Child-Robot Interactions Using Educational Robots: An Ethical and Inclusive Perspective.

The Qui-Bot H2O project involves developing four educational sustainable robots and their associated software. Robots are equipped with HRI features such as voice recognition and color sensing, and they possess a humanoid appearance. The project highlights the social and ethical aspects of robotics applied to chemistry and industry 4.0 at an early age. Here, we report the results of an interactive study that involved 212 students aged within the range of 3-18. Our educational robots were used to measure the backgrounds, impact, and interest of students, as well as their satisfaction after interacting with them. Additionally, we provide an ethical study of the use of these robots in the classroom and a comparison of the interactions of humanoid versus non-humanoid educational robots observed in early childhood learning. Our findings demonstrate that these robots are useful in teaching technical and scientific concepts in a playful and intuitive manner, as well as in increasing the number of girls who are interested in science and engineering careers. In addition, major impact measures generated by the project within a year of its implementation were analyzed. Several public administrations in the area of gender equality endorsed and participated in the Qui-Bot H2O project in addition to educational and business entities.

A novel bioscrubber for the treatment of high loads of ammonia from polluted gas.

This work presents a novel bioscrubber configuration for the treatment of high ammonia loads at short contact times. The biological reactor was designed to work as a moving-bed biofilm rector (MBBR) increasing biomass retention time. This configuration is still unexplored for the treatment of waste gases. Long-term operation of a lab-scale bioscrubber under different inlet concentrations of ammonia (60-570 ppmv) and a gas contact time of 4 s was performed to study the system operational limits during 250 days. The effect of the dissolved oxygen concentration on the nitrification rate was also evaluated. Under these conditions, a critical elimination capacity (EC) of 250 NH3·m-3·h-1 and a maximum EC of 300 g NH3·m-3·h-1 were obtained. The maximum nitrification rate obtained was 0.5 kg N·m-3·day-1. However, this nitrification rate only was possible to be achieved under partial nitrification. For complete nitrification, the critical nitrification rate was 0.3 kg N·m-3·day-1. These results confirm that bioscrubber coupled to a MBBR is a good alternative to treat high ammonia loads with remarkable advantages, such as the retention of properly biomass concentration without auxiliary equipment.

Sparking the Interest of Girls in Computer Science via Chemical Experimentation and Robotics: The Qui-Bot H2O Case Study.

We report a new learning approach in science and technology through the Qui-Bot H2O project: a multidisciplinary and interdisciplinary project developed with the main objective of inclusively increasing interest in computer science engineering among children and young people, breaking stereotypes and invisible social and gender barriers. The project highlights the social aspect of robotics applied to chemistry, at early ages. We successfully tested the project activities on girls between 3 to 13 years old. After taking part in the project, the users rated their interest in science and technology to be higher than before. Data collected during experiences included background information on students, measurements of the project's impact and students' interest in it, and an evaluation of student satisfaction of this STEM activity. The Qui-Bot H2O project is supported by the actions of territorial public administrations towards gender equality and the contributions of humanistic and technological universities and entities which specialize in education and business.

A review of biotechnologies for the abatement of ammonia emissions.

Ammonia emissions are found in a wide range of facilities such as wastewater treatment plants, composting plants, pig houses, as well as the fertilizer, food and metallurgy industries. Effective management of these emissions is important for minimizing the detrimental effects they can have on health and the environment. Physical-chemical (thermal oxidation, absorption, catalytic oxidation, etc.) treatments are the most common techniques for the abatement of ammonia emissions. However, the requirement for more eco-friendly techniques has increased interest in biological alternatives. Accordingly, several bio-based process configurations (biofilters, biotrickling filters and bioscrubbers) have been reported for ammonia abatement in a wide spectrum of conditions. Due to ammonia is a highly soluble compound, bioscrubber seems to be the best option for ammonia abatement. However, this technology is still not widely studied. The proper managements of the ammonia bio-oxidation sub-products is a key parameter for the correct operation of the process. The aim of this review is to critically examine the biotechnologies currently used for the treatment of ammonia gas emissions highlighting the pros and cons of each technology. The key parameters for each configuration used in both full-scale and lab-scale bioreactors are analyzed and summarized according to previous publications.

Computational and Experimental Investigation of Biofilm Disruption Dynamics Induced by High-Velocity Gas Jet Impingement.

