Low temperature J-resistance curve determination of asphalt concrete using wavelet-Radon transform

A single specimen test using the three point single edge notched beam configuration at low temperatures for obtaining hot mix asphalt （HMA） resistance curves is developed.Resistance curves are obtained for mixtures at six temperature levels of＋5,0,-5,-10,-15,and-20 ℃ and three binder contents of 4％,4.5％,and 5％.Crack extension increments during the test are measured by means of an image processing technique using Radon transform and feature extraction.All the specimens exhibit a rising R-curve,indicating ductility and toughening mechanisms in the ductile-quasi brittle fracture of the mixture.It is observed that the reduction of temperature results in a further tendency of the mixture for unstable crack growth and less subcritical crack length.It is also shown that using the binarization process,an automatic index can be developed that can represent the extent of brittleness and extent of the low temperature in which the cracking has occurred.     

Nitrate remediation in a novel upflow bio-electrochemical reactor (UBER) using palm shell activated carbon as cathode material

This study investigated the biological denitrification method which is a treatment method able to reduce inorganic nitrate compounds to harmless nitrogen gas. Autohydrogenotrophic denitrifying bacteria were used in this study to prevent any problematic outcomes associated with heterotrophic microorganisms. An upflow bio-electrochemical reactor (UBER) was used to accommodate hydrogenotrophic denitrifying bacteria employing palm shell granular activated carbon (GAC) as the biocarrier and cathode material. Bicarbonate as the external inorganic carbon source was fed to the reactor and hydrogen as the electron donor was generated in situ through electrolysis of water. Central composite design (CCD) and response surface methodology (RSM) were applied to investigate the effects of two operating parameters, namely electric current (I) and hydraulic retention time (HRT), on performance of the UBER. Electric current range of 0-20 mA and HRT range of 6-36 h were examined and results showed that nitrate can be entirely reduced within application of a wide operational range of electric current (10-16 mA) as well as HRT (13.5-30 h). However, increase of pH at cathode zone up to 10.5 inhibited nitrite reduction, and it was not reduced to the satisfactory level.     

Corrosion control in underground concrete structures using double waterproofing shield system (DWS)

High level of structural and waterproofing stability leads to long-term service life in underground infrastructures. Interaction between aggressive groundwater with tunnel causes corrosion and damage in concrete structure due to steel reinforcement corrosion and concrete cracks. This study introduces a double waterproofing shield system (DWS) as an innovative solution to waterproofing and structural failures in underground concrete structures. In this method, ordinary shotcrete mixture replaces by an organic polymer concrete (OPC) to construct a water-resistant temporary support right after each partial excavation. Two groups of specimens including reference concrete and OPC specimens were provided and tested in accordance with ASTM C 642. Waterproofing parameters including porosity, pore volume, permeability and hydraulic conductivity have been determined. Results show a remarkable reduction in mentioned parameters for OPC compared with ordinary concrete. Improvement in waterproofing performance of temporary support corresponds to a healthy final lining and increase in service life of the structure.     

Passivity-based control of nonlinear teleoperation systems with non-passive interaction forces

Intelligent Service Robotics - This paper addresses the problem of asymptotic stability and position tracking in nonlinear teleoperation systems interacting with non-passive operator and...     

Optimal target impedance selection of the robot interacting with human

Human–robot interaction is an important issue in robotic researches which is the key in many rehabilitation and robot-assisted therapy applications. Impedance control can properly handle soft interaction of robots with the environment. Optimal target impedance selection can increase the performance of the overall system and guarantee the stability. The target impedance cannot be selected without proper knowledge about the stiffness and inertia parameters of the human. In this paper, a systematic analysis is done to introduce a method to estimate the human stiffness and consequently adjust the robot target stiffness. Then, particle swarm optimization is used to find the damping and inertia parameters of the robot to minimize the peak of the interaction force. Also, no assumption is made for the passivity of the human dynamic. The passivity analysis of the human–robot system is investigated. The novelty of this paper is in introducing a practical approach to select the robot target impedance. Finally, experimental results on a lower limb exoskeleton are provided to validate the proposed approach.     

Investigation of the micro-step control positioning system performance affected by random input signals

This paper gives the results of simulation and experimental investigation on the effects of random signals on the accuracy of micro-stepping control positioning. For studying and simulation of the effect of random noise signals on performance of the accurate position control systems, such as Hybrid Stepper Motors (HSMs), a micro-step driver and controlling unit using PID controller has been designed and constructed. Several parametric studies have been carried out including different white noise power and micro-step per revolution. Tracking problem for a HSM model has been simulated, and the experimental study for similar cases has been carried out by implementing the designed controller in real-time operation by using Real Time Windows Target Toolbox of Matlab software and Simulink. Simulation and experimental results show that random noise source changes current profile and affects the accuracy of positioning. Performance of the proposed PID controller under the implementation of random noise on phases one and two of stepper motor has been proved to be accurate enough even under disturbance load currents, on the system. Experimental and simulation results show the good performance of designed controller in tracking problem, affected by various random noise powers and motor speeds in different micro-step positions. Moreover there is an excellent agreement between experimental and simulation results.     

Effect of carbon dioxide and bicarbonate as inorganic carbon sources on growth and adaptation of autohydrogenotrophic denitrifying bacteria

Acclimation of autohydrogenotrophic denitrifying bacteria using inorganic carbon source (CO(2) and bicarbonate) and hydrogen gas as electron donor was performed in this study. In this regard, activated sludge was used as the seed source and sequencing batch reactor (SBR) technique was applied for accomplishing the acclimatization. Three distinct strategies in feeding of carbon sources were applied: (I) continuous sparging of CO(2), (II) bicarbonate plus continuous sparging of CO(2), and (III) only bicarbonate. The pH-reducing nature of CO(2) showed an unfavorable impact on denitrification rate; however bicarbonate resulted in a buffered environment in the mixed liquor and provided a suitable mean to maintain the pH in the desirable range of 7-8.2. As a result, bicarbonate as the only carbon source showed a faster adaptation, while carbon dioxide as the only carbon source as well as a complementary carbon source added to bicarbonate resulted in longer acclimation period. Adapted hydrogenotrophic denitrifying bacteria, using bicarbonate and hydrogen gas in the aforementioned pH range, caused denitrification at a rate of 13.33 mg NO(3)(-)-N/g MLVSS/h for degrading 20 and 30 mg NO(3)(-)-N/L and 9.09 mg NO(3)(-)-N/g MLVSS/h for degrading 50mg NO(3)(-)-N/L.