University of Almería

About: University of Almería is a education organization based out in Almería, Spain. It is known for research contribution in the topics: Population & Context (language use). The organization has 4674 authors who have published 10905 publications receiving 233036 citations. The organization is also known as: University of Almeria & Universidad de Almería.

Online robust tube-based MPC for time-varying systems: a practical approach

Abstract: This article focuses on the design of a robust model predictive control law for constrained discrete-time time-varying systems with additive uncertainties. The proposed solution to the control problem is a tube-based MPC ensuring robustness and constraints fulfilment. Reachable sets are calculated online taking into account the system dynamics by means of an adaptive local control law and additive uncertainties. The proposed method represents a trade-off between small conservativeness and efficient real-time execution. This approach is applied to solve the trajectory tracking problem of a mobile robot. Simulation results provide a comparison between the tube-based MPC scheme and established motion control algorithms, showing the efficient execution and satisfactory behaviour of the proposed controller.

Performance of different advanced oxidation processes for tertiary wastewater treatment to remove the pesticide acetamiprid

Abstract: BACKGROUND This work studied the performance of different advanced oxidation processes (AOPs) as tertiary treatment for removal of the pesticide acetamiprid from water. Specifically, UV, UV/TiO2, UV/H2O2/Fe, and two systems with persulfate (PS), UV/PS and UV/PS/Fe, were evaluated. RESULTS The study was carried out in deionised water, synthetic water from a secondary effluent and real effluent from a conventional activated sludge effluent (CAS effluent). In addition, the effect of humic acids, lignin-derivative and lauryl sulphate was investigated as organic matter that affects AOP efficiency. CONCLUSIONS Photo-Fenton at natural pH proved to be the most efficient process in all matrices. The persulfate systems have also shown that they have great potential for micropollutant removal. It was found that humic acids reduced degradation efficiency for UV/H2O2/Fe and UV/PS/Fe due to competition with radicals. Humic acids had a negative impact on UV photolysis at high concentration due to the absorptivity of UV light. Lignin had a negative effect on AOPs that used iron, forming Fe(II)-complexes with high absorptivity which act as a light filter. For lauryl sulphate, its chemical structure did not favour the formation of iron complexes at natural pH, resulting in similar degradation rates for UV/H2O2/Fe, UV/H2O2, UV/PS and UV/PS/Fe. © 2014 Society of Chemical Industry