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Growth of Seeded Escherichia coli in Rewetted Cattle Waste Compost of Different Stages
Hanajima, D.,Kuroda, K.,Fukumoto, Y.,Haga, K. Asian Australasian Association of Animal Productio 2004 Animal Bioscience Vol.17 No.2
Compost is used mainly as an organic fertilizer, but it is also used as bedding material for cattle. Dairy cattle have been identified as a main reservoir of pathogenic Escherichia coli O157:H7. Further, E. coli is regarded as an environmental pathogen that causes bovine clinical mastitis. Hence, its growth in compost spread or compost bedding should be avoided. Physical and chemical conditions, available nutrients and microflora in compost change greatly during the composting process. Since pathogen growth in compost seems to be related to these changes, we assessed the possibility of E. coli growth in compost samples collected at 0, 7, 13, 22, 41, 190 and 360 d. Cattle waste composts with and without added tofu residue were collected from static piles and immediately air-dried. Compost samples were inoculated with a pure culture of E. coli, the moisture content was adjusted to 50%, and the samples were incubated for 5 d at $30^{\circ}C$. The numbers of E. coli in compost before and after incubation were determined by direct plating on Chromocult coliform agar. Almost all compost samples supported E. coli growth. Samples collected during or immediately after the thermophilic phase (day 7) showed the highest growth. Growth in samples more than 13 d old were not significantly different from those of aged compost samples. The addition of tofu residue gave a higher growth than its absence in younger samples collected prior to 13 d. To minimize the risk of environmental mastitis, the use of compost in the initial stage of the process is better avoided.
Adaptive Fuzzy Finite Time Prescribed Performance Control for Long Stroke Hybrid Robots
Qunpo Liu,Ming Ye,Zhonghua Wu,Xuhui Bu,Naohiko Hanajima 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.9
This paper focuses on the problem of finite-time trajectory tracking control of long-stroke hybrid robots with uncertain system parameters and external disturbances. A system filtering prescribed performance backstepping control based on adaptive fuzzy compensation is proposed. For the unknown terms corresponding to the parameter uncertainties and unknown disturbances existing in the system, a set of auxiliary filter variables is introduced in the adaptive fuzzy approximator and an estimation error function is constructed. An adaptive law based on the estimated error function is proposed to adjust the adaptive weight parameters of the fuzzy system. An adaptive fuzzy approximation algorithm based on the estimation error is finally constructed to compensate for the performance loss caused by the unknown term. For the system state convergence speed problem, a performance function that can transform the system tracking error into an unconstrained error is presented, and the unconstrained error is used as the backstepping control variables. To avoid the differential explosion problem, a new set of inverse control variables is defined by combining the filter variables obtained based on the low-pass filter and the joint velocity. Based on the above variables, a system filtering-based prescribed performance backstepping control strategy is proposed. Finally, the semi-global practical finite-time stability of the closed-loop system is proved by the Lyapunov function. Experiments on the MATLAB platform verify the effectiveness of the proposed method.