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Sewage sludge obtained by a conventional aerobic activated sludge process (CSS), P-rich sewage sludge from an enhanced biological P removal process (PRS), and struvite (MgNH 4PO 4 x 6H 2O) recovered from an anaerobic digester supernatant using a low-grade MgO byproduct from the calcination of natural magnesite as a Mg source (STR) were evaluated as P(More)
Trends in complex, software-intensive control systems show a continuous process of incorporating mechanisms of self-representation and reflection. One of the main reasons is to improve system performance and resilience in changing uncertain environments. These approaches employ runtime models of the system itself that, to some extent, are identifiable with(More)
In many application areas mobile robots need the ability to interact with people. In order to be able to communicate with even untrained users, the interaction should be as natural as possible. One of the preconditions of a natural interaction is that the robot focuses the person it is interacting with. In this paper we present a technique that combines(More)
This paper describes a new local avoidance method for indoor mobile robots. The method uses a directional method named the Beam Method to improve the performance of a local obstacle avoidance approach called Curvature Velocity Method (CVM). The proposed Beam Method employs radial distances provided by the robot sensors to calculate the best one-step(More)
In the last few years, the amount of money spent on security has grown due to a number of factors. The surveillance system of buildings has particularly become an important issue to human daily life. This paper describes the development of a Multirobot system for building surveillance applications monitored through Internet. Each robot can handle some daily(More)
Most of the mobile robot control frameworks are based on a middleware layer with several independent modules that implement primitive actions and report events about their state. These modules are usually connected with different interprocess communication mechanisms. Here, we propose to use hierarchical interpreted binary Petri nets to coordinate the(More)