Acta Hydrochimica Et Hydrobiologica最新文献

{"title":"Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle","authors":"N. Khan","doi":"10.25777/AHEH-XQ45","DOIUrl":"https://doi.org/10.25777/AHEH-XQ45","url":null,"abstract":"IDENTIFICATION AND OPTIMAL LINEAR TRACKING CONTROL OF ODU AUTONOMOUS SURFACE VEHICLE Nadeem Khan Old Dominion University, 2018 Director: Dr. Jen-Kuang Huang Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the monoor twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV.","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"3 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90454054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Analysenautomation in Wasserlaboratorien mit flow‐stream‐Automaten Teil 5. Die automatische Bestimmung von Eisen im Wasser","authors":"P. Vogler","doi":"10.1002/AHEH.3470040202","DOIUrl":"https://doi.org/10.1002/AHEH.3470040202","url":null,"abstract":"Es wird eine auf der Photometrie des Eisenorthophenanthrolinkomplexes basierende Eisenbestimmung auf flow-stream-Automaten beschrieben. Durch sie konnen in zwei Mesbereichen wahlweise 0,02 … 2 mg/1 Fe oder 0,5 … 20 mg/1 Fe mit Standardabweichungen um 1% (im mittleren Teil des Mesbereiches) bestimmt werden. Pro Arbeitstag sind auf einem Automaten etwa 220 Doppelbestimmungen des Eisengehaltes von Wasserproben ausfuhrbar. Eine versierte Arbeitskraft kann dabei zwei bis drei Automaten bedienen. \u0000 \u0000 \u0000 \u0000Das automatische Bestimmungsverfahren ist noch weniger storanfallig als das zugrunde liegende storungsarme manuelle Verfahren (AUSGEWAHLTE METHODEN 1973). \u0000 \u0000 \u0000 \u0000Da in der uberwiegenden Zahl der Falle die direkte Eisenbestimmung in Wasserproben kein eindeutiges Ergebnis liefert, wird zugleich eine teilautomatische Bestimmung des Gesamteisengehaltes von Wassern angegeben. Der hierfur erforderliche Aufschlus wird mit Hilfe der gleichen Aufschlus-apparatur ausgefuhrt, wie sie bereits fruher fur die teilautomatische Bestimmung von Gesamt-phosphat und organisch gebundendem Stickstoff beschrieben wurde (VOGLER 1976a).","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"1 1","pages":"115-127"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85461156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The Growth of Micromycetes in Activated Sludge Media","authors":"J. Häuslerová","doi":"10.1002/AHEH.3470040204","DOIUrl":"https://doi.org/10.1002/AHEH.3470040204","url":null,"abstract":"Today already numerous micromycetes are a recognized part of the biocenosis of growth in receiving waters strongly polluted by organically rich waste waters and of growth on biofilter media surfaces. The principal representatives are some Deuteromycetes, Mucorales and Saccharomycetaceae, whereas the so-called true aquatic fungi (Oomycetes) with the exception of Leptomitus lacteus are practically absent. The growth of micromycetes in activated sludge remains still an unanswered question. Generally, the filaments in the activated sludge are ascribed to filamentous bacteria and as long as fungi were isolated from activated sludge their presence has been reported only in the form of spores. \u0000 \u0000 \u0000 \u0000The nitrogen deficiency with regard to carbon present in the waste water is considered as one of the factors enhancing the development of fungi in the activated sludge. In a series of 13 tests carried out on laboratory-scale batch models using synthetic waste water, where the carbon source was glucose and the nitrogen source was (a) sodium nitrate, (b) ammonium sulphate, and (c) peptone, the fungal growth was studied in different models with the BOD:N ratio varying from 20 to 1000. The models were seeded with thickened activated sludge from the municipal sewage works. The sludge did not contain any microscopically detectable forms of fungoid growth. It was found that the fungi in activated-sludge medium grow well and both in the forms of single cells, occuring independently and in chains, as well as in the form of long branched filaments. In some instances, the micromycetes formed up to 80 to 100 per cent of the biocenosis of the activated-sludge flocs, but the dependency of their development on the increasing BOD:N ratios in the waste water has not been ascertained. \u0000 \u0000 \u0000 \u0000Fifteen species of micromycetes were isolated and identified, and in addition several representatives of Saccharomycetaceae, which were not identified.","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"39 1","pages":"137-152"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86160909","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Zur selektiven Entfernung von Hydrogencarbonationen aus wäßrigen, Chlorid und Hydrogencarbonationen enthaltenden Lösungen mittels Ionenaustauscherharzen (Desalprozeß)","authors":"F. Wolf, K. Jamil","doi":"10.1002/AHEH.3470040206","DOIUrl":"https://doi.org/10.1002/AHEH.3470040206","url":null,"abstract":"","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"72 1","pages":"173-178"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86342336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimentelle Untersuchungen zur dünnschichtchromatographischen Trennung und Identifizierung cancerogener aromatischer Kohlenwasserstoffe im uferfiltrierten Grundwasser","authors":"H. Thielemann","doi":"10.1002/AHEH.3470040208","DOIUrl":"https://doi.org/10.1002/AHEH.3470040208","url":null,"abstract":"","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"94 