A hierarchical controller for tracking the dissolved oxygen (DO) reference trajectory in activated sludge processes is proposed and investigated. The removal of nitrogen and phosphorous from wastewater is considered. Typically, an aeration system itself is a complicated hybrid nonlinear dynamical system with faster dynamics compared to the internal dynamics of the DO in a biological reactor. It...

Processes in industry, such as batch reactors, often demonstrate a hybrid and non-linear nature. Model predictive control (MPC) is one of the pproaches that can be successfully employed in such cases. However, due to the complexity of these processes, obtaining a suitable model is ften a difficult task. In this paper a hybrid fuzzy modelling approach with a compact formulation is introduced. Th...

Hybrid bioreactor having both suspended-growth and attached-growth bacteria is found a novel and excellent bioreactor system for treating the municipal wastewater containing inhibitory substrates too. In this reactor a fraction of substrate is used by suspended biomass and the remaining by attached biomass resulting in the competition between the two growths for the substrate. The combination o...

A sensor-based motion control system was designed to autonomously drive vehicles free of collisions in unknown, troublesome and dynamic scenarios. The system was developed based on a hybrid architecture with three layers (modeling, planning and reaction). The interaction of the modules was based on a synchronous planner–reactor configuration where the planner computes tactical information to di...

plug-flow digesters with periodic loading mechanism are more enthusiastic than fully mechanized digestion plants for the majority of small or medium scale farms according to the costs and operational complexities. a dual-compartment plug-flow reactor equipped with a passive heating system was designed and experimentally operated by purpose of demonstrating a simple and low cost technology for h...

Many methods have been reported to improving the photocatalytic efficiency of organic pollutant and their reliable applications. In this work, we propose a facile pathway to prepare three different types of magnetic iron oxides/TiO2 hybrid nanoparticles (NPs) by seed-mediated method. The hybrid NPs are composed of spindle, hollow, and ultrafine iron oxide NPs as seeds and 3-aminopropyltriethylo...