollution on the macroinvertebrate community in the first 15 km of the river adjacent to the mine, 2 years after the spill. The contents of Zn, Cu, Pb, As, Cd, Tl, and Sb in water, sediment, and in the caddisfly Hydropsyche were analysed, together with some physico-chemical parameters. From the results of physico-chemical and community parameters, the studied area was divided into three sections: the first section contained upstream control stations, not affected by current mining activities, and with a diverse macroinvertebrate community structure (mean number of families = 19); the second section, close to the mine, was severely polluted, with more than 50 mg l(-1) of Zn or 1.6 mg l(-1) of Cu in water, a pH of nearly 4, and a very diminished macroinvertebrate community (three families); in the last section, 6-15 km downstream from the mine, the water quality improved, metal concentrations decreased, pH reached neutrality and the macroinvertebrate community comprised eight families. We also determined metal concentrations in the larvae of Hydropsyche and found increases of 3- to 35-fold (for Cu and Cd, respectively) compared to control sites. As far as we are aware, these values are the highest concentrations so far detected in this caddisfly anywhere in the world. Different patterns of metal and pH tolerance were identified in macroinvertebrates. Most of the species were intolerant to present pollution levels and were only present in control sites. Others were tolerant to metal pollution but not to low pH and were present in the main river downstream of the mine, while a very few species managed to live in the most polluted section, with very low pH and high metal concentrations.     

Ruthenium supported on new TiO2–ZrO2 systems as catalysts for the partial oxidation of methane

The partial oxidation of methane is studied at 673–873 K over new Ru-based catalysts supported on TiO₂–ZrO₂ with different TiO₂ content. Supports were prepared by a sol–gel method, and RuCl₃ and RuNO(NO₃)₃ were used as ruthenium precursors to prepare the catalysts (1–2 wt% Ru). The effect of the reaction temperature on the catalytic behavior is analyzed, along with the support composition and the Ru precursor used.     

Synthesis and characterization of iron oxide nanoparticles dispersed in mesoporous aluminum oxide or silicon oxide

Iron oxide nanoparticles dispersed in aluminum (Al) or silicon (Si) oxides were prepared via a polymeric precursor derived from the Pechini method. The samples were characterized by thermogravimetric analysis, Fourier-transform infrared spectroscopy, X-ray diffraction, N₂ adsorption/desorption isotherms (Brunauer–Emmett–Teller, BET), M?ssbauer spectroscopy, and vibrating sample magnetometry (VSM). BET analysis shows that the samples are mesoporous materials and have a high surface area. The size of the Fe₂O₃ nanoparticles in Al₂O₃ is smaller than that in SiO₂. M?ssbauer spectra of the samples show that the Fe₂O₃ nanoparticles in Al₂O₃ are non-magnetic at room temperature but magnetic below 50 K. The FeSi samples are magnetic at both room and low temperatures. The magnetic measurements with VSM confirmed this point.     

An in-situ DRIFTS-MS study of the photocatalytic H2 production from ethanol(aq) vapour over Pt/TiO2 and PtGa/TiO2 catalysts

In this paper, Pt/TiO₂ and PtGa/TiO₂ catalysts with similar Pt dispersion and similar structural and morphological characteristics were compared in the H₂ production from the phototransformation of aqueous solutions of ethanol. Catalysts were characterized by means of N₂ adsorption-desorption, XRD, Raman, H₂-TPR, UV–Vis diffuse reflectance spectroscopy, XPS and CO chemisorption. The photocatalytic reaction was carried out in liquid and vapour phase. The photocatalytic transformation of ethanol_(aq) vapour over Pt/TiO₂ and PtGa/TiO₂ catalysts was studied by in situ DRIFTS-MS. Differences in the photocatalytic transformation of ethanol_(aq) over Pt/TiO₂ and PtGa/TiO₂ were determined. The effect of Ga is analysed in the light of the evolution of surface species under photocatalytic reaction conditions.     

Green hams electrical impedance spectroscopy (EIS) measures and pastiness prediction of dry cured hams

The objective of this study was to assess the value of electrical impedance spectroscopy (EIS) as a predictor of certain dry-cured ham sensory properties in green hams of different technological meat qualities and processed commercially. Measurements of technological meat quality (weight, ham conformation, subcutaneous fat thickness, pH(45) and pH(u)) and some sensory properties (adhesiveness, hardness, crumbliness, pastiness, fibrousness and saltiness) were carried out on the Biceps femoris (BF) and Semimembranosus (SM) muscles. The electrical parameters, R(o), R(inf), ratio (R(inf)/R(o)), F(c) and α, were obtained with EIS equipment applied to two different regions of the ham at 36 h post mortem (BF and SM). Principal component (PC) analysis was used to describe the relationship between sensory properties and electrical parameters. For BF muscle there were no clear relationships between the electrical parameters and the sensory properties. However, for SM muscle, pastiness was correlated positively with the ratio and F(c) obtained by EIS. None of the electrical parameters obtained by EIS were able to differentiate between groups of hams classified according to their level of pastiness in the BF muscle. However, in the SM muscle, the origin of the pastiness was related to the use of PSE meat and was predicted by the electrical impedance measurements. The EIS prototype correctly detected 69.2 and 56.0% (for SM and BF muscles, respectively) of the problem hams in terms of pastiness. These results could be of use in the selection of the raw material to reduce the incidence of dry-cured hams with defective texture.     

