Electrochemical destruction of chlorophenoxy herbicides by anodic oxidation and electro-Fenton using a boron-doped diamond electrode

The degradation of herbicides 4-chlorophenoxyacetic acid (4-CPA), 4-chloro-2-methylphenoxyacetic acid (MCPA), 2,4-dichlorophenoxyacetic acid (2,4-D) and 2,4,5-trichlorophenoxyacetic acid (2,4,5-T) in aqueous medium of pH 3.0 has been comparatively studied by anodic oxidation and electro-Fenton using a boron-doped diamond (BDD) anode. All solutions are totally mineralized by electro-Fenton, even at low current, being the process more efficient with 1 mM Fe²⁺ as catalyst. This is due to the production of large amounts of oxidant hydroxyl radical (OH) on the BDD surface by water oxidation and from Fenton’s reaction between added Fe²⁺ and H₂O₂ electrogenerated at the O₂-diffusion cathode. The herbicide solutions are also completely depolluted by anodic oxidation. Although a quicker degradation is found at the first stages of electro-Fenton, similar times are required for achieving overall mineralization in both methods. The decay kinetics of all herbicides always follows a pseudo first-order reaction. Reversed-phase chromatography allows detecting 4-chlorophenol, 4-chloro-o-cresol, 2,4-dichlorophenol and 2,4,5-trichlorophenol as primary aromatic intermediates of 4-CPA, MCPA, 2,4-D and 2,4,5-T, respectively. Dechlorination of these products gives Cl⁻, which is slowly oxidized on BDD. Ion-exclusion chromatography reveals the presence of persistent oxalic acid in electro-Fenton by formation of Fe³⁺-oxalato complexes, which are slowly destroyed by OH adsorbed on BDD. In anodic oxidation, oxalic acid is mineralized practically at the same rate as generated.     

Lateral Magnetically Modulated Multilayers by Combining Ion Implantation and Lithography

The combination of lithography and ion implantation is demonstrated to be a suitable method to prepare lateral multilayers. A laterally, compositionally, and magnetically modulated microscale pattern consisting of alternating Co (1.6 µm wide) and Co‐CoO (2.4 µm wide) lines has been obtained by oxygen ion implantation into a lithographically masked Au‐sandwiched Co thin film. Magnetoresistance along the lines (i.e., current and applied magnetic field are parallel to the lines) reveals an effective positive giant magnetoresistance (GMR) behavior at room temperature. Conversely, anisotropic magnetoresistance and GMR contributions are distinguished at low temperature (i.e., 10 K) since the O‐implanted areas become exchange coupled. This planar GMR is principally ascribed to the spatial modulation of coercivity in a spring‐magnet‐type configuration, which results in 180° Néel extrinsic domain walls at the Co/Co‐CoO interfaces. The versatility, in terms of pattern size, morphology, and composition adjustment, of this method offers a unique route to fabricate planar systems for, among others, spintronic research and applications.     

Consequences and conjectures in preordered sets

In a preordered set, or preset, consequence operators in the sense of Tarski, defined on families of subsets, are introduced. From them, the corresponding sets of conjectures, hypotheses, speculations and refutations are considered, studying the relationships between these sets and those previously defined on ortholattices. All the concepts introduced are illustrated with three particular consequence operators, whose behavior is studied in detail. The results obtained are applied to the case of fuzzy sets endowed with the usual pointwise ordering.     

Opportunistic sampling-based active visual SLAM for underwater inspection

This paper reports on an active SLAM framework for performing large-scale inspections with an underwater robot. We propose a path planning algorithm integrated with visual SLAM that plans loop-closure paths in order to decrease navigation uncertainty. While loop-closing revisit actions bound the robot’s uncertainty, they also lead to redundant area coverage and increased path length. Our proposed opportunistic framework leverages sampling-based techniques and information filtering to plan revisit paths that are coverage efficient. We employ Gaussian process regression for modeling the prediction of camera registrations and use a two-step optimization procedure for selecting revisit actions. We show that the proposed method offers many benefits over existing solutions and good performance for bounding navigation uncertainty in long-term autonomous operations with hybrid simulation experiments and real-world field trials performed by an underwater inspection robot.     

Adaptive continuous‐space informative path planning for online environmental monitoring

Autonomous mobile robots are increasingly employed to take measurements for environmental monitoring, but planning informative, measurement‐rich paths through large three‐dimensional environments is still challenging. Designing such paths, known as the informative path planning (IPP) problem, has been shown to be NP‐hard. Existing algorithms focus on providing guarantees on suboptimal solutions, but do not scale well to large problems. In this paper, we introduce a novel IPP algorithm that uses an evolutionary strategy to optimize a parameterized path in continuous space, which is subject to various constraints regarding path budgets and motion capabilities of an autonomous mobile robot. Moreover, we introduce a replanning scheme to adapt the planned paths according to the measurements taken in situ during data collection. When compared to two state‐of‐the‐art solutions, our method provides competitive results at significantly lower computation times and memory requirements. The proposed replanning scheme enables to build models with up to 25% lower uncertainty within an initially unknown area of interest. Besides presenting theoretical results, we tailored the proposed algorithms for data collection using an autonomous surface vessel for an ecological study, during which the method was validated through three field deployments on Lake Zurich, Switzerland. Spatiotemporal variations are shown over a period of three months and in an area of 350 m × 350 m × 13 m. Whereas our theoretical solution can be applied to multiple applications, our field results specifically highlight the effectiveness of our planner for monitoring toxic microorganisms in a pre‐alpine lake, and for identifying hot‐spots within their distribution.     

A model for “crisp reasoning” with fuzzy sets

In the setting of a general type of fuzzy algebras, this paper deals with a new theoretic view on the commonsense reasoning, consisting of a kind of Popper's search for conjectures and refutations. It is supposed that the reasoning is done in natural language, but only with nonambiguous precise and imprecise terms, respectively, represented by crisp and fuzzy sets. © 2012 Wiley Periodicals, Inc.     

Media coverage in times of political crisis: A text mining approach

At the year end of 2011 Belgium formed a government, after a world record breaking period of 541 days of negotiations. We have gathered and analysed 68,000 related on-line news articles published in 2011 in Flemish newspapers. These articles were analysed by a custom-built expert system. The results of our text mining analyses show interesting differences in media coverage and votes for several political parties and politicians. With opinion mining, we are able to automatically detect the sentiment of each article, thereby allowing to visualise how the tone of reporting evolved throughout the year, on a party, politician and newspaper level. Our suggested framework introduces a generic text mining approach to analyse media coverage on political issues, including a set of methodological guidelines, evaluation metrics, as well as open source opinion mining tools. Since all analyses are based on automated text mining algorithms, an objective overview of the manner of reporting is provided. The analysis shows peaks of positive and negative sentiments during key moments in the negotiation process.     

Feedback passivity of nonlinear discrete-time systems with direct input-output link

This paper is devoted to the study of the feedback passivity property in nonlinear discrete-time systems. The relative degree and zero dynamics of the non-passive system are related to the feedback passivity of the system. Two main results are presented. First, some relative degree-related properties of passive systems in general form are stated. Second, sufficient conditions in order to render a multiple-input multiple-output (MIMO) system passive by means of a static state feedback control law are obtained.     

Multi-leader coordination algorithm for networks with switching topology and quantized information

This paper analyzes the stability and convergence properties of a proportional–integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.