Experimental data showed that high-speed microsprays can effectively disrupt biofilms on their support substratum, producing a variety of dynamic reactions such as elongation, displacement, ripple formation, and fluidization. However, the mechanics underlying the impact of high-speed turbulent flows on biofilm structure is complex under such extreme conditions, since direct measurements of viscosity at these high shear rates are not possible using dynamic testing instruments. Here, we used computational fluid dynamics simulations to assess the complex fluid interactions of ripple patterning produced by high-speed turbulent air jets impacting perpendicular to the surface of Streptococcus mutans biofilms, a dental pathogen causing caries, captured by high-speed imaging. The numerical model involved a two-phase flow of air over a non-Newtonian biofilm, whose viscosity as a function of shear rate was estimated using the Herschel-Bulkley model. The simulation suggested that inertial, shear, and interfacial tension forces governed biofilm disruption by the air jet. Additionally, the high shear rates generated by the jet impacts coupled with shear-thinning biofilm property resulted in rapid liquefaction (within milliseconds) of the biofilm, followed by surface instability and traveling waves from the impact site. Our findings suggest that rapid shear thinning under very high shear flows causes the biofilm to behave like a fluid and elasticity can be neglected. A parametric sensitivity study confirmed that both applied force intensity (i.e., high jet nozzle air velocity) and biofilm properties (i.e., low viscosity and low air-biofilm surface tension and thickness) intensify biofilm disruption by generating large interfacial instabilities.IMPORTANCE Knowledge of mechanisms promoting disruption though mechanical forces is essential in optimizing biofilm control strategies which rely on fluid shear. Our results provide insight into how biofilm disruption dynamics is governed by applied forces and fluid properties, revealing a mechanism for ripple formation and fluid-biofilm mixing. These findings have important implications for the rational design of new biofilm cleaning strategies with fluid jets, such as determining optimal parameters (e.g., jet velocity and position) to remove the biofilm from a certain zone (e.g., in dental hygiene or debridement of surgical site infections) or using antimicrobial agents which could increase the interfacial area available for exchange, as well as causing internal mixing within the biofilm matrix, thus disrupting the localized microenvironment which is associated with antimicrobial tolerance. The developed model also has potential application in predicting drag and pressure drop caused by biofilms on bioreactor, pipeline, and ship hull surfaces.

Biotrickling filter modeling for styrene abatement. Part 2: Simulating a two-phase partitioning bioreactor.

A dynamic model describing styrene abatement was developed for a two-phase partitioning bioreactor operated as a biotrickling filter (TPPB-BTF). The model was built as a coupled set of two different systems of partial differential equations depending on whether an irrigation or a non-irrigation period was simulated. The maximum growth rate was previously calibrated from a conventional BTF treating styrene (Part 1). The model was extended to simulate the TPPB-BTF based on the hypothesis that the main change associated with the non-aqueous phase is the modification of the pollutant properties in the liquid phase. The three phases considered were gas, a water-silicone liquid mixture, and biofilm. The selected calibration parameters were related to the physical properties of styrene: Henry's law constant, diffusivity, and the gas-liquid mass transfer coefficient. A sensitivity analysis revealed that Henry's law constant was the most sensitive parameter. The model was successfully calibrated with a goodness of fit of 0.94. It satisfactorily simulated the performance of the TPPB-BTF at styrene loads ranging from 13 to 77 g C m-3 h-1 and empty bed residence times of 30-15 s with the mass transfer enhanced by a factor of 1.6. The model was validated with data obtained in a TPPB-BTF removing styrene continuously. The experimental outlet emissions associated to oscillating inlet concentrations were satisfactorily predicted by using the calibrated parameters. Model simulations demonstrated the potential improvement of the mass-transfer performance of a conventional BTF degrading styrene by adding silicone oil.

Biotrickling filter modeling for styrene abatement. Part 1: Model development, calibration and validation on an industrial scale.

A three-phase dynamic mathematical model based on mass balances describing the main processes in biotrickling filtration: convection, mass transfer, diffusion, and biodegradation was calibrated and validated for the simulation of an industrial styrene-degrading biotrickling filter. The model considered the key features of the industrial operation of biotrickling filters: variable conditions of loading and intermittent irrigation. These features were included in the model switching from the mathematical description of periods with and without irrigation. Model equations were based on the mass balances describing the main processes in biotrickling filtration: convection, mass transfer, diffusion, and biodegradation. The model was calibrated with steady-state data from a laboratory biotrickling filter treating inlet loads at 13-74 g C m-3 h-1 and at empty bed residence time of 30-15 s. The model predicted the dynamic emission in the outlet of the biotrickling filter, simulating the small peaks of concentration occurring during irrigation. The validation of the model was performed using data from a pilot on-site biotrickling filter treating styrene installed in a fiber-reinforced facility. The model predicted the performance of the biotrickling filter working under high-oscillating emissions at an inlet load in a range of 5-23 g C m-3 h-1 and at an empty bed residence time of 31 s for more than 50 days, with a goodness of fit of 0.84.

Oxidation of methane in biotrickling filters inoculated with methanotrophic bacteria.

