Application of subsurface wastewater infiltration system to on-site treatment of domestic sewage under high hydraulic loading rate

In order to enhance the hydraulic loading rate （HLR） of a subsurface wastewater infiltration system （SWIS） used in treating domestic sewage, the intermittent operation mode was employed in the SWIS. The results show that the intermittent operation mode contributes to the improvement of the HLR and the pollutant removal rate. When the wetting-drying ratio （RwD） was 1.0, the pollutant removal rate increased by （13.6 ± 0.3）% for NH3-N, （20.7 ± 1.1）% for TN, （18.6± 0.4）% for TP, （12.2 ± 0.5）% for BOD, （10.1 ± 0.3）% for COD, and （36.2 ± 1.2）% for SS, compared with pollutant removal rates under the continuous operation mode. The pollutant removal rate declined with the increase of the HLR. The effluent quality met The Reuse of Urban Recycling Water - Water Quality Standard for Scenic Environment Use （GB/T 18921-2002） even when the HLR was as high as 10 cm/d. Hydraulic conductivity, oxidation reduction potential （ORP）, the quantity of nitrifying bacteria, and the pollutant removal rate of NH3-N increased with the decrease of the RWD. For the pollutant removal rates of TP, BOD, and COD, there were no significant difference （p 〈 0.05） under different RwDS. The suggested RWD was 1.0. Relative contribution of the pretreatment and SWlS to the pollutant removal was examined, and more than 80% removal of NH3-N, TN, TP, COD, and BOD occurred in the SWIS.

Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator

This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conven- tional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlin- ear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptoti- cally stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parame- ters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncer- tainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.

Matching design of hydraulic load simulator with aerocraft actuator

This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.

Force Control Compensation Method with Variable Load Stiffness and Damping of the Hydraulic Drive Unit Force Control System

Each joint of hydraulic drive quadruped robot is driven by the hydraulic drive unit（HDU）, and the contacting between the robot foot end and the ground is complex and variable, which increases the difficulty of force control inevitably. In the recent years, although many scholars researched some control methods such as disturbance rejection control, parameter self-adaptive control, impedance control and so on, to improve the force control performance of HDU, the robustness of the force control still needs improving. Therefore, how to simulate the complex and variable load characteristics of the environment structure and how to ensure HDU having excellent force control performance with the complex and variable load characteristics are key issues to be solved in this paper. The force control system mathematic model of HDU is established by the mechanism modeling method, and the theoretical models of a novel force control compensation method and a load characteristics simulation method under different environment structures are derived, considering the dynamic characteristics of the load stiffness and the load damping under different environment structures. Then, simulation effects of the variable load stiffness and load damping under the step and sinusoidal load force are analyzed experimentally on the HDU force control performance test platform, which provides the foundation for the force control compensation experiment research. In addition, the optimized PID control parameters are designed to make the HDU have better force control performance with suitable load stiffness and load damping, under which the force control compensation method is introduced, and the robustness of the force control system with several constant load characteristics and the variable load characteristics respectively are comparatively analyzed by experiment. The research results indicate that if the load characteristics are known, the force control compensation method presented in this paper has positive compensation effects on the load characteristics variation, i.e., this method decreases the effects of the load characteristics variation on the force control performance and enhances the force control system robustness with the constant PID parameters, thereby, the online PID parameters tuning control method which is complex needs not be adopted. All the above research provides theoretical and experimental foundation for the force control method of the quadruped robot joints with high robustness.

New process for anaerobic treatment of Vitamin C wastewater in a full scale Plant

Wastewater reforming was done rationally on technological process and equipment for treating Vitamin C wastewater with full scale UBF. High concentration wastewater was mixed with recycle effluent from anaerobic treatment, so influent COD was reduced and total alkalinity was increased, meanwhile, appropriate hydraulic loading to the reactor was controlled during its running, thus treatment capacity of reactor was improved. Volumetric loading rate was raised from 6 0 kg COD/(m 3·d) to 10 0 kg COD/(m 3·d), biogas production rate was raised from 1 8 m 3/(m 3·d) to 3 2 m 3/(m 3·d), the amount of alkali and dilution water for adjusting pH were also reduced.

