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Removal of Pb, Cd, Cr, Mo, V, Be and Ba from municipal wastewater using a horizontal subsurface flow constructed wetland was studied. The removal efficiencies attained for these elements were 50, 86, 71, 59, −53, 37 and 40%, respectively. The average inflow and outflow Pb concentrations were 1.5 and 0.7 µg/L. Similarly, the inflow and outflow concentrations of 0.14 and 0.02 µg/L were obtained for...
The paper deals with the optimization of local path for the mobile robot, whereas the safety of the route is the major criterion. The robot equipped with differential chassis with kinematic constraints is considered for the task. The optimization is based on genetic algorithm (GA), optimizing the polyline representation of the path. The core idea of the method presented is to sequentially increase...
Data acquisition in smart homes is common activity to ensure a stable, natural and energy saving environment inside the building. However, typical usage of acquired data is limited to temperature/humidity monitoring connected to thermostat or AC control. Modern smart homes try to interconnect all standalone control systems into one smart solution with information downloaded from internet as weather...
This paper deals with the efficiency analysis of developed electromagnetic vibration energy harvesting systems. The efficiency analysis of this energy harvesting system is specified and a linear model of the vibration energy harvesting system is simulated to determine theoretical limits. The influence of individual parameters of vibration energy harvesters is evaluated by the simulation model. Three...
Equally distributed covering of working space is essential in some mobile robot applications, such as presentation robotics or security robot patrol. This paper explores a method for such covering based on rapidly exploring random trees (RRT) algorithm. RRTs can cover the working space close to completeness while uncovered areas are quickly reduced. The algorithm can be modified to emphasize certain...
Presented paper presents ARM mbed microcontroller usage as a control unit in student's autonomous convoy project. The ARM mbed devices are based on 32-bit ARM Cortex-M microcontrollers and are widely used for a number of students and science projects. Proper selection of appropriate HW platform is typical issue, especially nowadays when students can choose from many different and low-cost platforms...
Presented paper deals with sensor failure detection and identification (FDI) in navigation task of autonomous mobile robot. Mobile robots use ultrasonic range finders to solve a collision avoidance task, which is crucial for successful navigation. When the sensory readings are invalid the robot should be able to detect such a failure and interrupt its actual movement. To solve this task, the method...
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