The oxidation of methane (CH4) using biofilters has been proposed as an alternative to mitigate anthropogenic greenhouse gas emissions with a low concentration of CH4 that cannot be used as a source of energy. However, conventional biofilters utilize organic packing materials that have a short lifespan, clogging problems, and are commonly inoculated with non-specific microorganisms leading to unpredictable CH4 elimination capacities (EC) and removal efficiencies (RE). The main objective of this work was to characterize the oxidation of CH4 in two biotrickling filters (BTFs) packed with polyethylene rings and inoculated with two methanotrophic bacteria, Methylomicrobium album and Methylocystis sp., in order to determine EC and CO2 production (pCO2) when using a specific inoculum. The repeatability of the results in both BTFs was determined when they operated at the same inlet load of CH4. A dynamic mathematical model that describes the CH4 abatement in the BTFs was developed and validated using mass transfer and kinetic parameters estimated independently. The results showed that EC and pCO2 of the BTFs are not identical but very similar for all the conditions tested. The use of specific inoculum has shown a faster startup and higher EC per unit area (0.019 gCH4 m-2 h-1) in comparison to most of the previous studies at the same CH4 load rate (23.2 gCH4 m-3 h-1). Global mass balance showed that the maximum reduction of CO2 equivalents was 98.5 gCO2eq m-3 h-1. The developed model satisfactorily described CH4 abatement in BTFs for a wide range of conditions.

Modeling the effects of biomass accumulation on the performance of a biotrickling filter packed with PUF support for the alkaline biotreatment of dimethyl disulfide vapors in air.

Excess biomass buildup in biotrickling filters leads to low performance. The effect of biomass accumulation in a biotrickling filter (BTF) packed with polyurethane foam (PUF) was assessed in terms of hydrodynamics and void space availability in a system treating dimethyl disulfide (DMDS) vapors with an alkaliphilic consortium. A sample of colonized support from a BTF having been operating for over a year was analyzed, and it was found that the BTF void bed fraction was reduced to almost half of that calculated initially without biomass. Liquid flow through the examined BTF yielded dispersion coefficient values of 0.30 and 0.72 m(2) h(-1), for clean or colonized PUF, respectively. 3D images of attached biomass obtained with magnetic resonance imaging allowed to calculate the superficial area and the biofilm volume percentage and depth as 650 m(2) m(-3), 35%, and 0.6 mm respectively. A simplified geometric approximation of the complex PUF structure was proposed using an orthogonal 3D mesh that predicted 600 m(2) m(-3) for the same biomass content. With this simplified model, it is suggested that the optimum biomass content would be around 20% of bed volume. The activity of the microorganisms was evaluated by respirometry and the kinetics represented with a Haldane equation type. Experimentally determined parameters were used in a mathematical model to simulate the DMDS elimination capacity (EC), and better description was found when the removal experimental data were matched with a model including liquid axial dispersion in contrast to an ideal plug flow model.

Inventory and treatment of compost maturation emissions in a municipal solid waste treatment facility.

Emissions of volatile organic compounds (VOCs) from the compost maturation building in a municipal solid waste treatment facility were inventoried by solid phase microextraction and gas chromatography-mass spectrometry. A large diversity of chemical classes and compounds were found. The highest concentrations were found for n-butanol, methyl ethyl ketone and limonene (ppmv level). Also, a range of compounds exceeded their odor threshold evidencing that treatment was needed. Performance of a chemical scrubber followed by two parallel biofilters packed with an advanced packing material and treating an average airflow of 99,300 m(3) h(-1) was assessed in the treatment of the VOCs inventoried. Performance of the odor abatement system was evaluated in terms of removal efficiency by comparing inlet and outlet abundances. Outlet concentrations of selected VOCs permitted to identify critical odorants emitted to the atmosphere. In particular, limonene was found as the most critical VOC in the present study. Only six compounds from the odorant group were removed with efficiencies higher than 90%. Low removal efficiencies were found for most of the compounds present in the emission showing a significant relation with their chemical properties (functionality and solubility) and operational parameters (temperature, pH and inlet concentration). Interestingly, benzaldehyde and benzyl alcohol were found to be produced in the treatment system.

The role of water in the performance of biofilters: parameterization of pressure drop and sorption capacities for common packing materials.

The presence of water in a biofilter is critical in keeping microorganisms active and abating pollutants. In addition, the amount of water retained in a biofilter may drastically affect the physical properties of packing materials and packed beds. In this study, the influence of water on the pressure drop and sorption capacities of 10 different packing materials were experimentally studied and compared. Pressure drop was characterized as a function of dynamic hold-up, porosity and gas flow rate. Experimental data were fitted to a mathematical expression based on a modified Ergun correlation. Sorption capacities for toluene were determined for both wet and dry materials to obtain information about the nature of interactions between the contaminant, the packing materials and the aqueous phase. The experimental sorption capacities of materials were fitted to different isotherm models for gas adsorption in porous materials. The corresponding confidence interval was determined by the Fisher information matrix. The results quantified the dynamic hold-up effect resulting from the significant increase in the pressure drop throughout the bed, i.e. the financial cost of driving air, and the negative effect of this air on the total amount of hydrophobic pollutant that can be adsorbed by the supports. Furthermore, the results provided equations for ascertaining water presence and sorption capacities that could be widely used in the mathematical modeling of biofilters.