Aquaculture Solids Management Using A Combination of Sand/Gravel or Unwoven Fabric Bed With Lolium perenne Lam as A Plant Biofilter

Objective This work is an evaluation of the efficiency of a sand-gravel or unwoven fabric bed system and Lolium perenne Lam as plant biofilter in the reduction of solids and nutrients removal from aquaculture discharge water. Methods The fzrst step consisted of the collection of wastewater in the tank and the distribution at three different hydraulic loading regimes （0.5, 1, 1.5 L/hour） to the different experimental systems. The second step was to evaluate the performance of the different systems. The fzrst system consisted of a bucket filled with a substrate of sand/gravel （20 cm in depth）, on the bottom of which was a 80 mesh/inch2 of nylon （S1）; the second was similar, but was planted with Lolium perenne lam （S2）; the third was planted with a grass plate consisting of 7 layers of unwoven fabric planted with L. perenne （S3）. Results The second system showed the best performance in reducing solids as well as in nutrients （TN, TP, and COD） reduction. The removal rates for TS, TN, and TP were negatively correlated with the loading regimes, with 0.5 L/hour being the most efficient and thus taken as the reference. Conclusions Solids management using a sand/gravel substrate as bed culture and Lolium perenne L. as plant biofilter has proved to be an efficient technique for solids reduction with low operating cost. This grass plays an important role in wastewater eco-treatment by absorbing dissolved pollutants （TAN） as nutrients for its growth.

Effect of artificial aeration on the performance of vertical-flow constructed wetland treating heavily polluted river water

Three lab-scale vertical-flow constructed wetlands （VFCWs）, including the non-aerated （NA）, intermittently aerated （IA） and continuously aerated （CA） ones, were operated at different hydraulic loading rates （HLRs） to evaluate the effect of artificial aeration on the treatment efficiency of heavily polluted river water. Results indicated that artificial aeration increased the dissolved oxygen （DO） concentrations in IA and CA, which significantly favored the removal of organic matter and NH4＋-N. The DO grads caused by intermittent aeration formed aerobic and anoxic regions in IA and thus promoted the removal of total nitrogen （TN）. Although the removal efficiencies of CODEr, NH4＋-N and TN in the three VFCWs all decreased with an increase in HLR, artificial aeration enhanced the reactor resistance to the fluctuation of pollutant loadings. The maximal removal efficiencies of CODEr, NH4＋-N and total phosphorus （TP） （i.e., 81%, 87% and 37%, respectively） were observed in CA at 19 cm/day HLR, while the maximal TN removal （i.e., 57%） was achieved in IA. Although the improvement of artificial aeration on TP removal was limited, this study has demonstrated the feasibility of applying artificial aeration to VFCWs treating polluted river water, particularly at a high HLR.

NUMERICAL MODELING OF WASTEWATER TRANSPORT AND DEGRADATION IN SOIL AQUIFER

Modeling of wastewater transport and degradation in soil aquifer is a problem of concern with regard to the optimization of design and operation of the wastewater soil treatment system. To solve this problem, three-dimensional groundwater flow and wastewater transport and degradation model was developed using MODFLOW and MT3DMS modeling. The developed model was calibrated using the Soil Infiltration Treatment System （SITS） in the Chongming island of China after considering the river-groundwater interaction and the regional geological and hydrological conditions. Using the calibrated model, the following problems with regard to the design and operation of SITS were discussed： （1） Allowable hydraulic load. The hydraulic load increases with the drop in the water level of the adjoining river, the increase in the actual soil area under operation, and the increase in the distance among the individual operation units of SITS. （2） Optimized layout of the groundwater monitoring wells. The concentration contour of the simulated contaminants is very useful to depict the typical areas that are most severely polluted and very sensitive to the peripheral environment,, thus lesser number of monitoring wells can be set up based on the model, and the goal of the accurate assessment of the influence of soil-infiltrated wastewater on groundwater can be achieved.

Sulfur-based autotrophic denitrification from the micro-polluted water

Eutrophication caused by high concentrations of nutrients is a huge problem for many natural lakes and reservoirs. Removing the nitrogen contamination from the low C/N water body has become an urgent need. Autotrophic denitrification with the sulfur compound as electron donor was investigated in the biofilter reactors. Through the lab-scale experiment,it was found that different sulfur compounds and different carriers caused very different treatment performances. Thiosulfate was selected to be the best electron donor and ceramsite was chosen as the suitable carrier due to the good denitrification efficiency, low cost and the good resistibility against the high hydraulic loads. Later the optimum running parameters of the process were determined. Then the pilot-scale experiment was carried out with the real micro-polluted water from the West Lake, China. The results indicated that the autotrophic denitrification with thiosulfate as electron donor was feasible and applicable for the micro-polluted lake water.