-Solid waste (SW) from a biodiesel plant has been successfully used for the removal of the hazardous cationic water soluble dye -methylene blue (MB) -from an aqueous phase. Batch adsorption studies were carried out by monitoring the pH, amount of adsorbent, initial dye concentration and contact time. Attempts have also been made to monitor the adsorption process through Langmuir, Freundlich, Temkin and D-R adsorption isotherm models. Relevant thermodynamic parameters were calculated and it was found that the adsorption process was exothermic and feasible at low temperatures. The nature and randomness of the adsorption process was determined by calculating the thermodynamic parameters such as Gibbs free energy (∆G o ), change in entropy (∆S o ) and heat of adsorption (∆H o ). The kinetics of the adsorption indicates that the process is pseudo-second-order and also reveals the involvement of bulk diffusion and intraparticle diffusion mechanisms.
In this paper we discuss the possibility of improving eye-hand coordination in children diagnosed with this problem, using a robotic mapping from a haptic user interface to a virtual environment. Our goal is to develop an assessment and training procedure that will result in improving handwriting taking advantage of the force feedback provided by the haptic device. We also incorporate inertia and viscosity effects to decrease the tremor in the hand as well as to stimulate the muscles involved in the task of holding a pencil (known as facilitation technique in the Occupational Therapy field). A set of assessment tests, commonly used by occupational therapists, were chosen to implement various functions using force, inertia and viscosity effects. The test bed used for these tasks consisted of a six-degree-of-freedom force-reflecting haptic interface device, PHANToM with the GHOST SDK Software.
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