Vertical (La,Sr)MnO3 Nanorods from Track‐Etched Polymers Directly Buffering Substrates

A novel and general methodology for preparing vertical, complex‐oxide nanostructures from a sol–gel‐based polymer‐precursor solutions is developed using track‐etched polymers directly buffering substrates. This method is able to develop a nanostructure over the entire substrate, the dimensions and localization of the vertical nanostructures being preset by the polymeric nanotemplate. Thereby, nanostructures with lateral sizes in the range of 100 to 300 nm and up to 500 nm in height have been grown. Two examples are presented herein, the latter being the evolution of the initial, metastable nanostructure. Specifically, La_0.7Sr_0.3MnO₃ polycrystalline rods are grown at mild temperatures (800 °C); upon strong thermal activation (1000 °C) they suffer a profound transformation into vertical, single‐crystalline (La,Sr)_xO_y nanopyramids sitting on a La_0.7Sr_0.3MnO₃ epitaxial wetting layer. The driving force for this outstanding nanostructural evolution is the minimization of the total energy of the system, which is reached by reducing the grain‐boundary, total‐surface, and strain‐relaxation energies. Finally, advanced electron‐microscopy techniques are used to highlight the complex phase separation and structural transformations occurring when the metastable state is overcome.     

Toward persistent autonomous intervention in a subsea panel

Intervention autonomous underwater vehicles (I-AUVs) have the potential to open new avenues for the maintenance and monitoring of offshore subsea facilities in a cost-effective way. However, this requires challenging intervention operations to be carried out persistently, thus minimizing human supervision and ensuring a reliable vehicle behaviour under unexpected perturbances and failures. This paper describes a system to perform autonomous intervention—in particular valve-turning—using the concept of persistent autonomy. To achieve this goal, we build a framework that integrates different disciplines, involving mechatronics, localization, control, machine learning and planning techniques, bearing in mind robustness in the implementation of all of them. We present experiments in a water tank, conducted with Girona 500 I-AUV in the context of a multiple intervention mission. Results show how the vehicle sets several valve panel configurations throughout the experiment while handling different errors, either spontaneous or induced. Finally, we report the insights gained from our experience and we discuss the main aspects that must be matured and refined in order to promote the future development of intervention autonomous vehicles that can operate, persistently, in subsea facilities.     

Compact Models

Development of approximation techniques for highly detailed surfaces is one of the challenges faced today. We introduce a new mesh structure that allows dense triangular meshes of arbitrary topology to be approximated. The structure is constructed from the information gathered during a simplification process. Each vertex of the simplified model collects a neighbourhood of input vertices. Then, each neighbourhood is fitted by a set of local surfaces taking into account the sharp features detected. The simplified model plus the parameters of these local surfaces, conveniently stored in a file, is what we call Compact Model (CM). The input model can be approximated from its CM by refining each triangle of the simplified model. The main feature of our approach is that each triangle is refined by blending the local surfaces at its vertices, which can be done independently of the others. Consequently, adaptive reconstructions are possible, local shape deformations can be incorporated and the whole approximation process can be completely parallelized.     

Achieving dialogue with children with severe autism in an adaptive multisensory interaction: the "MEDIAte" project

This paper presents an adaptive physical environment that allows children with severe autism to successfully interact with multimodal stimuli, giving them a sense of control of the interaction and, hence, providing them with a sense of agency. This has been an extremely important effort for two main reasons: 1) This user group cannot be typified, hence making the design of an interactive system to fit all the spectrum of individuals a very complex task; 2) each individual PAS (person on the autistic spectrum) user must be able to develop himself within the environment according to his own capacities and potentiality. Qualitative evaluation by psychologists shows very good results and sketches an encouraging future for research on these environments.     

Coverage Path Planning with Real‐time Replanning and Surface Reconstruction for Inspection of Three‐dimensional Underwater Structures using Autonomous Underwater Vehicles

We present a novel method for planning coverage paths for inspecting complex structures on the ocean floor using an autonomous underwater vehicle (AUV). Our method initially uses a 2.5‐dimensional (2.5D) prior bathymetric map to plan a nominal coverage path that allows the AUV to pass its sensors over all points on the target area. The nominal path uses a standard mowing‐the‐lawn pattern in effectively planar regions, while in regions with substantial 3D relief it follows horizontal contours of the terrain at a given offset distance. We then go beyond previous approaches in the literature by considering the vehicle's state uncertainty rather than relying on the unrealistic assumption of an idealized path execution. Toward that end, we present a replanning algorithm based on a stochastic trajectory optimization that reshapes the nominal path to cope with the actual target structure perceived in situ. The replanning algorithm runs onboard the AUV in real time during the inspection mission, adapting the path according to the measurements provided by the vehicle's range‐sensing sonars. Furthermore, we propose a pipeline of state‐of‐the‐art surface reconstruction techniques we apply to the data acquired by the AUV to obtain 3D models of the inspected structures that show the benefits of our planning method for 3D mapping. We demonstrate the efficacy of our method in experiments at sea using the GIRONA 500 AUV, where we cover part of a breakwater structure in a harbor and an underwater boulder rising from 40 m up to 27 m depth.