INFLUENCE OF STOCHASTIC NOISE STATISTICS ON KALMAN FILTER PERFORMANCE BASED ON VIDEO TARGET TRACKING

The system stochastic noises involved in Kalman filtering are preconditioned on being ideally white and Gaussian distributed. In this research, efforts are exerted on exploring the influence of the noise statistics on Kalman filtering from the perspective of video target tracking quality. The correlation of tracking precision to both the process and measurement noise covariance is investigated; the signal-to-noise power density ratio is defined; the contribution of predicted states and measured outputs to Kalman filter behavior is discussed; the tracking precision relative sensitivity is derived and applied in this study case. The findings are expected to pave the way for future study on how the actual noise statistics deviating from the assumed ones impacts on the Kalman filter optimality and degra-dation in the application of video tracking.

Pilot study on treatment of low turbidity and low temperature water by coagulation-immersed membrane process

The objective of this paper was to investigate the practicability of coagulation-immersed membrane process during low-temperature period through the study of steady operation,chemical cleaning methods,water quality and agent consumption.Experimental results showed that:membrane performance decreases with the reduction of temperature,but low temperature has little effect on stable operation of immersed membrane when coagulation as pretreatment.EFM with 1200 mg/L sodium hypochlorite after every 48 filtration cycles was made for reducing membrane fouling efficiently,and the method,with 1.5% sodium hydroxide and 3500 mg/L sodium hypochlorite for 10 h and then 2% hydrochloric acid for 4 h,is an appropriate cleaning method under low temperature.Compared with convention treatment process,immersed membrane process not only has same agent consumption,but also permeated water quality is more superior such as fine removal effect on turbidity with average 0.10 NTU.Therefore,coagulation-immersed membrane process is more appropriate for increasing water quality demand and the treatment of low turbidity and low temperature water.

A pilot scale trickling filter with pebble gravel as media and its performance to remove chemical oxygen demand from synthetic brewery wastewater

Evaluating the performance of a biotrickling filter for the treatment of wastewaters produced by a company manufacturing beer was the aim of this study.A pilot scale trickling filter filled with gravel was used as the experimental biofilter.Pilot scale plant experiments were made to evaluate the performance of the trickling filter aerobic and anaerobic biofilm systems for removal of chemical oxygen demand(COD) and nutrients from synthetic brewery wastewater.Performance evaluation data of the trickling filter were generated under different experimental conditions.The trickling filter had an average efficiency of(86.81±6.95)% as the hydraulic loading rate increased from 4.0 to 6.4 m3/(m2·d).Various COD concentrations were used to adjust organic loading rates from 1.5 to 4.5 kg COD/(m3·d).An average COD removal efficiency of(85.10±6.40)% was achieved in all wastewater concentrations at a hydraulic loading of 6.4 m3/(m2·d).The results lead to a design organic load of 1.5 kg COD/(m3·d) to reach an effluent COD in the range of 50–120 mg/L.As can be concluded from the results of this study,organic substances in brewery wastewater can be handled in a cost-effective and environmentally friendly manner using the gravel-filled trickling filter.

Comparison between Two Urban Wastewater Primary Treatment Trains

This paper evaluated two different wastewater primary treatments of wastewater from the“Universidad Autonoma Metropolitana,Azcapotzalco Campus”,a conventional one integrated for coagulation,flocculation,sedimentation and filtration versus one alternative integrated for in-line coagulation to precondition to rapid filtration.The wastewater was from the Azcapotzalco Campus in Mexico City,and in both cases,we characterized the wastewater,measured:pH,conductivity,temperature,total dissolved solids,dissolved oxygen,ORP(Oxide Reduction Potential),turbidity,and COD(Chemical Oxygen Demand).Conventional treatment was slightly better treatment,but the alternative treatment represents saving in equipment,reactive,energy and time,so it was considered a viable technical and economic wastewater primary treatment.