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Abstract

This paper presents the results of the floristical examinations performed in the units of a former secondary sedimentation pond system in Hungary. The outcome of analyses on the chromium content of the plants is discussed. Beside the chemical analyses, observations on the plants, the characterization of the ecological state of plant stands adapted to heavy metal load. Results of the elemental analysis for heavy metals revealed that none of the plants constituting the natural vegetation can be treated as hyperaccumulator plant. A green cover and the detoxification process of Cr(VI) by plants is suggested to be more important than the present extensive phytoextraction procedure. It can be stated that due to the disturbance our investigated area has diverse vegetation, in addition these plants can tolerate a high concentration of heavy metals, and they are able to take up them.

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Abstract

This paper describes a novel application of mobile robot technology to the construction of mobility for the frail blind. Trajectory control of an experimental mobile robot using proposed neural network based controller structure for frail blind persons are presented. The robot is a non-holonomic experimental mobile robot with all electronic equipments. A prescribed double triangle reference trajectory is employed to test the robot with proposed controller structure for following exact trajectory of blind disable persons. The gain parameters of the P controller are tuned with neural network. The results of the proposed adaptive neural network based P controller are improved that this controller has superior performance at adapting large disturbances on the mobile robot.

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Abstract

The army and the people use many types of vehicles for industrial applications and military applications. This paper is proposed a construction of a prototype active vehicle suspension system for a one-wheel car model by using a modified Linear Quadric Regulator (LQR). The experimental system is approximately described by non-linear system with two degrees of freedom subject to excitation from profile different road disturbance profile. The active control at the suspension location is designed by using feedback constant gain controller structure. Furthermore, the experimental results show that the active suspension system with LQR more improves the control performance than standard PID controller. On the other hand, the results improved that the modified LQR has superior performance for controlling suspension systems in real time.

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(in this case the heat flow of the reboiler was that) [ 17 ]. 3 Dynamic simulation models and influences of the used disturbances 3.1 First investigated dynamic simulation model The dynamic models were also made with the Unisim Design process simulator

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to estimate head pose and movement. Pose and movement information will be useful later in the measurement as motion can cause disturbance in the signal, so if the EEG waveform and the accelerometer are both jumping and disturbed at the same time

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, d ( t ); represents the external disturbance. x , u ( t ); represent the inputs for the control unit. The tracking error can be defined as follows: (18) e 1 = ( x d − x ) , Then, the tracing error derivative can be represented as follows: (19) e ˙ 1

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– MIXDES , 2011 , pp. 1 – 12 . [17] A. Tepljakov , B. Baykant Alagoz , E. Gonzalez , E. Petlenkov , and C. Yeroglu , “ Model reference adaptive control scheme for retuning method based fractional-order pid control with disturbance rejection

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or two outliers during the measurement. The right side allows for timely cutting. The switch can be used to decide whether the operator wants to remove an intermediate interval (for example: During measurement, an external effect caused a disturbance

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settling time ( t s ), overshoot ( M p ) from 0 to 2%, undershoot <2%. Also have robustness against external disturbance and parameter uncertainty [ 31 ]. However, uncertainties on the input gain remain problematic [ 32 ]. 4.1 Deadbeat controller design for

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There are unexpected cases in apple or pear storage practice, i.e. external effects such as high or low temperatures, CO2 stress and intensive oxygen pull down may disturb normal ripening of fruits. Physiological consequences of these disturbances are expressed in certain cases only in incomplete ripening, while in irrevocable cases they are manifested as serious tissue damages such as non-parasitic storage disorders known as core flush, soft scald, and internal or external CO2 injuries.

It has been widely demonstrated in pome fruits that in a transient phase of maturity, during the pre-climacteric, ripening of pome fruits is preceded by changes in gene expression, detachment of new mRNA-s and the synthesis of compounds that are certainly essential for ripening processes. It is likely that this transient phase is closely related to changes on molecular level, and therefore, it may be considered as critical when external effects influence fruit life.

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