1","pages":"183-184"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74040167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Zur akuten Toxizität von Herbiziden gegenüber ausgewählten Wasserorganismen Teil 2: Triazinherbizide und Amitrol","authors":"M. Tscheu‐Schlüter","doi":"10.1002/AHEH.3470040205","DOIUrl":"https://doi.org/10.1002/AHEH.3470040205","url":null,"abstract":"Eine Weiterentwicklung der wassertoxikologischen Auswertemethodik im Vergleich zu Teil I (TSCHEU-SCHLUTER 1974) erfolgte vor allem uber die beiden Rechenprogramme ALTEST und PROBIT. Als Testorganismen fur sechs Triazine und Amitrol dienten die planktische Grunalge Ankistrodesmus falcatus (CORDA) RALFS und der Guppy (Poecilia reticulata PETERS). Die gelosten Anteile der Triazine wurden mit dem Universal-Spektrophotometer VSU 1 von Carl Zeiss Jena bestimmt. \u0000 \u0000 \u0000 \u0000Die gepruften Triazine wirken als starke Photosynthesegifte und Amitrol als allgemeines Stoffwechselgift mit Schwellenkonzentrationen (SC) kleiner als 1 mg/1 auf die Testalge hoch giftig. Beziehungen zwischen Algentoxizitat und chemischer Struktur werden fur die Triazine aufgezeigt. Fur Poecilia sind die Triazine mit SC <10 mg/1 stark giftig. \u0000 \u0000 \u0000 \u0000An Hand der Ergebnisse mit Amitrol und dem Handelsprodukt Azaplant werden mogliche grose Toxizitatsunterschiede zwischen Wirkstoff und formuliertem Handelsprodukt nachgewiesen (Abb. 4). \u0000 \u0000 \u0000 \u0000Tabelle 7 enthalt Empfehlungen hochstzulassiger Konzentrationen fur Vorfluter der Guteklasse 2 (β-mesosaprob) fur sechs Triazine, Amitrol und Azaplant. \u0000 \u0000 \u0000 \u0000Abschliesend wird ein Vergleich der Toxizitat der Testsubstanzen fur Wasserorganismen und Warmbluter gezogen.","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"39 1","pages":"153-170"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80515512","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Zum Einfluß von Niederschlägen auf die Wasserbeschaffenheit","authors":"H. Schmidt","doi":"10.1002/AHEH.3470040210","DOIUrl":"https://doi.org/10.1002/AHEH.3470040210","url":null,"abstract":"","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"23 1","pages":"189-191"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81093545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Indicator Value of Freshwater Gastrotricha","authors":"V. Sládeček","doi":"10.1002/AHEH.3470040209","DOIUrl":"https://doi.org/10.1002/AHEH.3470040209","url":null,"abstract":"","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"46 22 1","pages":"185-187"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80520496","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimentelle Untersuchungen über dünnschichtchromatographische Nachweisgrenzen (semiquantitative Bestimmung) von Chlorphenolen in wäßrigen Modellösungen an unterschiedlichen Sorptionsschichten","authors":"H. Thielemann","doi":"10.1002/AHEH.3470040207","DOIUrl":"https://doi.org/10.1002/AHEH.3470040207","url":null,"abstract":"","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"10 1","pages":"179-182"},"PeriodicalIF":0.0,"publicationDate":"2006-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75137030","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bioassay‐directed fractionation for analyzing estrogens in surface waters of the German Baltic Sea","authors":"Iris-Constanze Beck, R. Bruhn, J. Gandrass","doi":"10.1002/AHEH.200600654","DOIUrl":"https://doi.org/10.1002/AHEH.200600654","url":null,"abstract":"A reversed-phase fractionation method with subsequent biological and chemical analysis has been developed to estimate the contributions of the most potent estrogens to observed estrogenic effect potentials. Surface water samples were taken in the German Baltic Sea (Inner Wismar Bay and Darss Peninsula, sampling campaign July 2003) and were separated into seven individual fractions. Three fractions showed significant estrogenic activities and clear dose-dependant responses were obtained in the yeast estrogen screen (YES). In the 2nd fractions liquid chromatographic-electrospray-tandem mass spectrometric (LC-ESI-MS-MS) analyses showed the presence of bisphenol A (Inner Wismar, Bay: 4.8 ng L -1 and 6 ng L -1 ; Darss Peninsula: 0.91 ng L -1 and 1.7 ngL -1 ) and ethinylestradiol (Inner Wismar Bay: 2.0 ng L -1 and 6.0 ng L -1 ; Darss Peninsula: < MDL and 1.7 ng L -1 ), whereas estrogenic activities in the YES were only around 10% of the positive control E2. Although not identified prior in the total extract the natural hormones estradiol (Inner Wismar Bay: 0.13 ng L -1 and 0.19 ng L -1 ; Darss Peninsula: 0.12 ng L -1 and 0.16 ng L -1 ) and estriol (Inner Wismar Bay: < MDL and 0.33 ng L -1 ; Darss Peninsula: < MDL) could be detected in the 3rd fractions, where high estrogenic potentials could be observed. The 4th fractions showed high responses as well and estrone were herein quantified with concentrations of 0.16 ng L -1 and 0.18 ng L -1 (Darss Peninsula) up to 0.37 ng L -1 (Inner Wismar Bay). Measured and calculated estradiol equivalents for individual fractions correlated very well (R 2 = 0.78), when disregarding results of the 2nd fraction, where high deviations occurred.","PeriodicalId":7010,"journal":{"name":"Acta Hydrochimica Et Hydrobiologica","volume":"12 1","pages":"560-567"},"PeriodicalIF":0.0,"publicationDate":"2006-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82437677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}