The aim of this study was to determine the impact of the temperature of wastewater in a biological reactor with activated sludge and the BOD5/N-NH4 ratio in the influent to the treatment plant on nitrification efficiency and the concentration of ammonium nitrogen in treated wastewater. Tests were carried out in a household wastewater treatment plant which collects and treats sewage from a school building and a teacher’s house. During the 3-year study, large fluctuations in the sewage temperature in bioreactor were noted which was closely related to the ambient temperature. There were also large fluctuations in the concentration of organic matter and the concentration of ammonium nitrogen in inflowing sewage. The influence of wastewater temperature in the bioreactor and the BOD5/N-NH4 ratio on the concentration of ammonium nitrogen in treated wastewater was determined using Pearson’s linear correlation. A statistical analysis showed that a 1°C decrease in the temperature of wastewater in the bioreactor increased the concentration of ammonium nitrogen in treated wastewater by 2.64 mgN-NH4·L-1. Moreover, it was found that nitrification depended on the ratio of BOD5 to the concentration of ammonium nitrogen in wastewater flowing into the bioreactor. An increase in the BOD5/N-NH4 ratio by 1 value led to a 5.41 mgN-NH4·L-1 decrease in the concentration of ammonium nitrogen.
Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.